CN115246026A

CN115246026A - Intelligent ship rust removal robot and using method thereof

Info

Publication number: CN115246026A
Application number: CN202210520568.0A
Authority: CN
Inventors: 郜士凤
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-05-13
Filing date: 2022-05-13
Publication date: 2022-10-28

Abstract

The invention discloses an intelligent ship rust removal robot and a using method thereof, and the intelligent ship rust removal robot mainly comprises the following steps: the frame, the power pack, the arm, four walking portions, the frame is square structure, four walking portions's structure and connection principle are the same and install respectively in the position at four angles in the frame, every walking portion all can be fixed in the hull surface through an electromagnetic chuck absorption, the removal of rust cleaning robot on the hull surface can be realized in the swing in turn to four walking portions, arm fixed mounting is in the frame upside, station interchangeable spatula and polishing dish are installed to the arm front end, the spatula can be used for shoveling thick rust off, polishing dish accessible friction disc drives thin rust, the camera of arm front end can be used to discern the distribution condition of rust mark and inspect the rust cleaning effect, power pack fixed mounting is in the inside intermediate position of frame, power pack is inside to be integrated with lithium cell and intelligent control system, intelligent control system can carry out image data analysis and control each power component and move.

Description

Intelligent ship rust removal robot and using method thereof

Technical Field

The invention relates to the technical field of ship rust removal, in particular to an intelligent ship rust removal robot and a using method thereof.

Background

After a ship sails in the ocean for a period of time, the surface of a hull shell is easy to rust due to electrochemical corrosion and marine organism corrosion, and even if isolated corrosion prevention and electrochemical corrosion prevention are adopted, the occurrence of the event cannot be completely prevented, so that the surface of the ship needs to be regularly derusted and cleaned. At present, the main hull surface rust removal methods can be divided into the following three categories: 1. derusting by an artificial ship; 2. chemical ship rust removal; 3. and (5) derusting the mechanical ship. The manual ship rust removal method has the longest application time and the widest application range. The manual ship rust removal takes manpower as main labor force, and the rust removal worker is provided with rust removal tools such as a hammer, a scraper knife, a scraper, a steel wire brush and the like. But the manual derusting efficiency is low and the derusting quality is poor. The chemical ship rust removal is a ship rust removal method which removes a rust layer on the surface of a ship by utilizing double decomposition reaction of acid and metal oxide to generate soluble metal ion salt. Compared with manual ship rust removal, the chemical rust removal has higher cost and higher requirement on the operation environment, and the chemical rust removal can be generally operated only in a workshop and is not suitable for dock operation. In addition, in the chemical rust removal process, the steel which is not corroded yet is also corroded by acid, and irreversible damage is easily caused to ships. And the wastewater generated by chemical rust removal belongs to hazardous waste, the treatment difficulty and the treatment cost of the hazardous waste are extremely high, the requirement of environmental protection is not met, and the sustainable development of enterprises is not facilitated. Compared with manual ship rust removal and chemical ship rust removal, the mechanical ship rust removal has the advantages of high efficiency and low cost.

The existing mechanical ship rust removal mainly comprises sand blasting rust removal and ultrahigh pressure water jet rust removal. Compressed air is used as power for sand blasting, spray materials are sprayed to the rusty ship surface at a high speed after high-speed spraying is formed, and a rust layer falls off from the ship surface under the high-speed impact of the spray materials, so that the aim of rust removal of the ship surface is fulfilled. The ultra-high pressure water jet rust removal is to use a high pressure water generation system to enable the water pressure to reach more than 1500bar, and then use the ultra-high kinetic energy of the high pressure water to enable a rust layer to fall off in the collision process with jet water. However, this method also has certain limitations; on one hand, the Young modulus of water is very small, so that the surface of the treated steel cannot reach high enough finish no matter how large the water pressure is, the chelation degree of secondary spraying is not good enough, and the coating is easy to peel, bubble and fall off; on the other hand, steel treated with high-pressure water is highly susceptible to flash rust, and flash rust treatment often relies on complex and expensive aqueous flash rust inhibitors. The use of the water-based flash rust inhibitor can increase the rust removal cost, and the water-based flash rust inhibitor can greatly reduce the adhesion between the subsequently coated oil paint and the surface of the ship.

