A ship laser rust removal system

Abstract

This utility model relates to the field of ship rust removal technology, specifically a ship laser rust removal system. The system includes a working platform mounted on a mobile module; a robotic arm on the platform, equipped with a laser rust removal module; a central control system and an environmental detection and adaptive adjustment module connected to the central control system. The environmental detection and adaptive adjustment module acquires environmental data of the rust removal location, and the central control system obtains the optimal laser operation parameters based on the environmental data. The platform also includes a dust collection and treatment module to collect dust generated during rust removal. This combination of structures enables precise rust removal on complex ship surfaces, effectively expands the operating range, and provides environmental adaptive adjustment capabilities, improving dust collection efficiency during the rust removal process.

Description

Technical Field

[0001] This utility model relates to the field of ship rust removal technology, specifically a ship laser rust removal system. Background Technology

[0002] When ships navigate in the marine environment, their hulls are constantly exposed to complex conditions such as seawater, salt spray, humidity fluctuations, and marine organism attachment, making them highly susceptible to electrochemical corrosion and the formation of rust. Rust not only damages the protective coating on the ship's hull, reducing the strength and service life of the ship's structure, but also increases the ship's drag, leading to increased fuel consumption and potentially posing a risk of marine environmental pollution.

[0003] Currently, ship rust removal mainly employs traditional mechanical rust removal, chemical rust removal, and high-pressure water jet rust removal technologies. Mechanical rust removal techniques, such as sandblasting and shot blasting, while highly efficient, generate large amounts of dust during operation, severely polluting the environment and harming the health of operators. Furthermore, the surface roughness after rust removal is difficult to precisely control, easily causing excessive wear to the ship's substrate. Chemical rust removal techniques, such as acid pickling, remove rust by reacting chemical reagents with the rust. However, these chemicals are highly corrosive, easily causing secondary corrosion to the ship's hull. Moreover, wastewater treatment is difficult and costly, posing a serious environmental pollution hazard. High-pressure water jet rust removal primarily uses high-pressure water jets to impact the rust layer. While dust-free, it consumes large amounts of water and has limited effectiveness against stubborn rust. It can also leave the hull surface damp, accelerating subsequent corrosion. In summary, traditional ship rust removal methods suffer from the aforementioned drawbacks.

[0004] With the development of laser technology, laser rust removal has gradually been applied in the field of industrial rust removal due to its advantages such as non-contact, pollution-free, high rust removal efficiency, and minimal damage to the substrate. However, existing laser rust removal devices still have many shortcomings in ship rust removal operations: First, the surface shape of ship hulls is complex, including different structures such as planes, curved surfaces, welds, and corners. The laser emitter heads of existing laser rust removal devices are difficult to adapt to different positions, resulting in many blind spots and incomplete rust removal. Second, ship rust removal operations are mostly carried out outdoors or in docks, where the ambient light intensity, temperature, and humidity vary greatly. Existing devices lack effective environmental adaptive adjustment functions, and the laser energy is easily affected by environmental interference, resulting in unstable rust removal effects. Third, existing laser rust removal devices are mostly fixed structures, which cannot meet the rust removal needs of large ships at different heights and positions, limiting operational flexibility and coverage. Fourth, during the rust removal process, the laser acting on the rust layer will generate metal vapor and oxide debris. Existing devices have low dust collection efficiency, which not only pollutes the environment but also affects the laser transmission path and reduces rust removal efficiency.

[0005] Therefore, in response to the aforementioned problems with existing ship laser rust removal technology, developing a ship laser rust removal device that can adapt to the complex surface structure of ships, has environmental adaptive adjustment function, a wide operating range, and high dust collection efficiency has become an urgent technical problem to be solved in the current ship maintenance field. Utility Model Content

[0006] The purpose of this invention is to propose a ship laser rust removal system, which aims to solve the technical problems of incomplete rust removal, limited operating range, and low rust removal efficiency of existing ship laser rust removal devices.

