Intelligent deck rust removal polishing and milling operation robot

Abstract

The application provides an intelligent deck rust removal and polishing milling operation robot, which comprises a robot body, a support and an operation execution system; the support connects the robot body and the operation execution system; the robot body comprises a vision module, an image processing unit, a control unit, a motion unit and an electromagnetic suction cup; the vision module is connected with the image processing unit, the control unit is connected with the image processing unit, the motion unit, the electromagnetic suction cup and the operation execution system respectively; the electromagnetic suction cup is arranged at the bottom of the robot body; the operation execution system comprises a rust removal and polishing integrated module and a milling module; by integrally arranging multiple operation modules, the robot can complete the whole semi-submersible ship deck surface operation task during the inspection process; in addition, the introduced electromagnetic suction cup solves the problem of insufficient stability of the operation process under the influence of the sea condition in the semi-submersible ship scene, guarantees the efficiency of the semi-submersible ship deck operation and the stability and safety of the operation process, and improves the quality of the deck operation.

Description

Technical Field

[0001] This invention relates to the field of semi-submersible vessel deck operation equipment, and in particular to an intelligent deck rust removal, grinding and milling operation robot. Background Technology

[0002] Semi-submersible vessel deck operations mainly involve milling, rust removal, and grinding. On the one hand, these operations rely on various tools, and manual work often requires locating the entire area to be treated while carrying different tools, which is time-consuming and inefficient. On the other hand, these operations are usually carried out in open environments, making them highly susceptible to weather, sea conditions, and other natural factors, which can affect the stability of manual operations. Furthermore, the operations generate significant noise and fumes, posing a threat to the safety and health of the workers.

[0003] Therefore, there is an urgent need for a tool that can ensure the efficiency and safety of these semi-submersible vessel deck operations to solve the above problems. Summary of the Invention

[0004] In view of the above, the present invention proposes an intelligent deck rust removal, grinding and milling operation robot to solve at least one of the problems in the above-mentioned technologies.

[0005] The intelligent deck rust removal, grinding, and milling robot includes: the robot body, the support frame, and the operation execution system; The bracket connects the robot body and the operation execution system; The robot body includes: a vision module, an image processing unit, a control unit, a motion unit, and an electromagnetic chuck; The vision module is connected to the image processing unit, and the control unit is connected to the image processing unit, the motion unit, the electromagnetic chuck, and the work execution system, respectively. The electromagnetic chuck is located at the bottom of the robot body; The operation execution system includes an integrated rust removal and grinding module and a milling module.

[0006] This solution integrates a rust removal and grinding module with a milling module onto a single robot body. A built-in vision module identifies the area to be processed, and an electromagnetic chuck is installed at the bottom of the robot body. When the control unit moves the motion unit to the work execution position, the electromagnetic chuck generates magnetic force through power to the control unit, securing the robot body before performing deck work. By integrating multiple work modules, the robot can complete the entire semi-submersible vessel deck work during inspection. Furthermore, the introduced electromagnetic chuck addresses the instability issue caused by sea conditions affecting the work process in semi-submersible vessel environments, ensuring efficiency, stability, and safety in semi-submersible vessel deck operations, and improving the quality of deck work.

[0007] Furthermore, the integrated rust removal and polishing module includes: The system comprises a first Y-axis traveling mechanism, a first Z-axis traveling mechanism, a second Z-axis traveling mechanism, a rust removal unit, and a grinding unit. The first Y-axis traveling mechanism is fixed on the bracket; The first Z-axis traveling mechanism and the second Z-axis traveling mechanism are arranged on both sides of the first Y-axis traveling mechanism; The rust removal unit is mounted on the first Z-axis traveling mechanism, and the grinding unit is mounted on the second Z-axis traveling mechanism.

[0008] Furthermore, the integrated rust removal and polishing module also includes: A connector is provided, on which both the first Z-axis traveling mechanism and the second Z-axis traveling mechanism are fixed.

[0009] The Z-axis movement of the rust removal unit and the grinding unit is fixed on the same connector. After the control unit completes the rust removal process, it moves the robot to the corresponding position for grinding. Based on the relative positional relationship between the rust removal unit and the grinding unit, the stroke command of the rust removal unit can be directly converted into the stroke command of the grinding unit to complete the grinding process. This reduces the dependence of the rust removal and grinding process on the vision module and image processing unit, reduces the computing pressure on the control unit, and reduces the consumption of computing resources.