By integrating the ship rust removal method and the rust removal difficulty, the development of the high-efficiency rust removal device which does not need to utilize water resources, can effectively reduce energy consumption, does not have dust pollution, does not need sewage treatment and has low labor cost is particularly important in the ship surface rust removal operation process.

Disclosure of Invention

In order to solve the defects of the prior art, the invention aims to provide a derusting robot with high automation degree, environmental protection, energy conservation, low use cost and high intelligent degree and a use method thereof,

the technical scheme adopted by the invention is as follows: an intelligent ship rust removal robot and a using method thereof mainly comprise the following steps: frame, power pack, arm, first walking portion, second walking portion, third walking portion, fourth walking portion, its characterized in that: the frame is square structure, the structure and the connection principle of four walking portions are the same and install respectively in the position at four angles in the frame, every walking portion all can be fixed in the hull surface through an electromagnetic chuck absorption, four walking portions swing in turn can realize the removal of rust cleaning robot on the hull surface, arm fixed mounting is in the frame upside, station interchangeable spatula and the dish of polishing are installed to the arm front end, the spatula can be used for shoveling thick rust, the thin rust is clear away to the dish of polishing accessible friction disc, the camera of arm front end can be used to discern the distribution condition of rust mark and inspect the rust cleaning effect, power pack fixed mounting is in the inside intermediate position of frame, the inside integration of power pack has lithium cell and intelligence control system, the lithium cell can carry out the charge-discharge and provide electric power for the rust cleaning robot, intelligence control system can carry out image data analysis and control each power pack and move.

Preferably, the first walking part mainly comprises a leg swinging motor, a swinging frame, a thigh rod, a shank rod, a return spring and an electromagnetic chuck, wherein the swinging frame is installed at the front end of the right side of the rack and forms a revolute pair, the leg swinging motor is fixedly installed at the upper side of the rack and can drive the swinging frame to rotate, the shank rod is rotatably connected with the swinging frame, the shank rod is rotatably connected with the shank rod, the electromagnetic chuck is installed at the lower end of the shank rod and forms a spherical pair, and the three return springs are installed at the upper end of the electromagnetic chuck and can enable the electromagnetic chuck to return to the middle position.

The left and right swinging of the swinging frame can realize the movement of the rust cleaning robot, the thigh rod can swing up and down, the shank rod can swing left and right, the first walking part has strong obstacle crossing capability, and the four walking parts act together to enable the rust cleaning robot to cross the obstacle of the bulge and the pit, so that the rust cleaning robot has strong trafficability.

Preferably, the lower end of the shank rod is provided with a reset ring, the three reset springs are connected between the reset ring and the upper end of the electromagnetic chuck, and the three reset springs are uniformly distributed in the circumferential direction at equal angles.

No matter the electromagnet can reset under the action of the pulling force of the three reset springs after swinging towards any direction, the electromagnet can swing according to the surface curvature of the ship body when being contacted with the surface of the ship body again.

Preferably, a base in the mechanical arm is fixedly arranged on the upper side of the rack, a first joint is rotatably connected with the base, a first joint arm is rotatably connected with the first joint, a second joint is rotatably connected with the first joint arm, a second joint arm is rotatably connected with the second joint, a third joint is rotatably connected with the second joint arm, the rotary table is rotatably connected with the third joint, and the conversion plate is arranged at the front end of the rotary table; the camera is installed on the upper side of the third joint and used for observing the distribution condition of the rust and the rust removal effect in real time.

The mechanical arm has six spatial degrees of freedom, and can completely adapt to rust cleaning at different positions and different angles.

Preferably, the camera on integrated high definition vision camera and high definition infrared camera, two cameras all can carry out horizontal hunting and luffing motion to realize the regulation of field of vision angle.

Can adopt high definition vision camera to carry out image acquisition when light is good, can adopt high definition infrared camera to carry out image acquisition when light is comparatively dim.

Preferably, the right end of the conversion plate is provided with a polishing motor, an output shaft of the polishing motor is fixedly connected with a polishing disc, and the outer end face of the polishing disc is provided with a circular friction plate.

The friction disc is easy to disassemble and replace, and the polishing disc is guaranteed to have a good polishing effect.

Preferably, the grinding disc is a disc structure with certain elasticity.

The elasticity that the dish of polishing has makes things convenient for the polishing piece to warp according to pressure self-adaptation.

Preferably, the left end of the conversion plate is provided with a spatula, a spatula motor is arranged on the upper side of the left end of the conversion plate, and the spatula motor realizes the reciprocating movement of the spatula through an eccentric wheel.