[0007] To achieve the above objectives, this utility model proposes a ship laser rust removal system, including a working platform mounted on a moving module, wherein the moving module is used to move the working platform. The work platform is equipped with a robotic arm, which is equipped with a laser rust removal module for rust removal. The robotic arm is used to move the laser rust removal module to any position where rust needs to be removed. The work platform is also equipped with a central control system and an environmental detection and adaptive adjustment module that is communicatively connected to the central control system. The environmental detection and adaptive adjustment module is used to acquire environmental data of the location to be derusted, and the central control system acquires the optimal laser operation parameters for derusting based on the environmental data. The work platform is also equipped with a dust collection and treatment module, which is used to collect dust generated during rust removal. The central control system is electrically connected to the mobile module, the robotic arm, the laser rust removal module, and the dust collection and treatment module.

[0008] Preferably, the mobile module includes a support base, a first driving component, a driving wheel, a driven wheel, and a track. The working platform is mounted on the support base, and the support base is also provided with the first driving component. The output end of the first driving component is connected to the driving wheel, and the track is connected between the driving wheel and the driven wheel.

[0009] Preferably, the lower end of the working platform is also provided with a support module; the support module includes multiple hydraulic telescopic outriggers, and the bottom end of each hydraulic telescopic outrigger is provided with a suction cup for adsorbing onto the surface of the ship.

[0010] Preferably, the outer surface of the track is provided with an anti-slip and wear-resistant rubber layer.

[0011] Preferably, the robotic arm includes a base, a connector, a large arm, a small arm, a second drive unit, an end effector, and a rotary joint. The base is disposed on the working platform. The large arm is rotatably disposed on the base via the connector. The large arm and the small arm, as well as the small arm and the end effector, are connected via the rotary joint. The rotary joint is driven by the second drive unit. The laser rust removal module is disposed on the end effector.

[0012] Preferably, the robotic arm is equipped with a position sensor that is communicatively connected to the central control system, and the position sensor is used to measure the real-time position of the robotic arm; The robotic arm is also equipped with a torque sensor that is communicatively connected to the central control system. The torque sensor is used to detect the external load applied to the robotic arm.

[0013] Preferably, the laser rust removal module includes a laser generator, a laser transmission component, and a laser emitting head mounted on the robotic arm. The laser generator is used to generate laser light, the laser transmission component is used to transmit the generated laser light to the laser emitting head, and the laser emitting head is used to emit laser light toward the location to be rusted.

[0014] Preferably, it further includes a focusing adjustment assembly disposed on the laser emitting head, the focusing adjustment assembly being electrically connected to the control system; The focusing adjustment assembly includes a focusing lens, a focusing element, and a displacement sensor. The displacement sensor is communicatively connected to the central control system and is disposed on the laser emitting head to detect the distance between the laser emitting head and the surface of the ship in real time, thereby adjusting the height of the focusing lens through the focusing element.

[0015] Preferably, the environmental detection and adaptive adjustment module includes a light sensor, a temperature sensor, a humidity sensor, and a wind speed sensor; The light sensor is used to acquire light intensity information of the location to be rusted and transmit the data to the central control system; the temperature sensor is used to acquire temperature information of the location to be rusted and transmit the data to the central control system; the humidity sensor is used to acquire humidity information of the location to be rusted and transmit the data to the central control system; the wind speed sensor is used to acquire wind speed information of the location to be rusted and transmit the data to the central control system. The central control system is used to read light intensity, temperature, humidity and wind speed information, generate the best laser operation parameters for laser rust removal, and control the laser rust removal module to perform laser rust removal.

[0016] Preferably, the dust collection and treatment module includes a dust collection hood, a negative pressure fan, and a treatment module. The negative pressure fan is installed on the work platform, and the negative pressure fan is connected to the dust collection hood through a pipe. The treatment module is connected to the negative pressure fan through a pipe. The processing module is equipped with a filter assembly, which includes a filter screen and an activated carbon adsorption layer arranged in sequence; the processing module is connected to the outside through an exhaust pipe, and a muffler is provided at the exhaust port of the exhaust pipe.

