Hull surface rust removal robot with obstacle crossing function
By designing a hull surface rust removal robot with obstacle-surpassing function, using the combination of support arms, rust removal machines and regulators, the problem that existing robots cannot overcome the complex structure of the hull is solved, and efficient rust removal operations are achieved.
Patent Information
- Application Number
- CN202422817083.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-18
- Publication Date
- 2025-08-12
- Estimated Expiration
- 2034-11-18
AI Technical Summary
The existing rust removal robots are unable to effectively cross the complex structure of the hull surface, resulting in the need of manual assisted operations, increasing costs and reducing operating efficiency.
A hull surface rust removal robot with a barrier function is designed, and the first rust removal machine and the second rust removal machine are connected through the first support arm and the second support arm, and the angle adjuster, a rotation adjuster and a limiting mechanism are used to realize the peristaltic movement and obstacle resistance function of the robot on the hull surface.
The rust removal robot can easily cope with various complex structures on the hull surface, reduce the dependence on manual assistance, improve the working efficiency and rust removal effect.
Smart Images
Figure CN223212513U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of ship hull rust removal, and more specifically, to a ship hull surface rust removal robot with an obstacle-crossing function. Background Art
[0002] Ship hulls are typically made of steel, which is susceptible to electrochemical corrosion in seawater. While the coating protects the hull from direct contact with seawater, micropores in the coating's surface allow seawater to slowly penetrate the coating and reach the hull. In this situation, the area covered by the coating becomes the cathode, while the area without the coating becomes the anode, causing electrochemical corrosion and the formation of rust. Rust removal removes existing rust, preventing its further spread. It also provides a good foundation for new coatings to adhere to, reducing the risk of electrochemical corrosion.
[0003] Because ship hull surfaces often contain numerous complex structures, such as welds, protrusions, and depressions, current rust removal robots use ultrasonic sensors to identify obstacles and then navigate around them. When the robots encounter insurmountable obstacles, manual assistance is often required, such as moving the obstacles or adjusting the robot's position. This not only increases labor costs but also reduces operational efficiency. Since the robots cannot navigate obstacles, they may need to frequently stop during operations to avoid obstacles or adjust their operating positions. This increases operation time and reduces overall efficiency.
[0004] In view of this, we propose a hull surface rust removal robot with obstacle-crossing function. Utility Model Content
[0005] 1. Technical problems to be solved
[0006] The purpose of this application is to provide a hull surface rust removal robot with an obstacle crossing function, which solves the technical problems in the above-mentioned background technology, realizes the obstacle crossing function, and enables the rust removal robot to easily cope with various complex structures on the hull surface. The obstacle crossing function reduces the dependence on manual assistance and reduces the time spent on moving obstacles or adjusting the robot position, thereby improving work efficiency.
[0007] 2. Technical solution
[0008] The technical solution of the present application provides a hull surface rust removal robot with an obstacle-crossing function, comprising: a first support arm and a second support arm, the first support arm and one end of the second support arm are rotatably connected, the other end of the first support arm is rotatably connected to a first rust remover, and the other end of the second support arm is rotatably connected to a second rust remover, the first rust remover and the second rust remover have the same structure, an angle adjuster for adjusting the angle of the first support arm and the second support arm is fixed on the second support arm, the first rust remover and the second rust remover are both fixed with a rotation adjuster for respectively adjusting the rotation of the first support arm and the second support arm, a limiting mechanism for limiting rotation is fixedly installed between the first support arm and the first rust remover, and between the second support arm and the second rust remover, and the first rust remover and the second rust remover can be magnetically attracted to the hull.
[0009] As an optional solution to the technical solution of the present application, a first shaft is fixed to one end of the first support arm, a first shaft hole adapted to the first shaft is opened at one end of the second support arm, the angle adjuster includes a first servo motor and a first worm and a first worm wheel engaged with the first worm, the first servo motor is fixed on the second support arm, the first servo motor is connected to the first worm, and the first worm is coaxially fixed to the first shaft.
