Flat bottom rust removal operation vehicle for ship

Abstract

The utility model discloses a flat bottom rust removal operation vehicle for a ship. The flat bottom rust removal operation vehicle comprises a vehicle body, a power module, a rotating motor, a telescopic electric cylinder, a straight arm assembly, a cleaning disc assembly and a wireless remote controller. The power module, the rotating motor and the telescopic electric cylinder are arranged on the vehicle body, and the power module provides kinetic energy for the operation vehicle and is electrically connected with the rotating motor, the telescopic electric cylinder and the cleaning disc assembly; one end of the straight arm assembly is connected with the telescopic electric cylinder, and the other end of the straight arm assembly is connected with the cleaning disc assembly; the middle part of the straight arm assembly is connected with the rotating motor; the telescopic electric cylinder is used for driving the straight arm assembly to move back and forth; the rotating motor is used for driving the straight arm assembly to axially rotate; the wireless remote controller is in communication connection with the power module and used for controlling the vehicle body, the efficiency of ship flat bottom rust removal operation can be improved, meanwhile, the operation risk is reduced, and the manpower requirement is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to ship rust removal technical field, concretely relates to a flat bottom rust removal operation vehicle for ship. BACKGROUND

[0002] In recent years, the global shipbuilding industry continues to flourish, and countries have increased investment in the marine economy. The booming shipbuilding industry has made the demand for dock efficiency in the dock increasingly high, and the demand for high-pressure water operation efficiency has increased.

[0003] Usually, after the ship enters the dock, the ship flat bottom rust removal relies on manual holding of small rust removal spray disc for rust removal operation, which is low in efficiency and has safety hazards. For ship hull flat bottom high-pressure water operation main equipment, semi-automatic high-pressure water spray disc is matched with flat bottom trolley, and the trolley relies on pure manpower for driving, which has the following problems and shortcomings: when the ship flat bottom area high-pressure water operation is carried out, due to the narrow space, limited vision and large water mist, the traditional trolley operation has great safety hazards. Low operation efficiency: manual driving leads to slow operation speed and low efficiency (less than 20 square / meter per hour). High labor intensity: the operation personnel need to continuously push the equipment, and the labor intensity is high. High manpower demand: more manpower is needed to complete the operation (2 people per table). UTILITY MODEL CONTENTS

[0004] The utility model aims to overcome at least one defect of the prior art, provide a flat bottom rust removal operation vehicle for ship, to improve the efficiency of ship flat bottom rust removal operation, reduce operation risk and manpower demand.

[0005] The utility model provides a flat bottom rust removal operation vehicle for ship, which comprises a vehicle body, a power module, a rotary motor, an extension electric cylinder, a straight arm assembly, a cleaning disc assembly and a wireless remote controller, wherein the power module, the rotary motor and the extension electric cylinder are arranged on the vehicle body, the power module provides kinetic energy for the operation vehicle, and is electrically connected with the rotary motor, the extension electric cylinder and the cleaning disc assembly; one end of the straight arm assembly is connected with the extension electric cylinder, and the other end is connected with the cleaning disc assembly; the middle part of the straight arm assembly is connected with the rotary motor; the extension electric cylinder is used for driving the straight arm assembly to move forward and backward; the rotary motor is used for driving the straight arm assembly to rotate axially; and the wireless remote controller is in communication connection with the power module and is used for controlling the vehicle body.

[0006] Generally, after the ship is docked, the ship flat bottom rust removal relies on manual holding of small rust removal spray disc to carry out the rust removal operation, the efficiency is low, and there is a safety hazard, and the utility model technical solves the above problems, and provides a kind of for ship flat bottom rust removal remote control operation vehicle and method, after the ship is docked, operator controls operation vehicle by wireless remote controller and carries out ship flat bottom superhigh pressure water rust removal operation, efficiency is higher, while reducing the burden of operator, it is safer and more reliable.The utility model's flat bottom rust removal operation vehicle mainly utilizes power module to provide power supply, and the control of entire flat bottom rust removal operation vehicle is realized by remote control mode.Communication control module can be arranged on the vehicle body, and communication connection is realized with remote controller in remote.In the flat bottom area of ship, due to small space and limited sight, there is a great safety hazard when the traditional flat bottom trolley carries out superhigh pressure water operation.The flat bottom rust removal operation vehicle can be controlled by remote control, so that the operator can be away from the spray opening of superhigh pressure water spray disc, thereby reducing the risk of accidents.

