The invention discloses an underwater hull cleaning robot with a double-cleaning function and a working method thereof. The robot comprises crawler belt modules, a cavitation jet flow cleaning module,a rotary brush cleaning module, a driving module, a control module and a frame, wherein the two crawler belt modules are mounted on the left side and the right side of a main body; the cavitation jetflow cleaning module is mounted below a head part; and the rotary brush cleaning module is mounted below the main body. According to the underwater hull cleaning robot, the crawler belt structure canbring higher stability, by adopting the combined use mode of vertical propellers, permanent magnets and electromagnets, stable attraction force can be provided, and the problem that it is difficult for a permanent magnet crawler belt to break away from a metal wall surface can be solved; and by adopting a cleaning mode of mixed use of cavitation jet flow cleaning and rotary brush cleaning, cavitation jet flow cleaning is carried out firstly to remove large attachments, then rotary brush cleaning is carried out to remove small attachments, and mixed cleaning has higher cleaning efficiency.

    本发明公开了一种具备双清洗功能的水下船体清洗机器人及其工作方法,所述的机器人包括履带模块、空化射流清洗模块、转刷清洗模块、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;所述的空化射流清洗模块安装在首部的底下;所述的转刷清洗模块安装在主体的的底下。本发明的履带结构能带来更高的稳定性。本发明采用垂直推进器、永磁铁与电磁铁的组合使用方式,既能提供稳定的吸附力,也能解决永磁铁履带难以脱离金属壁面的难题。本发明采用采用空化射流清洗与转刷清洗混合使用的清洗方式,先进行空化射流清洗,清除大型附着物,再进行转刷清洗,清除小型附着物,混合式清洗具有更高的清洗效率。


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    Title :

    Underwater hull cleaning robot with double-cleaning function and working method thereof


    Additional title:

    一种具备双清洗功能的水下船体清洗机器人及其工作方法


    Contributors:
    XU MINYI (author) / ZHENG JIAXI (author) / LI WENXIANG (author) / LIU XIANGYU (author) / MENG ZHAOCHEN (author) / SONG LIGUO (author) / DONG JINGMING (author) / FU XIANPING (author)

    Publication date :

    2020-11-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B62D MOTOR VEHICLES , Motorfahrzeuge



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