[0010] As an optional solution to the technical solution of the present application document, the first rust remover and the second rust remover both include a shell, a wire brush, a drive motor, an electromagnetic suction cup and a tension spring. A cleaning chamber and an adsorption chamber are reserved on the lower surface of the shell. The wire brush is rotatably arranged in the cleaning chamber, and the steel wire of the wire brush protrudes from the outside of the shell. The drive motor is fixed in the shell and is transmission-connected to the wire brush. The electromagnetic suction cup is slidably inserted in the adsorption chamber, and multiple tension springs are fixed between the electromagnetic suction cup and the adsorption chamber.
[0011] As an optional solution to the technical solution of the present application document, the rotation regulator includes a support base, a connecting shaft fixed on the support base, a second servo motor, a second worm gear connected to the second servo motor and a second worm wheel engaged with the second worm gear, the connecting shaft is rotatably connected to the housing through a bearing, the second servo motor is fixed on the housing, a second shaft rod perpendicular to the connecting shaft is fixed on the support base, one end of the first support arm and the second support arm are provided with a second shaft hole adapted to the second shaft rod, and the second worm wheel is coaxially fixed to the connecting shaft.
[0012] As an optional solution to the technical solution of the present application document, the limiting mechanism includes a disc, an electric telescopic rod and a clamping block. The disc is coaxially fixed on the second shaft rod, two groups of the electric telescopic rods are fixed on the first support arm and the second support arm, and the clamping block is fixed on the piston rod of the electric telescopic rod. A plurality of clamping grooves adapted to the clamping block are distributed in an annular manner on the disc.
[0013] As an optional solution to the technical solution of this application document, a guide cover adapted to the adsorption bin is fixed on the upper surface of the electromagnetic suction cup, and a plurality of wheels are rotatably provided on the bottom of the shell.
[0014] As an optional solution to the technical solution of this application document, the angle adjuster, the rotation adjuster and the limiting mechanism are all covered with a protective shell.
[0015] 3. Beneficial effects
[0016] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:
[0017] 1. This application uses the obstacle-crossing function to enable the rust removal robot to easily handle various complex structures on the hull surface. This obstacle-crossing function reduces dependence on manual assistance and reduces the time spent on moving obstacles or adjusting the robot's position, thereby improving operational efficiency.
[0018] 2. In this application, the first support arm and the second support arm are driven by the angle adjuster to enable the first rust remover and the second rust remover to achieve overall peristaltic movement, and the two groups of the first rust remover and the second rust remover that move back and forth can achieve a better rust removal effect of the two machines. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 This is a schematic diagram of the overall structure of a ship surface rust removal robot with obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0020] Figure 2 A preferred embodiment of the present application discloses a hull surface rust removal robot with obstacle crossing function. Figure 1 A in the middle is an enlarged structural diagram;
[0021] Figure 3 This is a schematic diagram of the overall left side structure of a ship surface rust removal robot with obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0022] Figure 4 This is a schematic diagram of the overall bottom structure of a ship surface rust removal robot with obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0023] Figure 5 This is a schematic structural diagram of a first support arm, a second support arm, and an angle adjuster of a ship surface rust removal robot with an obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0024] Figure 6 This is a schematic structural diagram of the first support arm of a ship surface rust removal robot with obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0025] Figure 7 This is a schematic structural diagram of the second support arm of a ship surface rust removal robot with obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0026] Figure 8 This is a schematic diagram of the structure of a rotation regulator of a ship surface rust removal robot with obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0027] Figure 9 This is a schematic diagram of the shell structure of a ship surface rust removal robot with obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0028] Figure 10 This is a schematic diagram of the structure of an electromagnetic chuck of a ship surface rust removal robot with obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0029] Figure 11 This is a schematic diagram of the overall structure of a ship surface rust removal robot with obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0030] Figure 12 This is a schematic diagram of the overall obstacle-crossing structure of a ship surface rust removal robot with obstacle-crossing function disclosed in a preferred embodiment of the present application;
[0031] Figure 13 This is a schematic diagram of the overall structure of a ship surface rust removal robot with obstacle-crossing function after overcoming obstacles disclosed in a preferred embodiment of the present application;
[0032] Explanation of the numbers in the figure: 1. first support arm; 11. first shaft; 12. second shaft hole; 2. second support arm; 21. first shaft hole; 3. first rust remover; 31. housing; 311. cleaning chamber; 312. adsorption chamber; 32. wire brush; 33. drive motor; 34. electromagnetic suction cup; 341. guide cover; 35. tension spring; 36. wheel; 4. second rust remover; 5. angle adjuster; 51. first servo motor; 52. first worm; 53. first worm gear; 6. rotation adjuster; 61. support seat; 611. second shaft; 62. connecting shaft; 63. bearing; 64. second servo motor; 65. second worm; 66. second worm gear; 7. limiting mechanism; 71. disc; 711. slot; 72. electric telescopic rod; 73. block; 8. protective shell. DETAILED DESCRIPTION
[0033] The present application is further described in detail below with reference to the accompanying drawings.
