A two-degree-of-freedom cleaning working device of an underwater wall surface cleaning robot comprises water conveying pipes, a water gun, a rack, arm rods, a driving rod, a connecting rod and a linear driver, the water conveying pipes are rigid pipes and comprise a first water conveying pipe and a second water conveying pipe, and the arm rods comprise a first arm rod and a second arm rod; the rack, the first arm rod, the second arm rod, the driving rod, the connecting rod and the linear driver form a planar two-degree-of-freedom connecting rod mechanism; the first water conveying pipe is fixedly installed on the first arm rod, and the second water conveying pipe is fixedly installed on the second arm rod; the first arm rod, the rack and the linear driver form a first closed loop, and the driving rod, the first arm rod, the second arm rod and the connecting rod form a second closed loop; and one end of the first water conveying pipe communicates with the high-pressure waterway, the other end of the first water conveying pipe communicates with one end of the second water conveying pipe, and the other end of the second water conveying pipe communicates with the water gun. According to the cleaning working device of the wall surface cleaning robot, the water gun can make two-degree-of-freedom controllable movement relative to the rack, and cleaning operation of a vertical surface is achieved through high-pressure water flow.

    一种水下壁面清洗机器人两自由度清洁工作装置,包含输水管、水枪、机架、臂杆、主动杆、连杆、直线驱动器,输水管为刚性管,包括第一、第二输水管,所述臂杆包括第一、第二臂杆;机架、第一臂杆、第二臂杆、主动杆、连杆、直线驱动器构成平面两自由度连杆机构;第一输水管固定安装在第一臂杆上,第二输水管固定安装在第二臂杆上;第一臂杆、机架、直线驱动器构成第一闭环回路,主动杆、第一臂杆、第二臂杆、连杆组成第二闭环回路;第一输水管一端连通高压水路,另一端通过软管与第二输水管一端连通,第二输水管另一端与水枪连通。该种壁面清洗机器人清洁工作装置可使水枪相对机架两自由度可控运动,利用高压水流实现竖立面的清洁作业。


    Access

    Download


    Export, share and cite



    Title :

    Two-degree-of-freedom cleaning working device of underwater wall surface cleaning robot


    Additional title:

    一种水下壁面清洗机器人两自由度清洁工作装置


    Contributors:
    GUAN ZHIGUANG (author) / ZHANG LIN (author) / WANG BAOPING (author) / SUN QIN (author) / ZHAO LINGYAN (author) / ZHANG HONGLI (author)

    Publication date :

    2021-11-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B08B Reinigen allgemein , CLEANING IN GENERAL



    Three-degree-of-freedom cleaning working device of underwater wall surface cleaning robot

    WANG BAOPING / ZHAO LINGYAN / SUN QIN et al. | European Patent Office | 2021

    Free access

    Three-degree-of-freedom high-flexibility working device of underwater wall surface cleaning robot

    WANG BAOPING / ZHANG LIN / SUN QIN et al. | European Patent Office | 2021

    Free access

    Two-degree-of-freedom large-space working device of underwater wall surface cleaning robot

    ZHANG DONG / GUAN ZHIGUANG / WANG XUELIN et al. | European Patent Office | 2021

    Free access

    Three-degree-of-freedom high-bearing working device of underwater wall surface cleaning robot

    GUAN ZHIGUANG / SUN QIN / ZHANG LIN et al. | European Patent Office | 2021

    Free access

    Underwater cleaning wall-climbing robot

    ZHAO FEI / HUANG XIAOFENG / HU MIN et al. | European Patent Office | 2025

    Free access