[0017] The ship laser rust removal system disclosed in this utility model has the following beneficial effects: The ship laser rust removal system of this solution includes a working platform set on a mobile module, and a laser rust removal module, an environmental detection and adaptive adjustment module, and a dust collection and treatment module set on the working platform. Through the cooperation of the above structures, it can achieve precise rust removal on the complex surface of the ship, effectively expand the working range, and at the same time have environmental adaptive adjustment capabilities, improve the dust collection efficiency during the rust removal process, thereby improving the efficiency, quality and environmental protection of ship rust removal operations, and overcoming the shortcomings of existing ship laser rust removal devices in terms of operational adaptability, environmental anti-interference, working range and dust treatment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the ship laser rust removal system of this utility model; Figure 2 This is a system block diagram of the ship laser rust removal system of this utility model.

[0020] In the attached diagram: 1-Working platform, 2-Mobile module, 21-Support base, 22-Drive wheel, 23-Driven wheel, 24-Track, 3-Mechanical arm, 31-Base, 32-Connector, 33-Large arm, 34-Small arm, 35-End effector, 36-Rotary joint, 4-Laser rust removal module, 5-Central control system, 6-Environmental monitoring and adaptive adjustment module, 7-Dust collection and treatment module, 71-Dust collection hood, 72-Negative pressure fan, 73-Treatment module, 74-Pipeline, 8-Support module, 81-Hydraulic telescopic outrigger.

[0021] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] It should be noted that if the embodiments of this utility model involve directional indication, the directional indication is only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0024] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0025] like Figures 1 to 2 As shown, a ship laser rust removal system includes a work platform 1 mounted on a mobile module 2, wherein the mobile module 2 is used to move the work platform 1. The work platform 1 is equipped with a robotic arm 3, and the robotic arm 3 is equipped with a laser rust removal module 4 for rust removal. The robotic arm 3 is used to move the laser rust removal module 4 to any position where rust needs to be removed. The work platform 1 is also equipped with a central control system 5 and an environmental detection and adaptive adjustment module 6 that is communicatively connected to the central control system 5. The environmental detection and adaptive adjustment module 6 is used to acquire environmental data of the location to be derusted, and the central control system 5 acquires the optimal laser operation parameters for derusting based on the environmental data. The work platform 1 is also equipped with a dust collection and treatment module 7, which is used to collect dust generated during rust removal. The central control system 5 is electrically connected to the mobile module 2, the robotic arm 3, the laser rust removal module 4, and the dust collection and treatment module 7.

[0026] The laser rust removal system for ships in this solution is used for rust removal operations on the surface of ship hulls. It is especially suitable for efficient and environmentally friendly rust removal treatment of different parts of ships, such as outer plates, decks, and cabin structures. It can be widely used in shipbuilding, repair and maintenance, and marine engineering equipment maintenance.

[0027] The working platform 1 of this solution is mounted on the mobile module 2. The working platform 1 primarily supports the various modules and is moved within the ship's deck or dock by the mobile module 2. The overall frame of the working platform 1 can be made of high-strength aluminum alloy, reducing the overall weight of the system while ensuring structural strength. To improve operational adaptability, this solution includes a multi-degree-of-freedom robotic arm 3 and a laser rust removal module 4. The multi-degree-of-freedom robotic arm 3 has a maximum working radius of no less than 5 meters. Combined with the mobility of the mobile module 2, it can perform rust removal operations on large ships at different heights and locations, from the deck to the sides and bottom of the hull. The operational coverage is 3-5 times larger than existing small mobile devices. It can adapt to complex structures such as flat surfaces, curved surfaces, welds, and corners on the ship / hull surface, achieving precise rust removal without blind spots and effectively solving the problem of incomplete rust removal by existing devices.