[0034] A hull surface rust removal robot with an obstacle-crossing function comprises: a first support arm 1 and a second support arm 2, the first support arm 1 and one end of the second support arm 2 being rotatably connected, the other end of the first support arm 1 being rotatably connected to a first rust remover 3, the other end of the second support arm 2 being rotatably connected to a second rust remover 4, the first rust remover 3 and the second rust remover 4 having the same structure, an angle adjuster 5 for adjusting the angle of the first support arm 1 and the second support arm 2 being fixed on the second support arm 2, the first rust remover 3 and the second rust remover 4 being fixed with a rotation adjuster 6 for respectively adjusting the rotation of the first support arm 1 and the second support arm 2, a limiting mechanism 7 for limiting rotation being fixedly installed between the first support arm 1 and the first rust remover 3, and between the second support arm 2 and the second rust remover 4, the first rust remover 3 and the second rust remover 4 can be magnetically attracted to the hull.
[0035] Reference Figure 1 - Figure 13 , by setting the first rust remover 3 and the second rust remover 4, then the first rust remover 3 or the second rust remover 4 is magnetically attracted to the hull, the limiting mechanism 7 is separated from the first rust remover 3 and the second rust remover 4, for example, the first rust remover 3 is magnetically attracted to the hull, and the second rust remover 4 is not magnetically attracted, the angle adjuster 5 rotates forward to drive the first support arm 1 and the second support arm 2 to adjust the angle, because the first rust remover 3 is fixed on the hull, the acute angle between the first support arm 1 and the second support arm 2 gradually increases to an obtuse angle, at this time, through the first support arm 1 and the second support The support arm 2 can push the second rust remover 4 to move, and then the second rust remover 4 is magnetically attracted to the hull, the first rust remover 3 is separated from the hull, and the angle adjuster 5 is reversed to drive the first support arm 1 and the second support arm 2 to adjust the angle, and make the obtuse angle gradually smaller and become acute. In the process, the first rust remover 3 is pulled toward the second rust remover 4, and then the above steps are repeated to achieve the overall peristaltic movement. The two groups of the first rust remover 3 and the second rust remover 4 moving back and forth have a better double-machine rust removal effect. When encountering obstacles (refer to Figure 11 ), the first rust remover 3 approaches the obstacle and is magnetically attracted to the hull, and then the second rust remover 4 is pulled toward the first rust remover 3 through the angle adjuster 5, and then the rotation of the first rust remover 3 and the first support arm 1 is limited by the limit mechanism 7, and then the acute angle of the first support arm 1 and the second support arm 2 is gradually increased by adjusting the angle adjuster 5. At this time, the second support arm 2 tilts upward to lift the second rust remover 4, and after it is higher than the obstacle, the first support arm 1 and the second support arm 2 and the second rust remover 4 are driven to rotate by the rotation adjuster 6 on the first rust remover 3, and the second rust remover 4 passes over the obstacle (refer to Figure 12), and then adjust the angle between the first support arm 1 and the second support arm 2 through the angle adjuster 5, so that the second rust remover 4 is lowered, and then the limiting mechanism 7 on the first support arm 1 is separated from the first rust remover 3. Since the first support arm 1 is tilted toward the obstacle, the first support arm 1 is deflected at this time, and the second rust remover 4 is placed on the hull on the other side of the obstacle (refer to Figure 13 ), then two sets of limiting mechanisms 7 fix the first rust remover 3 on the first support arm 1, the second rust remover 4 is magnetically attracted to the hull, the first rust remover 3 