[0007] The straight arm assembly of the utility model is made of high-strength steel, and a pin shaft is arranged in the middle and end of the straight arm, which can be used to connect a rotary motor and a telescopic electric cylinder; the rotary motor is installed on the vehicle body, and is mainly used to control the straight arm assembly and the cleaning disc assembly to swing left and right with an amplitude of ±30°; the telescopic electric cylinder is used to connect the rotary motor and the straight arm assembly, and is mainly used to control the telescopic electric cylinder to realize the height operation range of the straight arm and the cleaning disc assembly, with a minimum operation height of 1450 mm and a maximum operation height of 2000 mm, and an operation range of up to 550 mm, so that the robot vehicle body can reach a minimum range of 1450 mm, which is suitable for most docks and has high universality.

[0008] Further, the cleaning disc assembly sequentially includes a first support frame, a first driving assembly, a support disc, a cleaning disc and a tool bit from bottom to top; the first support frame is connected with the straight arm assembly; one end of the first driving assembly is connected with the first support frame, and the other end penetrates through the support disc and the cleaning disc to connect the tool bit, so as to drive the tool bit to rotate; the bottom of the support disc is movably connected with the first support frame, and the upper side is connected with the cleaning disc. Therefore, the cleaning disc assembly includes the tool bit, the sealing brush and the roller assembly, which realize the integration of rust removal and splash prevention.

[0009] Preferably, a plurality of nozzles are arranged on the tool bit to spray superhigh pressure water, and the first driving assembly is a hydraulic motor. More preferably, the tool bit has 7-9 nozzles with a diameter of 2 mm to spray superhigh pressure water, and the first driving assembly drives the tool bit to rotate, so as to quickly remove the paint on the surface of the flat bottom of the ship body.

[0010] Further, the flat bottom rust removal operation vehicle further comprises a roller assembly; the roller assembly comprises a first fixed sheet, a first connecting frame and a roller piece from bottom to top in sequence; the first connecting frame is in the shape of "Z"; the bottom of the first connecting frame is fixed with the supporting disc through the first fixed sheet; the top of the first connecting frame is connected with the roller piece; and the roller piece is located at the outer side of the cleaning disc. In the equipment operation, the roller assembly can ensure that the cleaning disc assembly moves smoothly at the required speed.

[0011] Further, the flat bottom rust removal operation vehicle further comprises a buffer spring, which is sleeved on the outer side of the first driving assembly, connected with the first supporting frame at the bottom and connected with the bottom of the supporting disc at the top.

[0012] More preferably, the flat bottom rust removal operation vehicle further comprises a balance spring, which is connected with the outer side of the first supporting frame at the bottom and connected with the side edge of the supporting disc at the top; and the bottom of the balance spring is inclined from inside to outside towards the top, and the included angle with the horizontal plane is α, wherein 90° < α ≤ 150°.

[0013] The balance spring and the buffer spring of the utility model can also ensure that the cleaning disc assembly can automatically adjust the height or angle when encountering a position with uneven structure, so as to ensure normal operation. The balance spring and the buffer spring can realize elastic adjustment of the height between the first supporting frame and the cleaning disc. The balance spring adopts a cable-stayed mode, can realize rapid rebound when the supporting disc drives the cleaning disc to tilt and shake, and ensures the overall balance.

[0014] Further, the top of the cleaning disc is provided with a sealing brush. The sealing brush can ensure that the water sprayed in the rust removal process of the super-high pressure water does not splash, can release the pressure in the cleaning disc, and can better avoid the uneven obstacles on the surface of the ship body.

[0015] Further, the power module comprises a generator and a battery, which are installed on one side of the vehicle body and mainly provide power for the robot to provide walking, steering, straight arm and cleaning disc assembly rotation and lifting functions.