The reciprocating scraper can simulate manual scraper action, and repeatedly scrapes thick rust positions for many times until the thick rust is removed, so that the rust removing device has high rust removing efficiency.

Preferably, the rear end of the spatula is transversely provided with a transverse groove, the lower side of the eccentric wheel is provided with an eccentric shaft, and the eccentric shaft is positioned in the transverse groove.

The structure of the eccentric wheel is convenient for the spatula to realize reciprocating movement.

Preferably, the front end of the spatula is provided with a flat and wide cutting edge.

The blade is convenient for the spatula to clean the thick rust.

The invention has the beneficial effects that:

(1) The rust cleaning robot is provided with four walking parts, the four walking parts have symmetry, the robot can walk front and back and also can walk left and right, complicated steering actions are not needed, the rust cleaning robot can flexibly walk on the surface of a ship body, in addition, in the walking process, the three walking parts always provide support, and the rust cleaning robot can be ensured to have higher stability.

(2) All be equipped with an electromagnet on every walking portion, electromagnet can produce the magnetic field after the circular telegram and tightly adsorb in steel hull surface, realizes the location of derusting robot on the hull surface to constitute the spherical pair between electromagnet and the walking portion, thereby make electromagnet swing according to the curvature on hull surface, make electromagnet and hull surface have better laminating degree, reinforcing electromagnet and hull surface connection's stability.

(4) Every electromagnet upper end all is equipped with three reset spring to three reset spring equipartition settings such as circumference, no matter electromagnet all can reset under three reset spring's pulling force effect after swinging towards any direction, can swing according to hull surface curvature when making things convenient for electromagnet to contact with hull surface once more.

(5) The mechanical arm has six spatial degrees of freedom, and a conversion plate at the front end of the mechanical arm can rotate and be positioned for 360 degrees, so that the stations of a scraping blade and a polishing disc can be flexibly changed, wherein the scraping blade can remove massive or flaky thick rust through reciprocating action, and the polishing disc can remove thin rust through a friction plate and polish the surface of a ship body to be flat.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the overall structure of the robot arm according to the present invention after disassembly.

Fig. 3 is a schematic structural view of the first traveling unit.

FIG. 4 is a cross-sectional view of the position of the electromagnetic chuck.

Fig. 5 is a schematic view of the robot arm.

Fig. 6 is a schematic sectional view of the rear end of the spatula.

Reference numerals: the device comprises a frame 1, a power unit 2, a mechanical arm 3, a first walking part 4, a second walking part 5, a third walking part 6, a fourth walking part 7, a leg swinging motor 8, a leg swinging frame 9, a rotating shaft 9.1, a first electric cylinder 10, a second electric cylinder 11, a thigh rod 12, a shank rod 13, a reset ring 13.1, a reset spring 14, an electromagnetic chuck 15, a base 16, a first joint 17, a first joint 18, a second joint 19, a second joint 20, a third joint 21, a rotary table 22, a camera 23, a conversion plate 24, a grinding motor 25, a grinding disc 26, a friction plate 27, a scraping blade 28.1, a transverse groove 29, a scraping blade motor 30, an eccentric wheel 30.1 and an eccentric shaft.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1 and 2, an intelligent ship rust removal robot and a use method thereof mainly comprise a rack 1, a power unit 2, a mechanical arm 3, a first walking part 4, a second walking part 5, a third walking part 6 and a fourth walking part 7, wherein the rack 1 is of a square structure, the four walking parts are respectively installed at the positions of four corners of the rack 1, the four walking parts can alternatively swing to realize the movement of the rust removal robot on the surface of a ship body, the mechanical arm 3 is fixedly installed on the upper side of the rack 1, the mechanical arm 3 can be used for identifying the distribution condition of rust and cleaning the rust, the power unit 2 is fixedly installed at the middle position inside the rack 1, a lithium battery and an intelligent control system are integrated inside the power unit 2, the lithium battery can be charged and discharged and provides electric power for the rust removal robot, and the intelligent control system can analyze image data and control each power part to move.