is separated from the hull, and the second rust remover 4 is fixed to the second support arm 2. The angle adjuster 5 adjusts the acute angle between the first support arm 1 and the second support arm 2 to gradually increase, and the first support arm 1 and the first rust remover 3 are lifted and higher than the obstacle. At this time, the rotation adjuster 6 on the second rust remover 4 drives the first support arm 1 and the second support arm 2 and the first rust remover 3 to rotate, and after crossing the obstacle, the angle adjuster 5 drives the first support arm 1 and the second support arm 2 to approach each other, so that the first rust remover 3 is close to the hull and fits on the hull to complete the obstacle crossing.
[0036] A first shaft 11 is fixed to one end of the first support arm 1, and a first shaft hole 21 adapted to the first shaft 11 is opened at one end of the second support arm 2. The angle adjuster 5 includes a first servo motor 51 and a first worm 52 and a first worm wheel 53 engaged with the first worm 52. The first servo motor 51 is fixed on the second support arm 2, and the first servo motor 51 is connected to the first worm 52 for transmission. The first worm 52 is coaxially fixed to the first shaft 11.
[0037] Reference Figure 5 - Figure 7 The output shaft of the first servo motor 51 is coaxially fixed with the first worm 52, and the first shaft 11 is rotatably set in the first shaft hole 21. When the first servo motor 51 is energized and rotates forward, the first worm 52 drives the first worm wheel 53 and the first shaft 11 to rotate clockwise. At this time, the acute angle between the first support arm 1 and the second support arm 2 gradually increases. Conversely, when the first servo motor 51 rotates in the opposite direction, the first worm wheel 53 and the first shaft 11 rotate counterclockwise, and the acute angle between the first support arm 1 and the second support arm 2 gradually decreases.
[0038] The first rust remover 3 and the second rust remover 4 both include a shell 31, a wire brush 32, a drive motor 33, an electromagnetic suction cup 34 and a tension spring 35. A cleaning chamber 311 and an adsorption chamber 312 are reserved on the lower surface of the shell 31. The wire brush 32 is rotatably arranged in the cleaning chamber 311, and the steel wire of the wire brush 32 protrudes from the outside of the shell 31. The drive motor 33 is fixed in the shell 31 and is transmission-connected to the wire brush 32. The electromagnetic suction cup 34 is slidably inserted in the adsorption chamber 312, and multiple tension springs 35 are fixed between the electromagnetic suction cup 34 and the adsorption chamber 312.
[0039] Reference Figure 1 、 Figure 3 、 Figure 4 、 Figure 9 and Figure 10 The driving shaft of the wire brush 32 is coaxially fixed with the output shaft of the driving motor 33. When the wire brush 32 rotates, the steel wire protrudes from the outside of the shell 31 and can scratch the surface of the hull, so as to grind and remove rust on the surface of the hull through the rotation of the driving motor 33 and when the wire brush 32 rotates at high speed, and when the electromagnetic suction cup 34 is powered off and demagnetized, the elastic contraction force of the tension spring 35 causes the electromagnetic suction cup 34 to be stored in the adsorption chamber 312. When the electromagnetic suction cup 34 is powered on and magnetized, the electromagnetic suction cup 34 is magnetically attracted to the surface of the hull, and the tension spring 35 is elastically stretched to produce an elastic contraction force, and at this time, a part of the electromagnetic suction cup 34 is placed in the adsorption bin 312 to ensure the stability of the shell 31. At this time, under the action of the electromagnetic suction cup 34, the shell 31 can be magnetically fixed to the hull, and secondly, when the wire brush 32 rotates to remove rust from the hull surface, the shell 31 is magnetically attracted to the hull to press the wire brush 32 to the hull surface, thereby ensuring the rust removal effect of the wire brush 32 on the hull surface.
