阅读说明：本技术 一种水下导弹发射井筒凸膜压紧环的自动化激光除锈装置 (Automatic laser rust removal device for convex film compression ring of underwater missile launching shaft ) 是由 余文辉 陆宇 沈刚 解辉 刘立岩 张凌雲 汤裕 李翔 于 2020-06-15 设计创作，主要内容包括：本发明公开了一种水下导弹发射井筒凸膜压紧环的自动化激光除锈装置,包括：用于固定凸膜压紧环的旋转支撑机构、激光除锈头以及带动激光除锈头动作的三自由度移动机构；旋转支撑机构包括回转支撑,回转驱动装置和凸膜托架,凸膜托架固定连接在回转支撑的内圈的外圆周,回转驱动装置与回转支撑的内圈相连并驱动回转支撑的内圈带动凸膜托架相对于回转支撑的外圈旋转,所述凸膜压紧环固定在凸膜托架的上端；三自由度移动机构与激光除锈头相连并带动激光除锈头移动至不同工位对凸膜压紧环除锈。本发明能够实现凸膜压紧环的自动化除锈,提高除锈效率,并降低人力成本。(The invention discloses an automatic laser rust removal device for a convex film compression ring of an underwater missile launching shaft, which comprises: the three-degree-of-freedom moving mechanism is used for fixing the rotary supporting mechanism of the convex film pressing ring, the laser rust removing head and driving the laser rust removing head to move; the rotary support mechanism comprises a rotary support, a rotary drive device and a convex film bracket, the convex film bracket is fixedly connected to the outer circumference of an inner ring of the rotary support, the rotary drive device is connected with the inner ring of the rotary support and drives the inner ring of the rotary support to drive the convex film bracket to rotate relative to an outer ring of the rotary support, and the convex film compression ring is fixed at the upper end of the convex film bracket; and the three-degree-of-freedom moving mechanism is connected with the laser rust removing head and drives the laser rust removing head to move to different stations to remove rust on the convex film pressing ring. The invention can realize automatic rust removal of the convex film compression ring, improve the rust removal efficiency and reduce the labor cost.)

1. An automatic laser rust removal device for a convex film pressing ring of an underwater missile launching shaft is characterized by comprising a rotary supporting mechanism for fixing the convex film pressing ring (24), a laser rust removal head (3) and a three-degree-of-freedom moving mechanism for driving the laser rust removal head to move; the rotary supporting mechanism comprises a rotary support (15), a rotary driving device and a convex film bracket (2), the convex film bracket (2) is fixedly connected to the outer circumference of the inner ring of the rotary support (15), the rotary driving device is connected with the inner ring of the rotary support and drives the inner ring of the rotary support (15) to drive the convex film bracket (2) to rotate relative to the outer ring of the rotary support (15), and the convex film compression ring (24) is fixed at the upper end of the convex film bracket (2); the three-degree-of-freedom moving mechanism is connected with the laser rust removing head (3) and drives the laser rust removing head (3) to move to different stations to remove rust on the convex film compression ring (24).

2. The automatic laser rust removal device for the convex film compression ring of the underwater missile launching shaft as claimed in claim 1, wherein the three-degree-of-freedom moving mechanism comprises a horizontal moving mechanism, a vertical moving mechanism and a rotary moving mechanism; the horizontal moving mechanism comprises a horizontal motor (14), a horizontal motor fixing seat (13) and a horizontal lead screw (12), the vertical moving mechanism comprises a vertical upright post (8), a vertical motor (4) and a vertical lead screw (7), and the rotary moving mechanism comprises a cantilever (5), a rotary motor (16) and a speed reducer (17); the horizontal motor (14) is fixed at one end of the horizontal motor fixing seat (13), an output shaft of the horizontal motor (14) is connected with the horizontal lead screw (12) and drives the horizontal lead screw (12) to rotate, and the lower end of the vertical upright post (8) is sleeved on the horizontal lead screw (12) and moves horizontally along the horizontal motor fixing seat (13) along with the rotation of the horizontal lead screw (12); the vertical motor (4) is fixed at the top of the vertical upright post (8), an output shaft of the vertical motor (4) is connected with a vertical screw (7) arranged inside the vertical upright post (8) and drives the vertical screw (7) to rotate, one end of the cantilever (5) is sleeved on the vertical screw (7) and vertically moves along the vertical upright post (8) along with the rotation of the vertical screw (7); the rotating motor (16) and the speed reducer (17) are both arranged at the other end of the cantilever (5), an output shaft of the speed reducer (17) is connected with the laser rust removing head (3), and the laser rust removing head (3) is driven to rotate around the axis of the output shaft of the speed reducer (17) through the rotating motor (16) and the speed reducer (17).

