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。
Two-degree-of-freedom cleaning working device of underwater wall surface cleaning robot
一种水下壁面清洗机器人两自由度清洁工作装置
2021-11-16
Patent
Electronic Resource
Chinese
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