[0040] The rotary regulator 6 includes a support base 61, a connecting shaft 62 fixed on the support base 61, a second servo motor 64, a second worm 65 transmission-connected to the second servo motor 64, and a second worm wheel 66 meshing with the second worm 65. The connecting shaft 62 is rotatably connected to the housing 31 through a bearing 63, the second servo motor 64 is fixed on the housing 31, a second shaft rod 611 vertically arranged to the connecting shaft 62 is fixed on the support base 61, and one end of the first support arm 1 and the second support arm 2 are provided with a second shaft hole 12 adapted to the second shaft rod 611, and the second worm wheel 66 is coaxially fixed to the connecting shaft 62.
[0041] Reference Figure 2 and Figure 8 The second shaft 611 is arranged parallel to the first shaft 11, the second servo motor 64 is fixed on the housing 31, and the output shaft is coaxially fixed with the second worm 65. When the second servo motor 64 rotates forward, the second worm 65 drives the second worm wheel 66 and the connecting shaft 62 to rotate clockwise, and vice versa, it drives the connecting shaft 62 to rotate counterclockwise, and under the self-locking cooperation of the second worm 65 and the second worm wheel 66, the connecting shaft 62 and the housing 31 can be self-locked, and then the first support arm 1 or the second support arm 2 is driven to rotate through the rotation of the connecting shaft 62.
[0042] The limiting mechanism 7 includes a disc 71, an electric telescopic rod 72 and a clamping block 73. The disc 71 is coaxially fixed on the second shaft 611. The two groups of electric telescopic rods 72 are fixed on the first support arm 1 and the second support arm 2. The clamping block 73 is fixed on the piston rod of the electric telescopic rod 72. A plurality of clamping grooves 711 adapted to the clamping block 73 are distributed in an annular manner on the disc 71.
[0043] Reference Figure 2 and Figure 8 The block 73 is a triangular block, and the engaging groove is an arc surface structure to avoid interference with the disc 71 when the block 73 is inserted into the slot 711. A set of electric telescopic rods 72 are fixed on the first support arm 1 and the second support arm 2, and the piston rod is extended and retracted along the radial direction of the disc 71. When the block 73 is inserted into the slot 711, the support seat 61 and the shell 31 cannot rotate. When disengaged, the first support arm 1 and the second support arm 2 can deflect with the second shaft 611 as the axis.
[0044] A guide cover 341 adapted to the adsorption chamber 312 is fixed on the upper surface of the electromagnetic suction cup 34 , and a plurality of wheels 36 are rotatably provided on the bottom of the housing 31 .
[0045] Reference Figure 9 and Figure 10 When the electromagnetic suction cup 34 is magnetically attracted to the hull, the guide cover 341 is inserted into the adsorption chamber 312 to ensure the sliding connection between the electromagnetic suction cup 34 and the adsorption chamber 312 and reduce the overall weight. At the same time, the wheel 36 is axially rotatably set at the bottom of the shell 31 and is coaxially arranged with the first shaft 11 to fit the wheel 36 with the hull. When the whole body moves in a peristaltic manner, the friction coefficient between the shell 31 and the hull surface is reduced. At the same time, when the wheel 36 fits with the hull surface, the outer end of the wire brush 32 contacts the surface of the hull.
[0046] The angle adjuster 5 , the rotation adjuster 6 and the limiting mechanism 7 are all covered with a protective shell 8 .