[0028] In addition, this solution is equipped with an environmental monitoring and adaptive adjustment module 6, which can monitor environmental data of the working environment in real time and automatically adjust laser operating parameters to avoid the impact of environmental factors on the rust removal effect and ensure the stability of the rust removal effect under different environmental conditions. Furthermore, the working platform 1 is also equipped with a fume collection and treatment module 7, which can effectively collect metal vapor and oxide debris generated during the rust removal process.

[0029] This solution employs an industrial-grade PLC controller as the central control system 5, which communicates wirelessly or via wired means with the mobile module 2, robotic arm 3, laser rust removal module 4, environmental monitoring and adaptive adjustment module 6, and dust collection and treatment module 7. The central control system 5 is equipped with a touchscreen interface, enabling switching between manual and automatic operation modes: In manual mode, the operator controls the movement and parameter adjustment of each module via the touchscreen; in automatic mode, the operator inputs the 3D model data of the ship's hull surface, which can be obtained in advance via a laser scanner. The central control system 5 automatically plans the movement path of the robotic arm 3 based on the model data, controls the laser rust removal module 4 to operate according to preset rust removal parameters (such as laser power, focused spot diameter, and rust removal speed), and receives feedback data from the environmental monitoring and adaptive adjustment module 6 in real time, dynamically adjusting the operation process.

[0030] The central control system 5 also has fault diagnosis and alarm functions. When a module malfunctions, it immediately issues an audible and visual alarm and stops the operation of the relevant module. At the same time, it displays the cause of the fault and handling suggestions on the touch screen.

[0031] Furthermore, the mobile module 2 includes a support base 21, a first driving member, a driving wheel 22, a driven wheel 23, and a track 24. The working platform 1 is mounted on the support base 21. The support base 21 is also provided with the first driving member. The output end of the first driving member is connected to the driving wheel 22. The track 24 is connected between the driving wheel 22 and the driven wheel 23.

[0032] In this embodiment, the moving module 2 adopts a tracked structure, mainly composed of a support base 21, track 24, a first driving component, a driving wheel 22, and driven wheels 23 (including guide wheels and support wheels). Some tracked structures may also be equipped with a tensioning device. When the first driving component (such as a motor) drives the driving wheel 22 to rotate, the track 24 meshing with the driving wheel 22 tends to move relative to it. The driving wheel 22 and the driven wheel 23 continuously roll under the drive of the track 24, thereby driving the work platform 1 to move.

[0033] Furthermore, the lower end of the working platform 1 is also provided with a support module 8; the support module 8 includes a plurality of hydraulic telescopic outriggers 81, and the bottom end of each hydraulic telescopic outrigger 81 is provided with a suction cup for adsorbing onto the surface of the ship.

[0034] In this embodiment, to ensure the stability of the working platform 1 during the laser rust removal process, a support module 8 is also provided, which is electrically connected to the central control system 5. The support module 8 includes multiple hydraulic telescopic outriggers 81. Specifically, two hydraulic telescopic outriggers 81 are respectively provided on both sides of the moving module 2, and the bottom of the hydraulic telescopic outriggers 81 is also provided with anti-slip suction cups, which can extend and adhere to the ship surface during operation, further improving the stability of the ship laser rust removal system.

[0035] The work platform 1, through the aforementioned tracked 24-type mobile module 2 and support module 8, ensures that it can still operate stably on the uneven surface of the ship deck and at tilt angles (maximum tilt angle not exceeding 15°).

[0036] Furthermore, the outer surface of the track 24 is provided with an anti-slip and wear-resistant rubber layer. In order to ensure that the track 24 has a longer service life, an anti-slip and wear-resistant rubber layer is provided on the outer surface of the track 24, which is made of materials such as nitrile rubber, neoprene rubber or polyurethane rubber, to adapt to the uneven surface of the ship deck.