3. The automatic laser rust removal device for the convex membrane pressing ring of the underwater missile launching shaft as claimed in claim 2, wherein the reducer (17) is a planetary reducer.

4. The automatic laser rust removing device for the convex membrane pressing ring of the underwater missile launching shaft as claimed in any one of claims 1 to 3, is characterized by further comprising: the T-shaped base (20) is arranged at the bottoms of the rotary supporting mechanism and the three-degree-of-freedom moving mechanism, the T-shaped base (20) comprises a cross beam and a longitudinal beam, the outer ring of a rotary support (15) in the rotary supporting mechanism is fixed at the intersection position of the cross beam and the longitudinal beam, and a horizontal motor fixing seat (13) in the three-degree-of-freedom moving mechanism is fixed at the upper end of the cross beam; the bottom of the two ends of the longitudinal beam is respectively provided with a first supporting leg (1a) and a second supporting leg (1b), and the bottom of one end of the cross beam, which is far away from the longitudinal beam, is provided with a third supporting leg (1 c).

5. The automatic laser rust removing device for the convex film compression ring of the underwater missile launching shaft according to claim 4, characterized in that a first directional wheel (20a) and a second directional wheel (20b) are arranged at the bottom of the longitudinal beam and beside the first supporting foot (1a) and the second supporting foot (1b), respectively, and a universal wheel (11) is arranged at the bottom of the longitudinal beam and beside the third supporting foot (1 c); the supporting foot I (1a) is connected with the directional wheel I (20a), the supporting foot II (1b) is connected with the directional wheel II (20b), and the supporting foot III (1c) is connected with the universal wheel (11) through linkage pedals, and the linkage pedals are triggered to enable one of the supporting foot I (1a) and the directional wheel I (20a), one of the supporting foot II (1b) and the directional wheel II (20b), one of the supporting foot III (1c) and the universal wheel (11) to be in contact with the ground.

6. The automatic laser rust removing device for the convex membrane pressing ring of the underwater missile launching shaft as claimed in claim 5, wherein the upper part of one end of the longitudinal beam, which is provided with the supporting foot III (1c), is also provided with a towing rod (9).

7. The automatic laser rust removing device for the convex film compression ring of the underwater missile launching shaft as claimed in claim 1, wherein the rotation driving device comprises a rotation motor (22) and a right-angle reducer (23) which are arranged on the inner side of the rotation support (15), and the right-angle reducer (23) is fixedly connected with an inner ring of the rotation support (15) and drives the inner ring to rotate relative to an outer ring.

8. The automatic laser rust removing device for the convex film pressing ring of the underwater missile launching shaft as claimed in claim 1, wherein the convex film bracket (2) comprises three supporting arms which are uniformly fixed on the outer wall of the inner ring of the rotary support (15), one ends of the supporting arms, far away from the inner ring, are bent upwards to form claw-shaped brackets, positioning holes are formed in the claw-shaped brackets, and the convex film pressing ring (24) is connected to the claw-shaped brackets in a positioning mode through the positioning holes.

9. The automatic laser rust removing device for the convex film compression ring of the underwater missile launching shaft as recited in claim 8, wherein the support arm comprises a main arm and a folding arm, one end of the main arm is fixed on the outer wall of the inner ring of the rotary support (15), the other end of the main arm is hinged with the folding arm, and the main arm is provided with a limit groove for accommodating the folding arm.

10. The automatic laser rust removing device for the convex film compression ring of the underwater missile launching shaft according to claim 2, wherein a first horizontal guide rail (18a) and a second horizontal guide rail (18b) are arranged on two sides of the horizontal motor fixing seat (13) along the horizontal moving direction, and a first horizontal sliding block (10a) matched with the first horizontal guide rail (18a) and a second horizontal sliding block (10b) matched with the second horizontal guide rail (18b) are respectively arranged at two ends of the bottom of the vertical upright column (8); vertical stand (8) are equipped with vertical guide rail (6a) and vertical guide rail two (6b) along the both sides of vertical moving direction, and the one end that cantilever (5) and vertical lead screw (7) link to each other is equipped with respectively with vertical guide rail one (6a) matched with vertical slider one (19a) and with vertical guide rail two (6b) matched with vertical slider two (19 b).