[0010] Furthermore, the grinding unit is disposed between the milling module and the rust removal unit.

[0011] During the operation, after rust removal or milling, placing the grinding unit between the two operations can reduce the amount of travel required for continuous operation and further improve work efficiency.

[0012] Furthermore, the rust removal and grinding integrated module and the milling module are located on different sides of the robot body.

[0013] The milling process generates high temperatures and metal chips. Placing these on different sides avoids interference between operations. Furthermore, the temperature rise at the milling position during the milling process can affect the grinding operation. Placing them on different sides allows the grinding unit time to cool down when it moves to the position that needs grinding after milling, thus improving the accuracy of the operation.

[0014] Furthermore, the milling module includes: The system includes an X-axis traveling mechanism, a second Y-axis traveling mechanism, a third Z-axis traveling mechanism, and a milling unit. The X-axis traveling mechanism is fixed on the bracket; The second Y-axis traveling mechanism is mounted on the X-axis traveling mechanism; The third Z-axis traveling mechanism is mounted on the second Y-axis traveling mechanism; The milling unit is mounted on the third Z-axis traveling mechanism.

[0015] Furthermore, the intelligent deck rust removal, grinding, and milling robot also includes: A blowing and suction mechanism is provided, wherein the blowing end of the blowing and suction mechanism is opposite to the milling unit, and the suction end is opposite to the electromagnetic chuck.

[0016] The blowing and suction mechanism reduces the temperature of the milling unit during operation and removes generated debris. This prevents excessive temperature from affecting the hardness of the milling unit and reduces friction between the milling unit and the workpiece. Furthermore, the suction end, positioned opposite the electromagnetic chuck, draws away debris near the chuck, preventing the chuck from affecting the robot's chassis adhesion. This simple structure significantly improves the overall processing stability.

[0017] Furthermore, the intelligent deck rust removal, grinding, and milling robot also includes: Push handle and fixing part; The fixing part is disposed on the bracket, the push handle is slidably disposed on the bracket, and the end of the push handle can be fixed to the fixing part.

[0018] The combination of the push handle and the fixed part realizes a retractable push handle. In extreme environments, the robot can still be pushed manually when the vision system is obstructed, thus improving the robustness of the robot's operation.

[0019] Furthermore, the electromagnetic chucks comprise multiple units and are symmetrically arranged on the bottom of the robot body.

[0020] This invention integrates a rust removal and grinding module with a milling module onto a single robot body. A built-in vision module identifies the area to be processed, and an electromagnetic chuck is installed at the bottom of the robot body. When the control unit moves the motion unit to the work execution position, the electromagnetic chuck generates magnetic force through power to the control unit, securing the robot body before performing deck work. By integrating multiple work modules, the robot can complete the entire semi-submersible vessel deck work during inspection. Furthermore, the introduced electromagnetic chuck solves the problem of insufficient stability in semi-submersible vessel environments due to sea conditions, ensuring efficiency, stability, and safety in deck operations and improving the quality of deck work. The relative positions of the rust removal unit, grinding unit, and milling system are optimized, reducing the dependence of the rust removal and grinding process on the vision module and image processing unit, lowering the computational burden on the control unit, reducing computational resource consumption, and improving the accuracy and stability of continuous operation. A blowing and suction mechanism is further introduced to reduce the temperature during the milling unit's operation and remove generated debris, further improving the overall stability of the working process.

[0021] To better understand and implement this invention, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0022] Figure 1 This is a structural block diagram of the intelligent deck rust removal, grinding, and milling robot in Embodiment 1 of the present invention; Figure 2 for Figure 1 The diagram shown is a structural block diagram of the intelligent deck rust removal, grinding, and milling robot after the main shell has been removed. Figure 3 This is a structural block diagram of the intelligent deck rust removal, grinding, and milling robot in Embodiment 2 of the present invention. Attached image description: 1: Robot body; 11: Vision module; 12: Control unit; 13: Motion unit; 14: Electromagnetic chuck; 2: Support frame; 3: Operation execution system; 31: Rust removal and grinding integrated module; 311: First Y-axis walking mechanism; 312: First Z-axis walking mechanism; 313: Second Z-axis walking mechanism; 314: Rust removal unit; 315: Grinding unit; 316: Connector; 32: Milling module; 321: X-axis walking mechanism; 322: Second Y-axis walking mechanism; 323: Third Z-axis walking mechanism; 324: Milling unit; 4: Blowing and suction mechanism; 51: Fixing part; 52: Push handle. Detailed Implementation