[0037] Furthermore, the robotic arm 3 includes a base 31, a connector 32, a large arm 33, a small arm 34, a second drive unit, an end effector 35, and a rotary joint 36. The base 31 is disposed on the work platform 1. The large arm 33 is rotatably disposed on the base 31 through the connector 32. The large arm 33 and the small arm 34, as well as the small arm 34 and the end effector 35, are all connected through the rotary joint 36. The rotary joint 36 is driven by the second drive unit. The laser rust removal module 4 is disposed on the end effector 35.

[0038] The robotic arm 3 in this solution is a multi-degree-of-freedom robotic arm with no fewer than 6 degrees of freedom, a maximum working radius of no less than 5m, and a maximum load of no less than 100kg, ensuring that it can cover the rust removal operation needs of most areas of the ship. The robotic arm 3 is installed on the platform frame of the work platform 1 and is used to drive the laser rust removal module 4 and the dust collection and treatment module 7 to adjust their working position and attitude.

[0039] Specifically, the multi-degree-of-freedom robotic arm 3 includes a base 31, a large arm 33, a small arm 34, and an end effector 35 with a mounting base connected in sequence. The base 31 is the load-bearing basic component, which is fixed on the platform frame of the work platform 1. The large arm 33 is rotatably mounted on the base 31 through the connector 32 to realize the rotation function of the robotic arm 3. Rotary joints 36 are installed between the large arm 33 and the small arm 34, and between the small arm 34 and the end effector 35, so that the large arm 33, the small arm 34, and the end effector 35 can realize rotation and extension movements through the rotary joints 36 driven by the second drive component (servo motor). The end effector 35 with a mounting base can realize 360° rotation and ±90° pitch movement to drive the laser rust removal module 4 to move to any position.

[0040] Furthermore, the robotic arm 3 is equipped with a position sensor that is communicatively connected to the central control system 5. The position sensor is used to measure the real-time position of the robotic arm 3. The robotic arm 3 is also equipped with a torque sensor that is communicatively connected to the central control system 5. The torque sensor is used to detect the external load applied to the robotic arm 3.

[0041] In this embodiment, the robotic arm 3 is also equipped with a position sensor (such as an encoder or laser displacement sensor) and a torque sensor (such as a strain gauge or a six-dimensional force sensor) to monitor the position deviation and load torque changes at the end of the robotic arm 3 in real time. When the robotic arm 3 is performing ship rust removal operations, if the position sensor detects an abnormal position, such as a deviation from the preset path exceeding 5mm; or the torque sensor detects a sudden increase in torque, such as a load exceeding the threshold of 20N·m, the central control system 5 immediately triggers an emergency stop or adjusts the movement trajectory of the robotic arm 3 to avoid a rigid collision with the ship's hull structure.

[0042] Furthermore, the laser rust removal module 4 includes a laser generator, a laser transmission component, and a laser emitting head mounted on the robotic arm 3. The laser generator is used to generate laser light, the laser transmission component is used to transmit the generated laser light to the laser emitting head, and the laser emitting head is used to emit laser light towards the location to be rusted.

[0043] In this embodiment, the laser rust removal module 4 is mounted on the end effector 35 of the multi-degree-of-freedom robotic arm 3 via a mounting base, and is used to emit a laser beam to remove the rust layer on the surface of the ship / hull. The laser rust removal module 4 includes a laser generator, a laser transmission component, and a laser emitting head. The laser generator uses a fiber laser with an output wavelength of approximately 1064nm, and the laser power can be continuously adjusted within the range of 100W-1000W to meet the rust removal needs of rust layers of different thicknesses. The laser transmission component can use high-power quartz fiber with a core diameter of not less than 100μm to ensure effective transmission of laser energy. The laser emitting head adopts a detachable structure, and a protective lens is installed on the head to prevent metal debris and dust generated during laser rust removal from contaminating or damaging the laser output port.

