The invention relates to a negative-pressure adsorption ship body cleaning robot and a ship body wall surface movement reversing method. The robot comprises a machine body, an adsorption assembly, a power assembly, a thrust assembly, a cleaning assembly, a flow guide assembly and an electrical assembly, the power assembly comprises a walking driving mechanism, a walking steering mechanism, a shellreversing mechanism and a moving wheel train. The flow guide assembly comprises a main flow guide cylinder, a thrust flow guide cylinder and an outer cover. The thrust assembly comprises four sets ofthrust motors and propellers; the walking driving mechanism realizes synchronous driving of the robot four-wheel mechanism under a single power source; the walking steering mechanism realizes synchronous adjustment of any advancing direction of the robot four-wheel mechanism under a single power source; reversing mechanism matched with shell, the robot can move to the wall surface of a ship bodythrough cooperative operation of the thrust assembly and the negative pressure adsorption assembly of the contra-rotating paddle, adsorption force and thrust of the thrust assembly and the negative pressure adsorption assembly of the contra-rotating paddle are combined during wall surface cleaning, free control over the adsorption force of the robot is achieved, and the loading capacity of the robot is improved.
本发明涉及一种负压吸附船体清洁机器人及在船体壁面运动换向方法,包括机体、吸附组件、动力组件、推力组件、清洗组件、导流组件和电气组件,动力组件包括行走驱动机构、行走转向机构、壳体换向机构和移动轮系,导流组件包括主导流筒、推力导流筒和外罩,推力组件包括四套推力电机和螺旋桨,行走驱动机构实现单动力源下对机器人四轮机构的同步驱动,行走转向机构实现单动力源下对机器人四轮机构的同步任意行进方向调整,配合壳体换向机构,实现机器人携带清洗组件时对外部清洁的方向任意变换,通过推力组件和对转桨的负压吸附组件配合作业,实现机器人运动至船体壁面,并且在壁面清洁时两者吸附力和推力结合,实现机器人吸附力自由控制,提高了机器人带负载能力。
Negative pressure adsorption ship body cleaning robot and ship body wall surface movement reversing method
一种负压吸附船体清洁机器人及在船体壁面运动换向方法
2020-06-05
Patent
Electronic Resource
Chinese
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