[0016] The cleaning disc assembly is connected with the straight arm assembly by a rotating joint and a spring, and more preferably, the cleaning disc assembly can swing within a range of 15 degrees left and right and within a range of 1-2 degrees in the axial direction (the axial swing is realized by pulling of the strong spring) to complete the adhesion with the flat bottom of the ship hull, a periphery of the frame of the cleaning disc assembly is provided with a ring of brushes to form a seal and a soft connection between the cleaning disc and the working surface, 22 spray openings are arranged on the cutter head in the cleaning disc assembly, the spray openings are at a certain angle with the vertical plane, and the component force of the high-pressure water jet in the linear direction of the spray openings drives the cutter head to rotate; the wireless remote controller is in communication connection with the power module and is used for controlling the vehicle body, so that the efficiency of the ship flat bottom rust removal operation can be improved, the operation risk can be reduced, and the manpower demand can be reduced.

[0017] The utility model also provides a kind of operation method of flat bottom rust removal operation vehicle, and the operation method includes the following steps:

[0018] S1: starting flat bottom rust removal operation vehicle: operating personnel first starts power module: including generator and battery, provides necessary power for flat bottom rust removal operation vehicle;

[0019] S2: remote control operation: operating personnel uses wireless remote controller, controls flat bottom rust removal operation vehicle to travel and turn, so that it reaches specified operation area.

[0020] S3: adjusting operation height: operating telescopic cylinder by remote controller, adjusting the operation height of straight arm assembly and cleaning disc assembly, so that it adapts to the flat bottom structure of different ship bodies, and operation height range is from 1450mm to 2000mm;

[0021] S4: control cleaning disc assembly: operating personnel controls rotating motor using remote controller, so that cleaning disc assembly swings left and right under the driving of straight arm assembly, to cover wider operation area;

[0022] S5: starting rust removal operation: after cleaning disc assembly reaches appropriate position and angle, operating personnel starts hydraulic motor on cleaning disc assembly, so that cutter head rotates and sprays superhigh pressure water, and rust removal operation is carried out by 6-9 2mm nozzles;Superhigh pressure water is carried on operation vehicle.

[0023] S6: operation monitoring: in the whole operation process, operating personnel monitors the working state of cleaning disc assembly by remote controller, to ensure the continuity and uniformity of rust removal operation;

[0024] S7: obstacle avoidance: when cleaning disc assembly encounters uneven obstacle on the surface of ship body, balance spring and buffer spring automatically adjust the height or angle of cleaning disc assembly, sealing brush prevents water splashing at the same time, to ensure the continuity and safety of operation;

[0025] S8: The operation is completed: after the rust removal operation is completed, the operator moves the flat-bottomed rust removal operation vehicle to a safe area through the remote controller, and closes the power module, thereby ending the operation.

[0026] Further, the generator in the step S1 is a diesel range extender, and the battery is a lead-acid battery; the power system for the flat-bottomed rust removal operation vehicle to walk in the step S2 is a 1.5kw brushless motor; the steering system of the flat-bottomed rust removal operation vehicle is a 400w closed-loop stepping motor; the rotary motor is a 600w rotary mechanism; in the step S3, the telescopic electric cylinder is a 600w lifting electro-hydraulic cylinder; and the swing range of the cleaning disc assembly in the step S4 is ±30°.

[0027] The flat-bottomed rust removal operation vehicle system is composed of a range extender power supply system and an electric actuator, and the signals of the rocker and the switch of the remote controller are transmitted to the receiver through communication, and the receiver transmits the signals on the panel of the remote controller to the controller of the flat-bottomed rust removal operation vehicle through CAN / 485 bus protocol. The controller of the flat-bottomed rust removal operation vehicle analyzes the panel data brought by the communication protocol, and splits the data into control signals such as walking, steering, rotating, lifting, lighting and the like. Among them: the walking is controlled by the 485 protocol to drive the brushless motor driver to work, and the brushless motor is driven to work. The steering is controlled by the PWM signal to control the closed-loop stepping rotation to a specified number of turns, and the steering wheel is turned through mechanical structure transmission. The rotation is controlled by the on-off signal to control the forward and reverse rotation of the motor, and the clockwise / counter-clockwise rotation of the rotary mechanism is completed through mechanical structure transmission. The lifting mechanism is controlled by the on-off signal to control the forward and reverse rotation of the motor, and the oil cylinder is extended and retracted through the hydraulic mechanism to complete the lifting or lowering action. The lighting is controlled by the on-off signal to control the LED to turn on and off.