[0044] The laser power of the laser rust removal module 4 can be adjusted adaptively according to the thickness of the rust, and the rust removal speed can reach 0.5-2 m² / min, which is 1-2 times more efficient than traditional sandblasting. In automatic operation mode, the central control system 5 can automatically plan the movement paths of the moving module 2 and the robotic arm 3, reducing manual intervention and further improving work efficiency.

[0045] Furthermore, it also includes a focusing adjustment assembly disposed on the laser emitting head, the focusing adjustment assembly being electrically connected to the control system; The focusing adjustment assembly includes a focusing lens, a focusing element, and a displacement sensor. The displacement sensor is communicatively connected to the central control system 5 and is disposed on the laser emitting head to detect the distance between the laser emitting head and the surface of the ship in real time, thereby adjusting the height of the focusing lens through the focusing element.

[0046] In this embodiment, the focusing adjustment component is electrically connected to the central control system 5. Under the control of the central control system 5, it adjusts the focus to output different laser beams. The focusing adjustment component includes an electrically driven focusing lens, a focusing element, and a displacement sensor. The displacement sensor detects the distance between the laser emitter and the ship surface in real time. The central control system 5 controls the movement of the focusing element based on the distance data, thereby moving the focusing lens to adjust the focal length, so that the laser beam is focused on the rust layer surface of the location to be derusted. The diameter of the focused spot can be adjusted within the range of 0.1-2mm to achieve precise rust removal. Through the structure of the above-mentioned focusing adjustment component, the diameter and energy density of the laser spot are precisely controlled, so that the laser energy acts only on the rust layer, avoiding overheating or wear on the ship's substrate (such as steel or aluminum alloy), resulting in less damage to the substrate. After rust removal, the surface roughness of the ship's substrate can be controlled within the range of Ra1.6μm-Ra6.3μm, meeting the requirements of subsequent coating construction.

[0047] The aforementioned focusing lens and focusing mechanism can directly adopt existing structures. For example, the focusing mechanism can adopt a gear and rack structure to cooperate with focusing, which will not be elaborated here.

[0048] Furthermore, the environmental detection and adaptive adjustment module 6 includes a light sensor, a temperature sensor, a humidity sensor, and a wind speed sensor; The light sensor is used to acquire light intensity information of the location to be rusted and transmit the data to the central control system 5; the temperature sensor is used to acquire temperature information of the location to be rusted and transmit the data to the central control system 5; the humidity sensor is used to acquire humidity information of the location to be rusted and transmit the data to the central control system 5; the wind speed sensor is used to acquire wind speed information of the location to be rusted and transmit the data to the central control system 5. The central control system 5 is used to read light intensity information, temperature information, humidity information and wind speed information, generate the best laser operation parameters for laser rust removal, and control the laser rust removal module 4 to perform laser rust removal.

[0049] In this embodiment, the environmental detection and adaptive adjustment module 6 includes a light sensor, a temperature sensor, a humidity sensor, and a wind speed sensor, all of which are installed on the top of the platform frame above the work platform 1. Specifically, the light sensor detects the light intensity of the rust removal working environment, with a detection range of 0-100,000 lux; the temperature sensor detects the temperature of the rust removal working environment, with a detection range of -20℃ to 60℃; the humidity sensor detects the humidity of the rust removal working environment, with a detection range of 0-100%RH; and the wind speed sensor detects the wind speed of the rust removal working environment, with a detection range of 0-15 m / s.

[0050] All of the aforementioned sensors are communicatively connected to the central control system 5. Based on the environmental data, the central control system 5 automatically adjusts the output power of the laser generator, the pulse frequency, and the cleaning frequency of the protective lens of the laser emitter. For example, when the light intensity exceeds 50,000 lux, the output power of the laser generator is appropriately increased to compensate for the influence of ambient light on the laser rust removal effect; when the temperature is too low (below 0℃) or too high (above 40℃), the laser pulse frequency is adjusted to the range of 1-50kHz to avoid excessive concentration or dispersion of laser energy; when the humidity exceeds 80% RH or the wind speed exceeds 8 m / s, the cleaning frequency of the protective lens is increased (from the usual 5 minutes / time to 2 minutes / time) to prevent fogging or dust accumulation on the lens.