[0024] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0027] To improve operational efficiency, reduce crew risks, and lower labor costs, this project initially planned to develop two separate semi-submersible vessel deck operation robots to replace manual labor for rust removal, grinding, and milling operations. However, during actual development, in the semi-submersible vessel deck operation scenario, the robots were found to be unstable due to ocean currents, even with additional suction devices, as their weight was insufficient to prevent swaying. Therefore, the project considered integrating the two robots into a single robot body, equipped with electromagnetic chucks, to ensure stable operation in semi-submersible vessel deck operation scenarios. The following embodiments illustrate this invention in detail.

[0028] Example 1: Please refer to Figure 1 and Figure 2 In this embodiment, the intelligent deck rust removal, grinding, and milling robot includes: Robot body 1, support frame 2, and operation execution system 3; The bracket 1 connects the robot body 1 and the operation execution system; In this embodiment, the support 1 is a rigid rectangular support. The middle part of the support 1 is set on the top of the robot, and the operation execution system is set on the inner side of both ends of the support; thus forming an intelligent deck rust removal, grinding and milling operation robot.

[0029] The robot body includes: a vision module 11, an image processing unit (not shown), a control unit 12, a motion unit 13, and an electromagnetic chuck 14.

[0030] The vision module 11 is connected to the image processing unit, and the control unit 12 is connected to the image processing unit, the motion unit 13, the electromagnetic chuck 14, and the work execution system 3 respectively. The electromagnetic chuck 14 is located at the bottom of the robot body 1.

[0031] The operation execution system 3 includes a rust removal and grinding integrated module 31 and a milling module 32.

[0032] The rust removal and polishing integrated module 31 includes: a first Y-axis traveling mechanism 311, a first Z-axis traveling mechanism 312, a second Z-axis traveling mechanism 313, a rust removal unit 314, and a polishing unit 315; In this embodiment, all the walking mechanisms include a lead screw, a guide rail, and a motor; or a guide rail and a cylinder. The former drives the lead screw through the motor to make the device mounted on the walking mechanism move linearly along the guide rail; it has higher precision but is more difficult to control. The latter drives the device mounted on the walking mechanism to move linearly along the guide rail by controlling the air pressure of the cylinder.

[0033] The first Y-axis traveling mechanism 311 is fixed on the bracket 2; The first Z-axis traveling mechanism 312 and the second Z-axis traveling mechanism 313 are arranged on both sides of the first Y-axis traveling mechanism 311; The rust removal unit 314 is mounted on the first Z-axis traveling mechanism 312, and the grinding unit 315 is mounted on the second Z-axis traveling mechanism 312.

[0034] In this embodiment, the rust removal unit 314 is a wire wheel rust removal head. The central drive shaft is connected to a pneumatic or electric motor to provide rotational power to the wire wheel, enabling it to complete the rust removal operation.

[0035] In this embodiment, the grinding unit 315 includes a grinding wheel, a cylinder, and a motor. The motor compresses the cylinder, and the cylinder provides rotational power to the grinding wheel, enabling it to complete the weld grinding operation.

[0036] The milling module 32 includes: an X-axis traveling mechanism 321, a second Y-axis traveling mechanism 322, a third Z-axis traveling mechanism 323, and a milling unit 324; The X-axis traveling mechanism 321 is fixed on the bracket 2; The second Y-axis traveling mechanism 322 is mounted on the X-axis traveling mechanism 321; The third Z-axis traveling mechanism 323 is mounted on the second Y-axis traveling mechanism 322; The milling unit 324 is mounted on the third Z-axis traveling mechanism 323.

[0037] The milling unit 324, in this embodiment, consists of an electric spindle and a milling cutter, and the electric spindle controls the start and stop of the milling function.