As shown in fig. 2 and 3, the first traveling unit 4, the second traveling unit 5, the third traveling unit 6, and the fourth traveling unit 7 have the same structure and connection principle, and the first traveling unit 4 is taken as an example below; the first walking part 4 comprises a leg swinging motor 8, a swinging frame 9, a first electric cylinder 10, a second electric cylinder 11, a thigh rod 12, a shank rod 13, a return spring 14 and an electromagnetic chuck 15, wherein a rotating shaft 9.1 is vertically arranged at the right end of the swinging frame 9, the swinging frame 9 is arranged at the front end of the right side of the rack 1 through the rotating shaft 9.1 and forms a revolute pair, the leg swinging motor 8 is fixedly arranged at the upper side of the front end of the right side of the rack 1, and the rotating shaft 9.1 is coaxially and fixedly connected with an output shaft hole of the leg swinging motor 8, so that the leg swinging motor 8 can control the front and back swinging of the first walking part 4; the lower end of the thigh rod 12 is rotatably connected with the lower end of the left side of the swing frame 9, the upper end of the first electric cylinder 10 is rotatably connected with the upper side of the thigh rod 12, the lower end of the first electric cylinder 10 is rotatably connected with the upper end of the left side of the swing frame 9, so that the first electric cylinder 10 can control the vertical swing of the thigh rod 12 in a telescopic mode, the front end of the shank rod 13 is rotatably connected with the front end of the thigh rod 12, the upper end of the second electric cylinder 11 is rotatably connected with the upper end of the shank rod 13, and the lower end of the second electric cylinder 11 is rotatably connected with the thigh rod 12, so that the second electric cylinder 11 can control the horizontal swing of the shank rod 13 in a telescopic mode.

As shown in fig. 4, a ball socket is arranged at the lower end of the shank rod 13, two through bell mouths are arranged at the upper end and the lower end of the ball socket, and a reset ring 13.1 is arranged at the outer side of the upper end of the ball socket; the lower end of the electromagnetic sucker 15 is provided with an electromagnet structure, the electromagnet structure can generate a magnetic field after being electrified, so that the electromagnetic sucker 15 is tightly adsorbed on the surface of a steel ship body, the upper end of the electromagnetic sucker 15 is provided with a spherical structure, and the spherical structure is arranged in a ball socket to form a spherical pair, so that the swinging angle of the electromagnetic sucker 15 can be adjusted in a follow-up manner according to the curvature of the surface of the ship body; the three return springs 14 are connected between the return ring 13.1 and the electromagnetic chuck 15, the three return springs 14 are circumferentially and uniformly distributed, and the electromagnetic chuck 15 can be restored to the middle position under the action of the tension of the three return springs 14.

As shown in fig. 5, the robot arm 3 includes a base 16, a first joint 17, a first joint arm 18, a second joint 19, a second joint arm 20, a third joint 21, a turntable 22, a camera 23, a conversion plate 24, a grinding motor 25, a grinding disc 26, a friction plate 27, a spatula 28, a spatula motor 29 and an eccentric wheel 30, wherein the base 16 is fixedly mounted at an intermediate position on the upper side of the frame 1, the lower end of the first joint 17 is mounted on the upper end of the base 16 to form a rotation pair, and the rotation axis is vertical, the lower end of the first joint arm 18 is rotatably connected with the first joint 17, and the rotation axis is horizontal, the second joint 19 is rotatably connected with the upper end of the first joint arm 18, and the rotation axis is horizontal, the rear end of the second joint arm 20 is rotatably connected with the second joint 19, and the rotation axis is vertical horizontal, the third joint 21 is rotatably connected with the front end of the second joint arm 20, and the rotation axis is horizontal, the turntable 22 is rotatably connected with the third joint 21, and the rotation axis is vertical horizontal, and the conversion plate 24 is mounted on the front end; camera 23 on integrated have high definition vision camera and high definition infrared camera, two cameras all can carry out horizontal hunting and luffing motion to realize field angle's regulation, camera 23 installs in third joint 21 upside, is used for observing the distribution situation and the rust cleaning effect of rust in real time.

As shown in fig. 5, the polishing motor 25 is fixedly installed at the right end of the conversion plate 24, the polishing disc 26 is a disk structure with certain elasticity, the polishing disc 26 is tightly connected with the output shaft of the polishing motor 25, a circular friction plate 27 is arranged on the outer end surface of the polishing disc 26, the friction plate 27 and the polishing disc 26 can be connected by a hook and loop structure, so that the friction plate 27 can be conveniently detached and replaced, the outer side surface of the friction plate 27 is a sand paper surface structure, and thus the polishing motor 25 can drive the friction plate 27 to rotate through the polishing disc 26, so that the friction plate 27 can polish and clean the thin rust on the surface of the ship hull.

