The invention discloses a ship underwater cleaning robot capable of adjusting the gravity center, which comprises a cleaning mechanism, a propelling mechanism, a gravity center adjusting mechanism, a sensing system and a main frame module, is suitable for the technical field of ship cleaning, adopts a floating cleaning mechanism, can keep an optimal distance between a cavitation jet flow rotating tool rest and a to-be-cleaned wall surface, and improves the cleaning efficiency. Meanwhile, the ship wall surface can be automatically adapted according to the growth condition of marine organisms, so that the cleaning effect and the cleaning efficiency are improved. The propelling mechanism is adopted, under the condition that few propellers are used, movement of all freedom degrees of the robot and preset fixed-navigation and fixed-depth cleaning functions are achieved, and meanwhile the problem that the robot shakes due to the influence of jet flow during cleaning operation is solved through a simple directional wheel structure. The gravity center adjusting mechanism is adopted, the gravity center of the robot is always kept under the buoyancy center by adjusting the gravity center of the robot, and therefore the stability of the robot is kept, and the cleaning effect and the cleaning efficiency are improved.
本发明公开了一种可调节重心的船舶水下清洗机器人,包括清洗机构、推进机构、重心调节机构、传感系统、主机架模块,本发明适用于船舶清洗技术领域,采用浮动式清洗机构,能够使空化射流旋转刀架和待清洗壁面保持最优距离,同时可根据海生物生长情况来自动适应船舶壁面,从而提高清洗效果、清洗效率。采用推进机构,能够使用较少的推进器的情况下,实现了机器人各个自由度的运动和预设的定航、定深清洗功能,同时利用简单的定向轮结构解决了机器人清洗作业时受射流影响晃动的问题。采用重心调节机构,通过调节机器人重心使机器人重心始终保持在浮心的正下方,从而保持机器人的稳定性,提高清洗效果和清洗效率。
Ship underwater cleaning robot with adjustable gravity center
一种可调节重心的船舶水下清洗机器人
05.09.2023
Patent
Elektronische Ressource
Chinesisch
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