[0047] Reference Figure 1 The angle adjuster 5, the rotation adjuster 6 and the limit mechanism 7 are protected by the protective shell 8 to prevent rust residue from falling into the tooth groove and causing the worm wheel and worm to get stuck.
[0048] Working principle: When the hull surface is being derusted, the electromagnetic suction cup 34 of the second rust remover 4 is energized and magnetized and is magnetically attracted to the hull, the electromagnetic suction cup 34 of the first rust remover 3 is deenergized and demagnetized, and the piston rod of the electric telescopic rod 72 is contracted, the clamping block 73 is disengaged from the clamping slot 711, and then the first servo motor 51 is energized and driven in the forward direction, the first worm 52 drives the first worm gear 53 and the first shaft 11 to rotate accordingly, at this time the acute angle between the first support arm 1 and the second support arm 2 gradually increases, and after reaching an obtuse angle, the distance between the two shells 31 gradually increases, and the first rust remover 3 moves ahead, at this time the inside of the shell 31 of the first rust remover 3 is driven by the driving motor 33 When the dynamic wire brush 32 rotates at high speed, the rust removal operation is performed on the hull surface through the wire brush 32. Then, the electromagnetic suction cup 34 in the shell 31 of the first rust remover 3 is energized and magnetized, and the electromagnetic suction cup 34 in the shell 31 of the second rust remover 4 is de-energized and demagnetized. The first servo motor 51 rotates in the opposite direction, so that the first worm 52 drives the first worm gear 53 and the first shaft 11 to rotate counterclockwise. At this time, the obtuse angle between the first support arm 1 and the second support arm 2 gradually decreases and becomes an acute angle. At this time, the second rust remover 4 can be pulled toward the first rust remover 3. Repeating the above steps can complete the creeping movement of the rust removal robot, and the rust removal by two machines is enhanced to increase the rust removal effect.
[0049] When encountering obstacles while traveling (refer to Figure 11 ), the first rust remover 3 is against the right side of the obstacle and is magnetically attracted to the hull, the first servo motor 51 rotates forward so that the first rust remover 3 and the second rust remover 4 are close to each other, and then the piston rod of the electric telescopic rod 72 is extended, the block 73 is stuck in the slot 711, and then the first servo motor 51 rotates reversely, so that the second support arm 2 is propped up, and the second rust remover 4 is lifted up. At the same time, after it is higher than the obstacle, the second servo motor 64 is powered on and drives the second worm 65 to rotate. When the second worm 65 rotates, it drives the second worm gear 66 and the connecting shaft 62 and the first support arm 1 to rotate, and makes the second rust remover 4 stop on the left side of the obstacle. At this time, the first servo motor 51 rotates reversely, and the second support arm 2 is lifted up. The support arm 2 is lowered, and the second rust remover 4 is lowered to the left side of the obstacle and attached to the hull. Then, the electromagnetic suction cup 34 on the second rust remover 4 is magnetically attracted to the hull, and the electromagnetic suction cup 34 on the first rust remover 3 is powered off and demagnetized. The first servo motor 51 rotates in the opposite direction, so that the first support arm 1 is propped up and the first rust remover 3 is higher than the obstacle. Then, the second support arm 2, the first support arm 1 and the first rust remover 3 are driven to rotate by the rotating regulator 6 and cross the obstacle. Finally, the first servo motor 51 rotates forward, so that the first support arm 1 is gradually lowered and the first rust remover 3 is attached to the hull. Finally, the electric telescopic rod 72 is retracted, and the clamping block 73 is disengaged from the clamping slot 711.
[0050] When the entire vessel is turning, it is only necessary to magnetically attach the first rust remover 3 or the second rust remover 4 to the hull, and then rotate the adjuster 6 to drive the first support arm 1 or the second support arm 2 to rotate.
