The invention discloses an adsorption and driving device of an underwater hull cleaning robot and a working method of the adsorption and driving device. The device comprises crawler belt modules, a driving module, a control module and a frame, the two crawler belt modules are separately mounted on the left side and the right side of a main body, and electromagnets are fixedly installed in the crawler belt modules and connected with the control module through control lines. Permanent magnets are fixedly mounted at concave teeth on the outer surfaces of rubber crawler belts of the crawler belt modules, and the driving module comprises five vertical propellers, two longitudinal propellers and a lateral propeller. The contact area between the surface of the crawler belts and the surface of a hull is large, slipping is not prone to happening, and higher stability can be achieved compared with a wheeled crawler belt structure. The permanent magnets and the electromagnets are matched for use,the permanent magnets provide stable adsorption force, and the problem that the permanent magnet crawler belts are not prone to separating from the metal wall surface is solved by controlling the magnetic force and the magnetic force direction of the electromagnets.
本发明公开了一种水下船体清洗机器人的吸附和驱动装置及其工作方法,所述的装置包括履带模块和驱动模块、控制模块和框架;所述的履带模块有两个,分别安装在主体的左右两侧;所述的履带模块内部固定安装电磁铁,所述的电磁铁通过控制线与控制模块连接;所述的履带模块的橡胶履带外表面凹齿处固定安装永磁铁;所述的驱动模块包括五个垂直推进器、两个纵向推进器和一个侧向推进器。本发明的履带表面与船体表面接触面积大,不易打滑,相对轮式结构履带结构能带来更高的稳定性。本发明采用永磁铁与电磁铁搭配使用方式,永磁铁提供稳定吸附力,通过控制电磁铁的磁力大小与磁力方向来解决永磁铁履带难以脱离金属壁面的难题。
Adsorption and driving device of underwater hull cleaning robot and working method thereof
一种水下船体清洗机器人的吸附和驱动装置及其工作方法
18.12.2020
Patent
Elektronische Ressource
Chinesisch
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