[0038] In this invention, based on the precision considerations of the rust removal, grinding and milling process, the first Z-axis traveling mechanism 312 and the second Z-axis traveling mechanism 313 are driven by guide rails and cylinders; the first Y-axis traveling mechanism 311, the X-axis traveling mechanism 321, the second Y-axis traveling mechanism 322 and the third Z-axis traveling mechanism 323 are driven by lead screws, guide rails and motors.

[0039] This robot can perform rust removal, grinding, and milling functions individually, in combination, or all three in combination. During a single operation, the vision module 11 first acquires an image and distance information of the area suspected of requiring work. The image processing unit outputs a judgment result based on the area image. When work is required, the control unit 12 calculates the required movement distance of the motion unit 13 based on the distance information and controls the corresponding motor to move the robot closer to the corresponding point. After reaching the designated position, the electromagnetic chuck 14 is energized to generate an adsorption force, stabilizing the robot. When the rust removal unit 314, grinding unit 315, or milling unit 324 needs to perform work, to bring the end of the work unit closer to the work point, the control unit 12 calculates the travel distance of the work unit based on the distance information acquired by the vision module 11. Based on this travel distance, the control unit controls the stepper motor of the corresponding X, Y, or Z axis walking mechanism and the motor of the corresponding work unit, causing the work unit to move when started and complete the corresponding task. The aforementioned X, Y, and Z axis walking mechanisms are controlled by stepper motors in this application, enabling reciprocating motion in a certain direction.

[0040] The robot can perform rust removal, grinding, and milling functions separately, or in combination, or in combination of all three. The rust removal and grinding and milling processes are used as examples.

[0041] During the rust removal and polishing process, the vision module 11 of the robot body 1 includes image acquisition and distance sensing functions. When it detects an image with rust, it simultaneously acquires the distance to that location and transmits it to the image processing unit for target recognition processing. This recognition algorithm is an existing algorithm, which can be based on extracting image features and using a classification algorithm to determine whether it is rust and its confidence level. After recognizing the location information, the control unit 12 performs coordinate transformation between the location to be rusted and the end position of the rust removal unit, so that the two are in the same coordinate system. Then, it calculates the distance difference between the two and performs path planning based on the distance difference. Based on the path planning result, the control unit 12 controls the movement unit 13 to move. The end of the robot's rust removal unit 314 approaches the rust spot, and the electromagnetic chuck 14 extends from the bottom of the robot and is powered on to adhere to the deck, maintaining operational stability. Subsequently, the control unit 12 starts the rust removal and polishing operation program. The rust removal unit automatically moves to the center and descends to the rust spot on the ground before starting the operation; according to the automatic control program, the rust removal unit moves back to its original position after 10 seconds of operation; the grinding unit 315 automatically moves to the center and starts the grinding operation for 10 seconds; after the operation is completed, the grinding unit 315 automatically moves back to its original position.

[0042] Preferably, the integrated rust removal and polishing module further includes: A connector 316 is provided on the first Y-axis traveling mechanism 311, and the first Z-axis traveling mechanism 312 and the second Z-axis traveling mechanism 313 are both fixed on the connector 316.

[0043] The Z-axis movement of the rust removal unit and the grinding unit is fixed on the same connector. After the control unit completes the rust removal process, it moves the robot to the corresponding position for grinding. The position transformation matrix can be calculated in advance based on the relative positional relationship between the rust removal unit and the grinding unit. By multiplying the control unit's control of the rust removal unit with the calculated position transformation matrix, the stroke command for the grinding unit to complete the grinding process can be directly calculated. This reduces the dependence of the rust removal and grinding process on the vision module and image processing unit, reduces the computational pressure on the control unit, and reduces the consumption of computing resources.