[0051] Furthermore, the dust collection and treatment module 7 includes a dust collection hood 71, a negative pressure fan 72, and a treatment module 73. The negative pressure fan 72 is installed on the work platform 1. The negative pressure fan 72 is connected to the dust collection hood 71 through a pipe 74, and the treatment module 73 is connected to the negative pressure fan 72 through a pipe 74. The processing module 73 is equipped with a filter assembly, which includes a filter screen and an activated carbon adsorption layer arranged in sequence; the processing module 73 is connected to the outside through an exhaust pipe, and a muffler is provided at the exhaust port of the exhaust pipe.

[0052] In this embodiment, the dust collection and treatment module 7 mainly includes a dust collection hood 71, a negative pressure fan 72, and a filter assembly. The dust collection hood 71 has a conical structure and is typically installed outside the laser emitter head to perform dust removal during laser rust removal. The opening diameter of the dust collection hood 71 can be adjusted within the range of 100-300mm. The dust collection hood 71 is connected to the negative pressure fan 72 via a pipe 74 (such as a corrugated pipe), which can flexibly extend and retract as the multi-degree-of-freedom robotic arm 3 moves. The negative pressure value of the negative pressure fan 72 can be adjusted within the range of -5kPa to -15kPa. A dust concentration sensor is also installed inside the dust collection hood 71, which can detect the dust concentration during rust removal in real time. Subsequently, the central control system 5 automatically adjusts the negative pressure value of the negative pressure fan 72 according to the amount of dust generated during the rust removal process. For example, when the dust concentration sensor detects a dust concentration exceeding 50mg / m³, the negative pressure sensor will adjust the negative pressure value of the fan 72 accordingly. 3 At that time, the negative pressure value of the negative pressure fan 72 will be increased to above -10kPa.

[0053] The filtration components within the processing module 73 include sequentially arranged filter screens and activated carbon adsorption layers. The filter screens consist of a primary filter with a filtration precision of approximately 10 μm and a secondary filter with a filtration precision of approximately 1 μm, effectively removing metal debris from the flue gas. The activated carbon adsorption layer then removes harmful gases from the flue gas, such as carbon dioxide, carbon monoxide, formaldehyde, or sulfur dioxide. Finally, the filtered clean air is discharged through an exhaust pipe, avoiding environmental pollution. Furthermore, the device consumes no chemical reagents and discharges no wastewater, making it more environmentally friendly than chemical rust removal technologies. A miniature silencer is installed at the exhaust port at the end of the exhaust pipe to reduce noise during operation, keeping the noise level below 70 dB.

[0054] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A ship laser rust removal system, characterized by, It includes a work platform (1) mounted on a mobile module (2), the mobile module (2) being used to move the work platform (1); The work platform (1) is equipped with a robotic arm (3), and the robotic arm (3) is equipped with a laser rust removal module (4) for rust removal. The robotic arm (3) is used to move the laser rust removal module (4) to any position to be rusted. The work platform (1) is also equipped with a central control system (5) and an environmental detection and adaptive adjustment module (6) that is connected to the central control system (5). The environmental detection and adaptive adjustment module (6) is used to obtain environmental data of the location to be derusted. The central control system (5) obtains the best laser operation parameters for derusting based on the environmental data. The work platform (1) is also equipped with a dust collection and treatment module (7), which is used to collect dust generated during rust removal. The central control system (5) is electrically connected to the mobile module (2), the robotic arm (3), the laser rust removal module (4), and the dust collection and treatment module (7).