Technical Field

The invention relates to an automatic laser rust removal device for a convex film compression ring of an underwater missile launching shaft, and belongs to the technical field of automatic control.

Background

Sea-based ballistic nuclear missiles are the most important secondary nuclear counterattack power of the country and are usually loaded on strategic nuclear submarines, wherein an underwater missile launching shaft is a missile vertical launching device of the strategic nuclear submarines.

The convex membrane compression ring of the underwater missile launching shaft is often soaked in corrosive seawater, so that the convex membrane compression ring is rusted, and the convex membrane compression ring needs to be periodically derusted and maintained. At present, the adopted rust removal mode is mainly manual polishing by hand-held sand paper or manual rust removal by hand-held laser, and the diameter of the convex film pressing ring reaches 2250mm, so that the size is large, the manual rust removal mode is low in efficiency and poor in quality, and a large amount of labor cost is consumed.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides an automatic laser rust removal device for a convex film compression ring of an underwater missile launching shaft, which can realize automatic rust removal of the convex film compression ring, improve the rust removal efficiency and reduce the labor cost.

In order to achieve the purpose, the automatic laser rust removal device for the convex film compression ring of the underwater missile launching shaft comprises: the three-degree-of-freedom moving mechanism is used for fixing the rotary supporting mechanism of the convex film pressing ring, the laser rust removing head and driving the laser rust removing head to move; the rotary support mechanism comprises a rotary support, a rotary drive device and a convex film bracket, the convex film bracket is fixedly connected to the outer circumference of an inner ring of the rotary support, the rotary drive device is connected with the inner ring of the rotary support and drives the inner ring of the rotary support to drive the convex film bracket to rotate relative to an outer ring of the rotary support, and the convex film compression ring is fixed at the upper end of the convex film bracket; and the three-degree-of-freedom moving mechanism is connected with the laser rust removing head and drives the laser rust removing head to move to different stations to remove rust on the convex film pressing ring.

Furthermore, the three-degree-of-freedom moving mechanism comprises a horizontal moving mechanism, a vertical moving mechanism and a rotary moving mechanism; the horizontal moving mechanism comprises a horizontal motor, a horizontal motor fixing seat and a horizontal lead screw, the vertical moving mechanism comprises a vertical upright post, a vertical motor and a vertical lead screw, and the rotary moving mechanism comprises a cantilever, a rotary motor and a speed reducer; the horizontal motor is fixed at one end of the horizontal motor fixing seat, an output shaft of the horizontal motor is connected with the horizontal lead screw and drives the horizontal lead screw to rotate, and the lower end of the vertical upright post is sleeved on the horizontal lead screw and moves horizontally along the horizontal motor fixing seat along with the rotation of the horizontal lead screw; the vertical motor is fixed at the top of the vertical upright post, an output shaft of the vertical motor is connected with a vertical screw rod arranged inside the vertical upright post and drives the vertical screw rod to rotate, and one end of the cantilever is sleeved on the vertical screw rod and vertically moves along the vertical upright post along with the rotation of the vertical screw rod; the rotating motor and the speed reducer are both arranged at the other end of the cantilever, an output shaft of the speed reducer is connected with the laser rust removing head, and the laser rust removing head is driven to rotate around the axis of the output shaft of the speed reducer through the rotating motor and the speed reducer.

Preferably, the reducer is a planetary reducer.

Further, the method also comprises the following steps: the T-shaped base is arranged at the bottoms of the rotary supporting mechanism and the three-degree-of-freedom moving mechanism and comprises a cross beam and a longitudinal beam, an outer ring of a rotary support in the rotary supporting mechanism is fixed at the intersection position of the cross beam and the longitudinal beam, and a horizontal motor fixing seat in the three-degree-of-freedom moving mechanism is fixed at the upper end of the cross beam; the bottom of the two ends of the longitudinal beam is respectively provided with a first supporting leg and a second supporting leg, and the bottom of one end of the cross beam, which is far away from the longitudinal beam, is provided with a third supporting leg.