[0044] During the milling and grinding process, the vision module 11 of the robot body 1 detects an image containing welding stubs and weld seam locations, and transmits it to the image processing unit for target recognition processing. This recognition algorithm is an existing algorithm, which can be based on extracting image features and using a classification algorithm to determine whether it is a welding stub, weld seam location, and its confidence level and weld height. Subsequently, the control unit 12 performs path planning and selects the milling operation gear according to the recognition results. Based on the path planning results, the control unit 12 controls the movement unit 13 to move, and the end of the robot's milling unit 324 approaches the weld seam location. The electromagnetic chuck 14 extends from the bottom of the robot and is energized to adhere to the deck, maintaining operational stability. Then, the control unit 12 starts the milling and grinding operation program. After the milling unit automatically moves to the center and descends to the weld seam position on the ground, it starts the operation. For example, the milling unit automatically operates with a depth of 2mm and a stroke of 500mm, repeating the operation several times according to the selected gear, until the weld seam is completely ground smooth. After the operation is completed, the base is powered off, the magnetic attraction is released, and the robot moves so that the end of the grinding unit 315 approaches the weld seam to be ground, automatically moves to the center, and starts the grinding operation for 10 seconds. After the operation is completed, the grinding unit 315 automatically moves back to its original position. Preferably, the grinding unit is located between the milling module and the rust removal unit. During the operation, the grinding operation usually occurs after the rust removal or milling operation. Placing the grinding unit between the two can reduce the travel distance of continuous operation and further improve the operation efficiency.

[0045] Preferably, the electromagnetic chucks comprise multiple units and are symmetrically arranged on the bottom of the robot body. This prevents the robot from completely losing its adhesion if a single electromagnetic chuck fails.

[0046] According to the above process, the robot completes rust removal, grinding, and milling operations in a scattered manner.

[0047] This solution integrates a rust removal and grinding module with a milling module onto a single robot body. A built-in vision module identifies the area to be processed, and an electromagnetic chuck is installed at the bottom of the robot body. When the control unit moves the motion unit to the work execution position, the electromagnetic chuck generates magnetic force through power to the control unit, securing the robot body before performing deck work. By integrating multiple work modules, the robot can complete the entire semi-submersible vessel deck work during inspection. Furthermore, the introduced electromagnetic chuck addresses the instability issue caused by sea conditions affecting the work process in semi-submersible vessel environments, ensuring efficiency, stability, and safety in semi-submersible vessel deck operations, and improving the quality of deck work.

[0048] Furthermore, it was found that the grinding effect was not as good as the rust removal process during the milling and grinding operation. After analysis, it was found that the temperature generated in the milling part during the milling process was higher than that during the rust removal process, which affected the grinding operation. Based on this, the present invention preferably places the rust removal and grinding integrated module 31 and the milling module 32 on different sides of the robot body.

[0049] This setup allows the grinding unit time to cool down as it moves to the milling position, reducing the impact of temperature rise during milling on the grinding operation. It also prevents metal chips generated during milling from interfering with each other, ultimately improving the accuracy of the operation.

[0050] Example 2: Furthermore, during prolonged use, the robot's stability gradually decreased. Investigation revealed this was due to metal debris adhering to the surface of the electromagnetic chuck. However, adding a suction and storage space inside the robot would enlarge the robot body, affecting its lightweight design, and would require regular cleaning. Leakage of internal metal debris would also disrupt the robot's normal operation. This invention, after research, introduces a suction and blowing mechanism. This mechanism, composed of a set of fan blades, pipes, and a motor, solves the aforementioned problems. Please refer to [link / reference]. Figure 3 At this time, the intelligent deck rust removal, grinding and milling operation robot also includes a blowing and suction mechanism 4, the blowing end of the blowing and suction mechanism 4 is opposite to the milling unit 32; the suction end is opposite to the electromagnetic chuck 14.

[0051] The blowing and suction mechanism is fixed to the end of the third Z-axis traveling mechanism 323. During milling, the blowing and suction mechanism 4 is activated. At this time, the blowing end of the blowing and suction mechanism 4 increases the air speed of the milling unit, reduces the temperature of the milling unit during operation, and removes the generated debris. This avoids excessive temperature affecting the hardness of the milling unit and reduces friction between the milling unit and the workpiece. In addition, the suction end is opposite to the electromagnetic chuck, sucking away debris near the electromagnetic chuck. This prevents the electromagnetic chuck from adsorbing debris and affecting the adhesion of the robot chassis. This simple structure significantly improves the overall processing stability during operation.

[0052] Furthermore, in any of the above embodiments, the intelligent deck rust removal, grinding, and milling robot preferably also includes a fixing part and a push handle; The fixing part is disposed on the bracket, the push handle is slidably disposed on the bracket, and the end of the push handle can be fixed to the fixing part.

[0053] The combination of the push handle and the fixing part realizes a retractable push handle. Even in extreme environments, when the robot's vision system is obstructed, it can still be pushed manually, thus improving the robustness of the robot's operation.