Claims
1. A ship surface rust removal robot with obstacle-crossing function, characterized by: include: A first support arm (1) and a second support arm (2) are rotatably connected between one end of the first support arm (1) and the second support arm (2); the other end of the first support arm (1) is rotatably connected to a first rust remover (3); the other end of the second support arm (2) is rotatably connected to a second rust remover (4); the first rust remover (3) and the second rust remover (4) have the same structure; an angle adjuster (5) for adjusting the angle of the first support arm (1) and the second support arm (2) is fixed on the second support arm (2); the first rust remover (3) and the second rust remover (4) are both fixed with a rotation adjuster (6) for respectively adjusting the rotation of the first support arm (1) and the second support arm (2); a limiting mechanism (7) for limiting rotation is fixedly installed between the first support arm (1) and the first rust remover (3), and between the second support arm (2) and the second rust remover (4); the first rust remover (3) and the second rust remover (4) can be magnetically attracted to the hull.
2. The ship surface rust removal robot with obstacle-crossing function according to claim 1, characterized in that: A first shaft (11) is fixed to one end of the first support arm (1), a first shaft hole (21) adapted to the first shaft (11) is opened at one end of the second support arm (2), the angle adjuster (5) comprises a first servo motor (51), a first worm (52) and a first worm wheel (53) meshed with the first worm (52), the first servo motor (51) is fixed to the second support arm (2), the first servo motor (51) is transmission-connected to the first worm (52), and the first worm (52) is coaxially fixed to the first shaft (11).
3. The ship surface rust removal robot with obstacle-crossing function according to claim 1, characterized in that: The first rust remover (3) and the second rust remover (4) both comprise a housing (31), a wire brush (32), a drive motor (33), an electromagnetic suction cup (34) and a tension spring (35); a cleaning chamber (311) and an adsorption chamber (312) are reserved on the lower surface of the housing (31); the wire brush (32) is rotatably arranged in the cleaning chamber (311), and the steel wire of the wire brush (32) protrudes from the outside of the housing (31); the drive motor (33) is fixed in the housing (31) and is transmission-connected to the wire brush (32); the electromagnetic suction cup (34) is slidably inserted in the adsorption chamber (312); and a plurality of tension springs (35) are fixed between the electromagnetic suction cup (34) and the adsorption chamber (312).
4. The ship surface rust removal robot with obstacle-crossing function according to claim 3, characterized in that: The rotary regulator (6) comprises a support base (61), a connecting shaft (62) fixed on the support base (61), a second servo motor (64), a second worm (65) connected to the second servo motor (64) in a transmission manner, and a second worm wheel (66) meshed with the second worm (65); the connecting shaft (62) is rotatably connected to the housing (31) via a bearing (63); the second servo motor (64) is fixed on the housing (31); a second shaft (611) perpendicularly arranged to the connecting shaft (62) is fixed to the support base (61); one end of each of the first support arm (1) and the second support arm (2) is provided with a second shaft hole (12) adapted to the second shaft (611); and the second worm wheel (66) is coaxially fixed to the connecting shaft (62).
5. The ship surface rust removal robot with obstacle-crossing function according to claim 1, characterized in that: The limiting mechanism (7) comprises a disc (71), an electric telescopic rod (72) and a clamping block (73); the disc (71) is coaxially fixed on the second shaft (611); two groups of the electric telescopic rods (72) are fixed on the first support arm (1) and the second support arm (2); the clamping block (73) is fixed on the piston rod of the electric telescopic rod (72); and a plurality of clamping grooves (711) adapted to the clamping blocks (73) are distributed annularly on the disc (71).
6. The ship surface rust removal robot with obstacle-crossing function according to claim 3, characterized in that: A guide cover (341) adapted to the adsorption bin (312) is fixed on the upper surface of the electromagnetic suction cup (34), and a plurality of wheels (36) are rotatably provided on the bottom of the housing (31).
7. The ship surface rust removal robot with obstacle-crossing function according to claim 1, characterized in that: The angle adjuster (5), the rotation adjuster (6) and the limiting mechanism (7) are all covered with a protective shell (8).