Furthermore, a first directional wheel and a second directional wheel are arranged at the bottom of the longitudinal beam and beside the first supporting foot and the second supporting foot respectively, and a universal wheel is arranged at the bottom of the longitudinal beam and beside the third supporting foot; the first supporting leg and the first directional wheel, the second supporting leg and the second directional wheel and the third supporting leg and the universal wheel are connected through linkage pedals, and the linkage pedals are triggered to enable the first supporting leg and one of the first directional wheel, the second supporting leg and one of the second directional wheel, the third supporting leg and one of the universal wheel to be in contact with the ground.

Furthermore, the upper part of the longitudinal beam, which is provided with the three ends of the supporting leg, is also provided with a towing rod.

Further, the rotary driving device comprises a rotary motor and a right-angle speed reducer which are arranged on the inner side of the rotary support, the right-angle speed reducer is fixedly connected with the inner ring of the rotary support and drives the inner ring to be further, the convex film bracket comprises three support arms which are uniformly fixed on the outer wall of the rotary support inner ring, one end, far away from the inner ring, of each support arm is bent upwards to form a claw-shaped bracket, positioning holes are formed in the claw-shaped brackets, and the convex film pressing rings are connected to the claw-shaped brackets in a positioning mode through the positioning holes.

Furthermore, the supporting arm comprises a main arm and a folding arm, one end of the main arm is fixed on the outer wall of the rotary supporting inner ring, the other end of the main arm is hinged with the folding arm, and a limiting groove for accommodating the folding arm is formed in the main arm.

Furthermore, a first horizontal guide rail and a second horizontal guide rail are arranged on the two sides of the horizontal motor fixing seat along the horizontal moving direction, and a first horizontal sliding block matched with the first horizontal guide rail and a second horizontal sliding block matched with the second horizontal guide rail are respectively arranged at the two ends of the bottom of the vertical upright; the two sides of the vertical upright post along the vertical moving direction are provided with a first vertical guide rail and a second vertical guide rail, and one end of the cantilever connected with the vertical screw rod is respectively provided with a first vertical sliding block matched with the first vertical guide rail and a second vertical sliding block matched with the second vertical guide rail.

According to the automatic laser rust removal device for the convex film compression ring of the underwater missile launching shaft, provided by the invention, through the matching of the rotary supporting mechanism and the three-degree-of-freedom moving mechanism, the full-automatic rust removal work of one-time clamping of the convex film compression ring on three stations including an inner ring surface, an upper ring surface and an outer ring surface can be realized; the whole device is stably supported through the T-shaped base, and meanwhile, the device is convenient to move, so that the application range of the device is wider; by the designed foldable supporting arm, the automatic laser rust removing device for the convex membrane compression ring is more convenient to move and store, and the occupied space is reduced; the invention improves the derusting efficiency and the derusting quality of the convex membrane pressing ring and saves a large amount of manpower.

Drawings

FIG. 1 is a front view of an automated laser de-rusting device for a convex film compression ring provided by an embodiment of the invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic view of the structure of the convex membrane clamp ring;

FIG. 4 is a schematic diagram of an automatic laser derusting device for a convex film compression ring, which is located at a first station and provided by an embodiment of the invention;

FIG. 5 is a schematic diagram of an automatic laser derusting device for a convex film compression ring, which is located at a second station and provided by an embodiment of the invention;

FIG. 6 is a schematic diagram of an automatic laser derusting device for a convex film compression ring, which is located at a third station and provided by an embodiment of the invention;

FIG. 7 is a perspective view of the T-shaped base of the present invention;

FIG. 8 is a perspective view of the rotary support mechanism of the present invention;

FIG. 9 is a schematic perspective view of a three-degree-of-freedom moving mechanism according to the present invention;

FIG. 10 is a flow chart of the automatic laser derusting device of the convex membrane compression ring.

In the figure: 1a, supporting a first leg; 1b, supporting a second leg; 1c, supporting a third leg; 2. a convex membrane clamp ring bracket; 3. a laser rust removal head; 4. a vertical motor; 5. a cantilever; 6a, a first vertical guide rail; 6b, a vertical guide rail II; 7, a vertical screw rod; 8. a vertical column; 9. a tow bar; 10a, a first horizontal sliding block; 10b, a second horizontal sliding block 2; 11. a universal wheel; 12. a horizontal lead screw; 13. a horizontal motor fixing seat; 14. a horizontal motor; 15. a rotary support; 16. a rotating electric machine; 17. a speed reducer; 18a, a first horizontal guide rail; 18b, a second horizontal guide rail; 19a, a first vertical sliding block; 19b, a vertical sliding block II; 20. a T-shaped base; 21a, a first orientation wheel 1; 21b, a second orientation wheel; 22. a rotary motor; 23. a right-angle reducer; 24. and a convex membrane compression ring.