[0054] In summary, the intelligent deck rust removal, grinding, and milling robot of this invention integrates a rust removal and grinding module with a milling module on a single robot body. A built-in vision module identifies the area to be processed, and an electromagnetic chuck is installed at the bottom of the robot body. This chuck, when the control unit moves the motion unit to the work execution position, generates magnetic force through power to the control unit, fixing the robot body in place before performing deck work. By integrating multiple work modules, the robot can complete the entire semi-submersible vessel deck operation during inspection. Furthermore, the introduced electromagnetic chuck solves the problem of insufficient stability in semi-submersible vessel environments due to sea conditions, ensuring efficiency, stability, and safety in deck operations and improving the quality of deck work. The relative positions of the rust removal unit, grinding unit, and milling system are optimized, reducing the dependence of the rust removal and grinding process on the vision module and image processing unit, lowering the computational burden on the control unit, reducing computational resource consumption, and improving the accuracy and stability of continuous operation. A blow-suction mechanism was further introduced to reduce the temperature of the milling unit during operation and remove the generated debris, thereby further improving the stability of the overall working process.

[0055] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and the present invention also intends to include these modifications and variations.

Claims

1. An intelligent deck rust removal, grinding, and milling robot, characterized in that, include: Robot body, support frame, and operation execution system; The bracket connects the robot body and the operation execution system; The robot body includes: a vision module, an image processing unit, a control unit, a motion unit, and an electromagnetic chuck; The vision module is connected to the image processing unit, and the control unit is connected to the image processing unit, the motion unit, the electromagnetic chuck, and the work execution system, respectively. The electromagnetic chuck is located at the bottom of the robot body; The operation execution system includes an integrated rust removal and grinding module and a milling module.

2. The intelligent deck rust removal, grinding, and milling robot according to claim 1, characterized in that, The integrated rust removal and polishing module includes: The system comprises a first Y-axis traveling mechanism, a first Z-axis traveling mechanism, a second Z-axis traveling mechanism, a rust removal unit, and a grinding unit. The first Y-axis traveling mechanism is fixed on the bracket; The first Z-axis traveling mechanism and the second Z-axis traveling mechanism are arranged on both sides of the first Y-axis traveling mechanism; The rust removal unit is mounted on the first Z-axis traveling mechanism, and the grinding unit is mounted on the second Z-axis traveling mechanism.

3. The intelligent deck rust removal, grinding, and milling robot according to claim 2, characterized in that, The integrated rust removal and polishing module also includes: A connector is provided, wherein the connector is disposed on the first Y-axis traveling mechanism, and both the first Z-axis traveling mechanism and the second Z-axis traveling mechanism are fixed on the connector.

4. The intelligent deck rust removal, grinding, and milling robot according to claim 3, characterized in that, The grinding unit is located between the milling module and the rust removal unit.

5. The intelligent deck rust removal, grinding, and milling robot according to claim 4, characterized in that, The rust removal and grinding module and the milling module are located on different sides of the robot body.

6. The intelligent deck rust removal, grinding, and milling robot according to claim 5, characterized in that, The milling module includes: The system includes an X-axis traveling mechanism, a second Y-axis traveling mechanism, a third Z-axis traveling mechanism, and a milling unit. The X-axis traveling mechanism is fixed on the bracket; The second Y-axis traveling mechanism is mounted on the X-axis traveling mechanism; The third Z-axis traveling mechanism is mounted on the second Y-axis traveling mechanism; The milling unit is mounted on the third Z-axis traveling mechanism.

7. The intelligent deck rust removal, grinding, and milling robot according to any one of claims 1-6, characterized in that, Also includes: A blowing and suction mechanism is provided, wherein the blowing end of the blowing and suction mechanism is opposite to the milling unit, and the suction end is opposite to the electromagnetic chuck.

8. The intelligent deck rust removal, grinding, and milling robot according to claim 7, characterized in that, Also includes: Fixing part and push handle; The fixing part is disposed on the bracket, the push handle is slidably disposed on the bracket, and the end of the push handle can be fixed to the fixing part.

9. The intelligent deck rust removal, grinding, and milling robot according to claim 8, characterized in that, The electromagnetic chucks comprise multiple units and are symmetrically arranged on the bottom of the robot body.

Images