As shown in fig. 5 and 6, a square hole is longitudinally formed at the left end of the conversion plate 24, a flat and wide cutting edge is formed at the front end of the spatula 28, a square rod structure is formed in the middle of the spatula 28, a transverse groove 28.1 is transversely formed at the rear end of the spatula 28, the square rod structure in the middle of the spatula 28 is installed in the square hole at the left end of the conversion plate 24 and can move back and forth, the spatula motor 29 is fixedly installed at the upper side of the left end of the conversion plate 24, an output shaft of the spatula motor 29 is fixedly connected with one side of the center of the eccentric wheel 30, an eccentric shaft 30.1 is arranged at the lower side of the eccentric wheel 30, the eccentric shaft 30.1 is positioned at the other side of the center of the eccentric wheel 30, so that an eccentric distance exists between the output shaft of the spatula motor 29 and the eccentric shaft 30.1, and the eccentric shaft 30.1 is positioned in the transverse groove 28.1, so that the spatula motor 29 can drive the eccentric wheel 30 to rotate, and the eccentric shaft 30.1 can drive the transverse groove 28.1 to move back and forth, so that the spatula 28 can move back and forth to remove rust on the ship with a thicker surface.

The walking method of the rust removing robot comprises the following steps: the positions and the structures of the four walking parts are symmetrical, so that the derusting robot can walk front and back and can also walk left and right;

when the robot walks forwards, the electromagnetic chucks on the second walking part 5, the third walking part 6 and the fourth walking part 7 are electrified and tightly adsorbed on a steel ship body, after the electromagnetic chuck 15 on the first walking part 4 is powered off and the suction force is relieved, the first walking part 4 swings forwards by a certain amplitude and then falls down, and the electromagnetic chuck 15 is electrified and adsorbs the ship body, then the electromagnetic chuck on the second walking part 5 is powered off and the suction force is relieved, the second walking part 5 swings forwards by a certain amplitude and falls down, so that the electromagnetic chuck is electrified and adsorbs the ship body, then the electromagnetic chuck on the third walking part 6 is powered off and the suction force is relieved, the third walking part 6 swings forwards by a certain amplitude and falls down, so that the electromagnetic chuck is electrified and adsorbs the ship body, then the four leg swinging motors 8 jointly act to enable the rack 1 to move forwards by a distance unit, after the electromagnetic chuck on the fourth walking part 7 is powered off and the suction force is relieved, the operation process is repeated, and the robot can realize continuous forward movement; when the bicycle is driven backwards, the four driving parts swing backwards in sequence according to the principle.

When the four traveling units travel left and right, the four traveling units operate in the same principle as when the four traveling units travel forward and backward, and the swing direction of the four traveling units changes from forward and backward swing to leftward and rightward swing.

The derusting method of the derusting robot comprises the following steps: according to the degree of rust of steel, the steel can be divided into thin rust and thick rust, the thin rust is mostly formed on the surface of a deck or new steel, the thick rust is mostly formed in a dark, moist and not-easy-to-clean place, and the thick rust is mostly blocky or flaky.

When thin rust is treated, firstly, the camera 23 carries out image acquisition on the rust position, data are transmitted to the control system, the mechanical arm 3 acts and enables the friction plate 27 to be aligned to the rust position after the control system carries out analysis, the polishing motor 25 is started and enables the friction plate 27 to rotate at a high speed, and the rust is polished completely through the friction effect.

When handling thick rust, at first camera 23 carries out image acquisition to the rust position, and with data transfer to control system, carry out the analysis back through control system, arm 3 moves and makes the blade of spatula 28 front end aim at the rust position, spatula motor 29 starts and makes the high-speed reciprocating motion of spatula 28, shovel off thick rust through spatula 28 in proper order, later make friction disc 27 aim at the rust position again, grinding motor 25 starts and makes friction disc 27 high-speed rotatory, thoroughly polish totally the rust through the friction action.