Detailed Description

The technical solution of the present invention is explained in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 3, an automatic laser derusting device for a convex film pressing ring of an underwater missile launching shaft comprises a rotary supporting mechanism for fixing the convex film pressing ring 24, a laser derusting head 3 and a three-degree-of-freedom moving mechanism for driving the laser derusting head to move; the rotary supporting mechanism comprises a rotary support 15, a rotary driving device and a convex film bracket 2, the convex film bracket 2 is fixedly connected to the outer circumference of the inner ring of the rotary support 15, the rotary driving device is connected with the inner ring of the rotary support and drives the inner ring of the rotary support 15 to drive the convex film bracket 2 to rotate relative to the outer ring of the rotary support 15, and the convex film compression ring 24 is fixed at the upper end of the convex film bracket 2; the three-degree-of-freedom moving mechanism is connected with the laser rust removing head 3 and drives the laser rust removing head 3 to move to different stations to remove rust on the convex film pressing ring 24.

Specifically, the three-degree-of-freedom moving mechanism comprises a horizontal moving mechanism, a vertical moving mechanism and a rotary moving mechanism, wherein the horizontal moving mechanism comprises a horizontal motor 14, a horizontal motor fixing seat 13 and a horizontal lead screw 12, the vertical moving mechanism comprises a vertical upright post 8, a vertical motor 4 and a vertical lead screw 7, and the rotary moving mechanism comprises a cantilever 5, a rotating motor 16 and a speed reducer 17; the horizontal motor 14 is fixed at one end of the horizontal motor fixing seat 13, an output shaft of the horizontal motor 14 is connected with the horizontal lead screw 12 and drives the horizontal lead screw 12 to rotate, and the lower end of the vertical upright post 8 is sleeved on the horizontal lead screw 12 and moves horizontally along the horizontal motor fixing seat 13 along with the rotation of the horizontal lead screw 12; the vertical motor 4 is fixed at the top of the vertical upright post 8, an output shaft of the vertical motor 4 is connected with a vertical screw 7 arranged inside the vertical upright post 8 and drives the vertical screw 7 to rotate, and one end of the cantilever 5 is sleeved on the vertical screw 7 and vertically moves along the vertical upright post 8 along with the rotation of the vertical screw 7; the rotating motor 16 and the speed reducer 17 are both arranged at the other end of the cantilever 5, an output shaft of the speed reducer 17 is connected with the laser rust removing head 3, and the laser rust removing head 3 is driven to rotate around the axis of the output shaft of the speed reducer 17 through the rotating motor 16 and the speed reducer 17.

The reduction gear 17 is preferably a planetary gear reduction gear.

As shown in fig. 1, fig. 2 and fig. 7, the automatic laser derusting device for the convex film pressing ring of the underwater missile launching shaft provided by the invention further comprises: the T-shaped base 20 is arranged at the bottom of the rotary supporting mechanism and the bottom of the three-degree-of-freedom moving mechanism, the T-shaped base 20 comprises a cross beam and a longitudinal beam, the outer ring of the rotary support 15 in the rotary supporting mechanism is fixed at the intersection position of the cross beam and the longitudinal beam, and the horizontal motor fixing seat 13 in the three-degree-of-freedom moving mechanism is fixed at the upper end of the cross beam; the bottom of the two ends of the longitudinal beam is respectively provided with a first supporting leg 1a and a second supporting leg 1b, and the bottom of one end of the cross beam, which is far away from the longitudinal beam, is provided with a third supporting leg 1 c.

Because the convex membrane clamp ring 24's area is great, constitute a three point stable support structure through T type base 20 and three supporting legs to improved the stability of whole equipment, the bottom of each supporting leg can be designed for the disc structure, with increase its and ground area of contact, thereby further improve the stability of T type base.

A first directional wheel 20a and a second directional wheel 20b are arranged at the bottom of the longitudinal beam and beside the first supporting foot 1a and the second supporting foot 1b respectively, and a universal wheel 11 is arranged at the bottom of the longitudinal beam and beside the third supporting foot 1 c; the first supporting foot 1a and the first orienting wheel 20a, the second supporting foot 1b and the second orienting wheel 20b, and the third supporting foot 1c and the universal wheel 11 are connected through linkage pedals, and the linkage pedals are triggered to enable one of the first supporting foot 1a and the first orienting wheel 20a, one of the second supporting foot 1b and the second orienting wheel 20b, and one of the third supporting foot 1c and the universal wheel 11 to be in contact with the ground.