2. A ship laser rust removal system according to claim 1, characterized in that, The mobile module (2) includes a support base (21), a first driving member, a driving wheel (22), a driven wheel (23), and a track (24). The working platform (1) is mounted on the support base (21). The support base (21) is also provided with the first driving member. The output end of the first driving member is connected to the driving wheel (22). The track (24) is connected between the driving wheel (22) and the driven wheel (23).

3. A ship laser rust removal system according to claim 1 or 2, characterized in that, The lower end of the work platform (1) is also provided with a support module (8); The support module (8) includes multiple hydraulic telescopic outriggers (81), and each of the hydraulic telescopic outriggers (81) has a suction cup at its bottom end for adsorbing onto the surface of the ship.

4. A ship laser rust removal system according to claim 2, characterized in that, The outer surface of the track (24) is provided with a non-slip and wear-resistant rubber layer.

5. A ship laser rust removal system according to claim 1, characterized in that, The robotic arm (3) includes a base (31), a connector (32), a large arm (33), a small arm (34), a second drive, an end effector (35), and a rotary joint (36). The base (31) is mounted on the work platform (1). The large arm (33) is rotatably mounted on the base (31) via the connector (32). The large arm (33) is connected to the small arm (34), and the small arm (34) is connected to the end effector (35) via the rotary joint (36). The rotary joint (36) is driven by the second drive. The laser rust removal module (4) is mounted on the end effector (35).

6. A ship laser rust removal system according to claim 1 or 5, characterized in that, The robotic arm (3) is equipped with a position sensor that is communicatively connected to the central control system (5). The position sensor is used to measure the real-time position of the robotic arm (3). The robotic arm (3) is also equipped with a torque sensor that is communicatively connected to the central control system (5). The torque sensor is used to detect the external load applied to the robotic arm (3).

7. A ship laser rust removal system according to claim 1, characterized in that, The laser rust removal module (4) includes a laser generator, a laser transmission component and a laser emitting head mounted on the robotic arm (3). The laser generator is used to generate laser light, the laser transmission component is used to transmit the generated laser light to the laser emitting head, and the laser emitting head is used to emit laser light to the location to be rusted.

8. A ship laser rust removal system according to claim 7, characterized in that, It also includes a focusing adjustment assembly disposed on the laser emitting head, the focusing adjustment assembly being electrically connected to the control system; The focusing adjustment assembly includes a focusing lens, a focusing element, and a displacement sensor. The displacement sensor is communicatively connected to the central control system (5). The displacement sensor is installed on the laser emitting head to detect the distance between the laser emitting head and the surface of the ship in real time, thereby adjusting the height of the focusing lens through the focusing element.

9. A ship laser rust removal system according to claim 1, characterized in that, The environmental detection and adaptive adjustment module (6) includes a light sensor, a temperature sensor, a humidity sensor and a wind speed sensor; The light sensor is used to acquire light intensity information of the location to be derusted and transmit the data to the central control system (5); the temperature sensor is used to acquire temperature information of the location to be derusted and transmit the data to the central control system (5); the humidity sensor is used to acquire humidity information of the location to be derusted and transmit the data to the central control system (5); the wind speed sensor is used to acquire wind speed information of the location to be derusted and transmit the data to the central control system (5). The central control system (5) is used to read light intensity information, temperature information, humidity information and wind speed information, generate the best laser operation parameters for laser rust removal, and control the laser rust removal module (4) to perform laser rust removal.

10. A ship laser rust removal system according to claim 1, characterized in that, The dust collection and treatment module (7) includes a dust collection hood (71), a negative pressure fan (72), and a treatment module (73). The negative pressure fan (72) is installed on the work platform (1). The negative pressure fan (72) is connected to the dust collection hood (71) through a pipe (74). The treatment module (73) is connected to the negative pressure fan (72) through a pipe (74). The processing module (73) is equipped with a filter assembly, which includes a filter screen and an activated carbon adsorption layer arranged in sequence; the processing module (73) is connected to the outside through an exhaust pipe, and a muffler is provided at the exhaust port of the exhaust pipe.

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