[0028] Compared with the prior art, the flat-bottomed rust removal operation vehicle has the following beneficial effects:

[0029] The flat-bottomed rust removal operation vehicle of the utility model is used in the flat-bottomed area of a ship, and when the super-high pressure water operation is performed in the flat-bottomed area of the ship, the traditional trolley operation has great safety hazards due to the narrow space, limited vision and large water mist. The remote control operation vehicle can be operated within a range of several meters, so that the operator can observe the spray port of the super-high pressure water spray disc, and direct contact with the dangerous area is avoided, thereby reducing the risk of accidents. Meanwhile, the hands of the operator are freed, and the labor intensity of the operator is reduced. In addition, the efficiency of the super-pressure water full-scrapping operation in the flat-bottomed area is significantly improved, and the urgent needs of the ship repair dock are met. The utility model is purely electric, energy-saving and environment-friendly, and the parts are simple and easy to maintain.

[0030] The efficiency of the ultra-high pressure water full-scrapping operation in the prior art is 20 square meters per hour, and through the test of multiple dock times of the test sample, the efficiency of the flat bottom remote control operation vehicle can be stabilized at 40 square meters per hour, and the operation efficiency can be increased by 100%.

[0031] In the prior art, due to the large operation intensity, a single flat bottom handcart needs strong workers to perform two-person rotation to maintain long-time continuous operation. The utility model is controlled through a remote controller, and the operation personnel only need to adjust the direction on the remote controller, thereby saving the hands of the operation personnel, and ordinary adults can perform long-time continuous operation. The operation vehicle of the utility model can replace one flat bottom handcart and reduce one operation worker. The remote control operation vehicle is controlled through the remote controller, the operation is more uniform, the operation quality is consistent, the rework problem caused by various quality dissatisfaction caused by human emotions and inattention is avoided, and the time cost caused by rework is saved. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a working state schematic view of the flat bottom rust removal operation vehicle of the utility model.

[0033] Figure 2 It is a minimum operation height schematic view of the flat bottom rust removal operation vehicle of the utility model.

[0034] Figure 3 It is a maximum operation height schematic view of the flat bottom rust removal operation vehicle of the utility model.

[0035] Figure 4 It is an explosion structure schematic view of the flat bottom rust removal operation vehicle of the utility model.

[0036] Figure 5 It is a straight arm assembly swing angle schematic view of the flat bottom rust removal operation vehicle of the utility model.

[0037] Figure 6 It is a cleaning disc assembly three-dimensional structure schematic view of the flat bottom rust removal operation vehicle of the utility model.

[0038] Figure 7 It is a cleaning disc assembly test structure schematic view of the flat bottom rust removal operation vehicle of the utility model.

[0039] Figure 8 It is another perspective three-dimensional structure schematic view of the cleaning disc assembly of the flat bottom rust removal operation vehicle of the utility model. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application are described in more detail with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The described embodiments are part of the present application, not all embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. The embodiments of the present application are described in detail below with reference to the drawings.

[0041] It should be noted that if the present application embodiments involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0042] In addition, if the present application embodiments involve descriptions such as "first", "second", etc., the "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but must be based on the realization of a person skilled in the art, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0043] Embodiment 1

[0044] The present embodiment provides a flat bottom rust removal operation vehicle for a ship, as shown in Figure 1 The operation process of the flat bottom rust removal vehicle is shown, the ship body 100 is placed on the dock pier 200, and the flat bottom rust removal operation vehicle 300 operates below the flat bottom of the ship body. In combination with Figures 2-4 The flat bottom rust removal operation vehicle 300 includes a vehicle body 1, a power module 2, a rotary motor 3, an extension electric cylinder 4, a straight arm assembly 5, a cleaning disc assembly 6, and a wireless remote controller not marked in the figure; the straight arm assembly 5 of the present application is made of high-strength steel straight arm, and the straight arm is provided with a pin shaft connection in the middle and the end, which can be used to connect the rotary motor 3 and the extension electric cylinder 4; in combination with Figure 5As shown, the rotating motor 3 is installed on the vehicle body 1, mainly to control the straight arm assembly 5 and the cleaning disc assembly 6 to swing left and right, with an amplitude of ±30°. The telescopic cylinder is used to connect the rotating motor 3 and the straight arm assembly 5, mainly to realize the height operation amplitude of the straight arm and the cleaning disc assembly 6 by controlling the telescopic cylinder 4, the minimum operation height is 1450mm, the maximum operation height is 2000m, and the operation amplitude can reach 550mm, and the robot vehicle body 1 amplitude can reach 1450mm at the lowest, which is suitable for most docks and has very strong universality.