In this embodiment, the linkage pedal may be set to be stepped down, so that the first supporting leg 1a, the second supporting leg 1b and the third supporting leg 1c contact the ground, and the first directional wheel 20a, the second directional wheel 20b and the universal wheel 11 are all lifted off, thereby improving the supporting stability of the T-shaped base 20; and (3) loosening the linkage pedal to enable the first supporting foot 1a, the second supporting foot 1b and the third supporting foot 1c to leave the ground, and enabling the first directional wheel 20a, the second directional wheel 20b and the universal wheel 11 to contact the ground, so that the whole rust removing device can be conveniently moved to a required position, and the universal wheel 11 can be conveniently turned.

The upper part of the longitudinal beam, which is provided with one end of the supporting leg III 1c, is also provided with a towing rod 9, so that the whole device can be conveniently towed to move.

As shown in fig. 1, 2 and 8, in particular, the slewing drive device includes a slewing motor 22 and a right-angle reducer 23 which are arranged inside the slewing support 15, and the right-angle reducer 23 is fixed to the inner ring of the slewing support 15 and drives the inner ring to rotate relative to the outer ring.

The convex film bracket 2 comprises three supporting arms which are uniformly fixed on the outer wall of the inner ring of the rotary support 15, one end, far away from the inner ring, of each supporting arm is bent upwards to form a claw-shaped bracket, positioning holes are formed in the claw-shaped brackets, and the convex film clamp rings 24 are connected to the claw-shaped brackets in a positioning mode through the positioning holes.

In order to facilitate the storage and movement, the supporting arm comprises a main arm and a folding arm, one end of the main arm is fixed on the outer wall of the inner ring of the rotary support 15, the other end of the main arm is hinged with the folding arm, a limiting groove for containing the folding arm is formed in the main arm, so that the folding arm can be folded in the limiting groove when being bent upwards, and the folding arm can be limited when being opened.

As shown in fig. 1, 2 and 8, a first horizontal guide rail 18a and a second horizontal guide rail 18b are arranged on two sides of the horizontal motor fixing seat 13 along the horizontal moving direction, and a first horizontal sliding block 10a matched with the first horizontal guide rail 18a and a second horizontal sliding block 10b matched with the second horizontal guide rail 18b are respectively arranged at two ends of the bottom of the vertical upright 8; two sides of the vertical upright post 8 along the vertical moving direction are provided with a first vertical guide rail 6a and a second vertical guide rail 6b, and one end of the cantilever 5 connected with the vertical screw 7 is respectively provided with a first vertical sliding block 19a matched with the first vertical guide rail 6a and a second vertical sliding block 19b matched with the second vertical guide rail 6 b. The design that the sliding block is matched with the guide rail improves the stability of the horizontal moving mechanism and the vertical moving mechanism in the moving process.

As shown in fig. 10, the working process of the automatic derusting device for the convex film compression ring of the underwater missile launching shaft is as follows:

as shown in fig. 4, the three-degree-of-freedom moving mechanism cooperates to move, so that the laser derusting head 3 reaches the first station, the rotary support mechanism drives the convex film pressing ring 24 to rotate, after one rotation, the outer annular surface of the convex film pressing ring 24 is derusted, and the rotary support mechanism stops rotating; as shown in fig. 5, the three-degree-of-freedom moving mechanism cooperates to move, so that the laser derusting head 3 reaches the second station, the rotary support mechanism drives the convex film pressing ring 24 to rotate, after one rotation, the annular surface derusting on the convex film pressing ring 24 is completed, and the rotary support mechanism stops rotating; as shown in fig. 6, the three-degree-of-freedom moving mechanism cooperates to act to enable the laser rust removal head 3 to reach the third station, the rotary support mechanism drives the convex film pressing ring 24 to rotate, after one circle of rotation, rust removal of the inner annular surface of the convex film pressing ring 24 is completed, the rotary support mechanism stops rotating, the three-degree-of-freedom moving mechanism cooperates to act, the laser rust removal head 3 reaches a zero position, an operator removes the convex film pressing ring 24, and the rust removal work is completed.