Claims

1. An intelligent ship rust removal robot and a using method thereof mainly comprise: frame (1), power pack (2), arm (3), first walking portion (4), second walking portion (5), third walking portion (6), fourth walking portion (7), its characterized in that: the frame (1) is a square structure, the structures and the connection principles of four walking parts are the same and are respectively installed at the positions of four corners of the frame (1), each walking part can be adsorbed and fixed on the surface of a ship body through an electromagnetic chuck (15), the four walking parts can swing alternately to realize the movement of the rust removal robot on the surface of the ship body, a mechanical arm (3) is fixedly installed on the upper side of the frame (1), a scraping shovel (28) and a polishing disc (26) with interchangeable stations are installed at the front end of the mechanical arm (3), the scraping shovel (28) can be used for shoveling thick rust, the polishing disc (26) can remove thin rust through a friction disc (27), a camera (23) at the front end of the mechanical arm (3) can be used for recognizing the distribution condition of rust and checking the rust removal effect, a power unit (2) is fixedly installed at the middle position inside the frame (1), a lithium battery and an intelligent control system are integrated inside the power unit (2), the lithium battery can be charged and discharged and provides electric power for the rust removal robot, and the intelligent control system can analyze image data and control each power component to move.

2. The intelligent ship rust removing robot and the use method thereof as claimed in claim 1, wherein the intelligent ship rust removing robot comprises: first walking portion (4) mainly including swing leg motor (8), swing span (9), thigh pole (12), shank pole (13), reset spring (14), electromagnet (15), wherein swing span (9) are installed in frame (1) right side front end and are constituted the revolute pair, swing leg motor (8) fixed mounting in frame (1) upside and can drive the rotation of swing span (9), thigh pole (12) rotate with swing span (9) and are connected, shank pole (13) rotate with thigh pole (12) and are connected, electromagnet (15) are installed in shank pole (13) lower extreme and are constituted the spherical pair, three reset spring (14) are installed in electromagnet (15) upper end and can make electromagnet (15) resume the intermediate position.

3. The intelligent ship rust removing robot and the using method thereof as claimed in claim 2, wherein: the lower end of the shank rod (13) is provided with a reset ring (13.1), the three reset springs (14) are connected between the reset ring (13.1) and the upper end of the electromagnetic chuck (15), and the three reset springs (14) are uniformly distributed at equal angles in the circumferential direction.

4. The intelligent ship rust removing robot and the use method thereof as claimed in claim 1, wherein the intelligent ship rust removing robot comprises: a base (16) in the mechanical arm (3) is fixedly arranged on the upper side of the rack (1), a first joint (17) is rotatably connected with the base (16), a first section arm (18) is rotatably connected with the first joint (17), a second joint (19) is rotatably connected with the first section arm (18), a second section arm (20) is rotatably connected with the second joint (19), a third joint (21) is rotatably connected with the second section arm (20), a rotary table (22) is rotatably connected with the third joint (21), and a conversion plate (24) is arranged at the front end of the rotary table (22); the camera (23) is arranged on the upper side of the third joint (21) and is used for observing the distribution condition of rust and the rust removal effect in real time.

5. The intelligent ship rust removing robot and the use method thereof as claimed in claim 4, wherein the intelligent ship rust removing robot comprises: the camera (23) is integrated with a high-definition vision camera and a high-definition infrared camera, and the two cameras can swing left and right and up and down to adjust the view angle.

6. The intelligent ship rust removing robot and the use method thereof as claimed in claim 4, wherein the intelligent ship rust removing robot comprises: a grinding motor (25) is installed at the right end of the conversion plate (24), an output shaft of the grinding motor (25) is fixedly connected with a grinding disc (26), and a circular friction plate (27) is arranged on the outer end face of the grinding disc (26).

7. The intelligent ship rust removing robot and the use method thereof as claimed in claim 6, wherein: the grinding disc (26) is a disc structure with certain elasticity.

8. The intelligent ship rust removing robot and the use method thereof as claimed in claim 4, wherein the intelligent ship rust removing robot comprises: a spatula (28) is arranged at the left end of the conversion plate (24), a spatula motor (29) is installed on the upper side of the left end of the conversion plate (24), and the spatula motor (29) realizes the reciprocating movement of the spatula (28) through an eccentric wheel (30).

9. The intelligent ship rust removing robot and the use method thereof as claimed in claim 8, wherein: the rear end of the spatula (28) is transversely provided with a transverse groove (28.1), the lower side of the eccentric wheel (30) is provided with an eccentric shaft (30.1), and the eccentric shaft (30.1) is positioned in the transverse groove (28.1).

10. The intelligent ship rust removing robot and the use method thereof as claimed in claim 8, wherein: the front end of the spatula (28) is provided with a flat and wide cutting edge.