[0045] The power module 2 includes a generator and a battery, which is installed on one side of the vehicle body 1, mainly to provide power for the robot to provide functions such as walking, steering, rotating and lifting of the straight arm and the cleaning disc assembly 6. The wireless remote controller is in communication connection with the power module 2, and is used to control the vehicle body 1. After the ship enters the dock, the operator controls the work vehicle to carry out ship flat bottom super-high pressure water rust removal work through the wireless remote controller, which is high in efficiency, reduces the burden on the operator, and is safer and more reliable. The flat bottom rust removal work vehicle mainly uses the power module 2 to provide power, and realizes the control of the whole flat bottom rust removal work vehicle through remote control. A communication control module can be arranged on the vehicle body 1 and is in communication connection with the remote controller. In the flat bottom area of the ship, due to the narrow space and limited vision, the traditional flat bottom trolley has great safety hazards when carrying out super-high pressure water operation. The flat bottom rust removal work vehicle can be remotely controlled to let the operator be away from the spray opening of the super-high pressure water spray disc, so as to avoid direct contact of the operator with the dangerous area, thereby reducing the risk of accidents.

[0046] As shown in the figure, Figures 6-7 As shown, the cleaning disc assembly 6 includes a first support frame 61, a hydraulic motor 62, a support disc 63, a cleaning disc 64, a cutter head 65, a buffer spring 66, a balance spring 67 and a roller assembly 68 from bottom to top; the first support frame 61 is connected with the straight arm assembly 5; one end of the hydraulic motor 62 is connected with the first support frame 61, and the other end penetrates through the support disc 63 and the cleaning disc 64 to connect the cutter head 65, so as to drive the cutter head 65 to rotate; the bottom of the support disc 63 is movably connected with the first support frame 61, and the upper side is connected with the cleaning disc 64, and the top of the cleaning disc 64 is provided with a sealing brush. The cutter head 65 has seven nozzles of 2mm, which are used to spray super-high pressure water, and the hydraulic motor 62 drives the cutter head 65 to rotate, so as to ensure that the paint on the surface of the flat bottom of the ship body is quickly removed. The buffer spring 66 is sleeved outside the hydraulic motor 62, and the bottom is connected with the first support frame 61, and the top is connected with the bottom of the support disc 63. The bottom of the balance spring 67 is connected with the outside of the first support frame 61, and the top is connected with the side of the support disc 63; the bottom of the balance spring 67 is inclined from inside to outside, and the included angle with the horizontal plane is α, which is 100°, and the cleaning disc assembly has the best adaptability.

[0047] As shown in Figure 8 , the first support frame 61 includes a small arm 611, a bottom plate 612, a first support plate 613, a bolt connecting piece 614 and a second support plate 615; one end of the small arm 611 is fixed with the straight arm assembly 5; the other end is fixed with the bottom plate 612; the first support plate 613 has two groups, which are vertically arranged on both sides of the bottom plate 612; the second support plate 615 also has two groups, one end of which is fixed with the bottom of the support disc 63, and the other end is connected with the first support plate 613 through the bolt connecting piece 614; and the connecting position of the first support plate 613 is provided with a clamping groove 10, which can realize the up and down sliding of the first support plate 613 and the second support plate 615. The bottom of the buffer spring 66 is fixed with the bottom plate 612, and the upper part is connected with the support disc 63; under the rebounding force of the buffer spring 66, the bolt connecting piece 614 slides to the top of the clamping groove 10; when there is downward pressure during operation, the bolt connecting piece 614 drives the second support plate 615 to slide downward to adapt to different operation heights.

[0048] As shown in Figures 7-8 , the roller assembly 68 includes a first fixed sheet 681, a first connecting frame 682 and a roller piece 683 from bottom to top; the first connecting frame 682 is in the shape of "Z" letter, the bottom of the first connecting frame 682 is fixed with the support disc 63 through the first fixed sheet 681; the top of the first connecting frame 682 is connected with the roller piece 683; the roller piece 683 is located outside the cleaning disc 64. During the operation of the equipment, the roller assembly 68 can ensure that the cleaning disc assembly 6 moves smoothly at the required speed.

[0049] Embodiment 2

[0050] The embodiment also provides a working method of the flat bottom derusting working vehicle, which comprises the following steps:

[0051] S1: starting the flat bottom derusting working vehicle: the operator first starts the power module 2: including the generator and the battery, to provide the necessary power for the flat bottom derusting working vehicle; wherein the generator is a diesel range extender, and the battery is a lead-acid battery

[0052] S2: remote control: the operator uses a wireless remote controller to control the walking and steering of the flat bottom derusting working vehicle, so that it reaches the specified working area, wherein the walking power system is a 1.5kw brushless motor; the steering power system of the flat bottom derusting working vehicle is a 400w closed-loop stepping motor;

[0053] S3: Adjust the working height: by operating the telescopic electric cylinder 4 through the remote controller, the telescopic electric cylinder 4 is a 600w lifting electro-hydraulic cylinder, the working height of the straight arm assembly 5 and the cleaning disc assembly 6 is adjusted to adapt to the flat bottom structure of different hulls, and the working height ranges from 1450mm to 2000mm;

[0054] S4: Control the cleaning disc assembly 6: by using the remote controller, the operator can control the rotating motor 3 to make the cleaning disc assembly 6 swing left and right under the drive of the straight arm assembly 5, and the swing amplitude reaches ± 30° to cover a wider working area;

[0055] S5: Start the rust removal operation: after the cleaning disc assembly 6 reaches the appropriate position and angle, the operator starts the hydraulic motor 62 on the cleaning disc assembly 6 to make the cutter head 65 rotate and spray super-high pressure water, and the rust removal operation is carried out through 7 2mm nozzles;

[0056] S6: Operation monitoring: during the entire operation process, the operator monitors the working state of the cleaning disc assembly 6 through the remote controller to ensure the continuity and uniformity of the rust removal operation;

[0057] S7: Obstacle avoidance: when the cleaning disc assembly 6 encounters uneven obstacles on the surface of the hull, the balance spring 67 and the buffer spring 66 automatically adjust the height or angle of the cleaning disc assembly 6, and the sealing brush prevents water from splashing at the same time, ensuring the continuity and safety of the operation;

[0058] S8: Operation completion: after the rust removal operation is completed, the operator moves the flat bottom rust removal vehicle to a safe area through the remote controller, and turns off the power module 2 to end the operation.

[0059] Through the above embodiment, the remote control operation vehicle created by the present technology can effectively improve the efficiency of the flat bottom rust removal operation of the ship, reduce the operation risk, and reduce the demand for manpower, and provides a safer and more efficient solution for the ship maintenance industry.

[0060] The flat bottom rust removal operation vehicle system in the embodiment is composed of a range extender power supply system and an electric actuator, signals of a rocker and a switch of a remote controller are transmitted to a receiver through communication, the receiver transmits panel signals of the remote controller to a flat bottom rust removal operation vehicle controller through a CAN / 485 bus protocol. The flat bottom rust removal operation vehicle controller analyzes panel data brought by the communication protocol, and splits the data into walking, steering, rotating, lifting, lighting and other control signals. Among them: walking controls a brushless motor driver to work through the 485 protocol, and drives the brushless motor to run. Steering controls a closed-loop stepping rotation to rotate a specified number of turns through a PWM signal, and makes the steering wheel turn through mechanical structure transmission. Rotating controls the forward and reverse rotation of the motor through the on-off signal, and makes the slewing mechanism rotate clockwise / counterclockwise through mechanical structure transmission. The lifting mechanism controls the forward and reverse rotation of the motor through the on-off signal, and makes the oil cylinder extend and retract through hydraulic mechanism transmission, to complete the lifting or lowering action. Lighting controls the on-off of the LED through the on-off signal. In summary, the flat bottom rust removal operation vehicle of the utility model has obvious necessity to replace manpower to carry out superhigh pressure water operation. Through the application of automatic control technology, the operation efficiency can be improved, the operation safety can be ensured, the labor cost can be saved, and the sustainable development can be promoted. The existing remote control technology in the current market can ensure that the flat bottom rust removal operation vehicle can continuously and stably operate. The flat bottom rust removal operation vehicle will play an increasingly important role in the superhigh pressure water operation of the flat bottom area of the ship.

[0061] The above embodiments are only used to illustrate the technical solutions of the utility model and not limit the utility model. Although the utility model is described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solutions of the utility model can be modified or replaced without departing from the spirit and scope of the utility model. Those skilled in the art can make other changes within the spirit of the utility model and use them in the design of the utility model, as long as they do not deviate from the technical effects of the utility model. These changes made according to the spirit of the utility model should be included in the scope of protection of the utility model.

Claims

1. A flat-bottomed rust removal vehicle for ships, characterized in that, It includes a vehicle body (1), a power module (2), a rotary motor (3), a telescopic electric cylinder (4), a straight arm assembly (5), a washing disc assembly (6), and a wireless remote control; The power module (2), rotary motor (3), and telescopic electric cylinder (4) are mounted on the vehicle body (1). The power module (2) provides kinetic energy to the work vehicle and is electrically connected to the rotary motor (3), telescopic electric cylinder (4), and cleaning disc assembly (6). One end of the straight arm assembly (5) is connected to the telescopic electric cylinder (4), and the other end is connected to the cleaning disc assembly (6); the middle part of the straight arm assembly (5) is connected to the rotary motor (3); The telescopic electric cylinder (4) is used to drive the straight arm assembly (5) to move back and forth; the rotary motor (3) is used to drive the straight arm assembly (5) to rotate axially; The wireless remote controller is communicatively connected to the power module (2) and is used to control the vehicle body (1).

2. The flat-bottomed rust removal vehicle according to claim 1, characterized in that, The cleaning disc assembly (6) includes, from bottom to top, a first support frame (61), a first drive assembly, a support disc (63), a cleaning disc (64), and a blade (65); The first support frame (61) is connected to the straight arm assembly (5); One end of the first drive component is connected to the first support frame (61), and the other end passes through the support plate (63) and the cleaning plate (64) and is connected to the cutter head (65) to drive the cutter head (65) to rotate; The bottom of the support plate (63) is movably connected to the first support frame (61), and the top is connected to the cleaning plate (64).

3. The flat-bottomed rust removal vehicle according to claim 2, characterized in that, The cutter head (65) is provided with multiple sets of nozzles for spraying ultra-high pressure water, and the first drive component is a hydraulic motor (62).

4. The flat-bottomed rust removal vehicle according to claim 2, characterized in that, It also includes a roller assembly (68); the roller assembly (68) includes, from bottom to top, a first fixing plate (681), a first connecting frame (682), and a roller component (683); the first connecting frame (682) is Z-shaped, and the bottom of the first connecting frame (682) is fixed to the support plate (63) through the first fixing plate (681); the top of the first connecting frame (682) is connected to the roller component (683); the roller component (683) is located on the outside of the cleaning plate (64).

5. The flat-bottomed rust removal vehicle according to claim 2, characterized in that, It also includes a buffer spring (66), which is sleeved on the outside of the first drive assembly, connected at the bottom to the first support frame (61), and connected at the top to the bottom of the support plate (63).

6. The flat-bottomed rust removal vehicle according to claim 5, characterized in that, It also includes a balance spring (67), the bottom of which is connected to the outside of the first support frame (61), and the top of which is connected to the side of the support plate (63); the bottom of the balance spring (67) is inclined from the inside to the outside towards the top, and the angle between it and the horizontal plane is α, where 90°<α≤150°.

7. The flat-bottomed rust removal vehicle according to claim 6, characterized in that, The cleaning tray (64) is equipped with a sealing brush on top.

8. The flat-bottomed rust removal vehicle according to any one of claims 1 to 7, characterized in that, The power module (2) includes a generator and a battery, which are used to provide the vehicle with the ability to travel, steer, rotate the straight boom assembly (5) and the cleaning disc assembly (6) and lift.

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