A two-degree-of-freedom large-space working device of an underwater wall surface cleaning robot comprises water conveying pipes, a water gun, a rack, arm rods, a translation chain and a linear driver, the water conveying pipe is a rigid pipe and comprises a first water conveying pipe, a second water conveying pipe and a third water conveying pipe, and the arm rods comprise a first arm rod, a second arm rod and a third arm rod; the water conveying pipes are fixedly installed on the arm rods, the rack, the arm rods, the translation chain and the linear driver form a planar two-degree-of-freedom connecting rod mechanism, the planar two-degree-of-freedom connecting rod mechanism comprises a first closed loop, a second closed loop, a third closed loop and a fourth closed loop, and the third closed loop and the fourth closed loop which are formed by the translation chain, the first arm rod and the second arm rod can maintain translation of the water gun; and the water conveying pipes communicate with one another through hoses, one end of the first water conveying pipe communicates with a high-pressure water way through a hose, and the third water conveying pipe communicates with the water gun. According to the cleaning working device of the wall surface cleaning robot, the two-degree-of-freedom controllable translation of the water gun relative to the rack can be realized, and the cleaning operation of outer vertical surfaces of marine equipment such as ships with large area and low structural complexity is realized by utilizing high-pressure water flow.
一种水下壁面清洗机器人两自由度大空间工作装置,包含输水管、水枪、机架、臂杆、平动链、直线驱动器,输水管为刚性管,包括第一、第二、第三输水管,所述臂杆包括第一、第二、第三臂杆;所述输水管固定安装在臂杆上,机架、臂杆、平动链、直线驱动器构成平面两自由度连杆机构,包含第一、第二、第三、第四闭环回路,其中由平动链、第一臂杆、第二臂杆构成的第三、第四闭环回路可维持水枪平动;各输水管通过软管连通,第一输水管一端通过软管连通高压水路,第三输水管与水枪连通。该种壁面清洗机器人清洁工作装置可实现水枪相对机架两自由度可控平动,利用高压水流实现大面积、结构复杂度低的船舶等海洋设备外竖立面的清洁作业。
Two-degree-of-freedom large-space working device of underwater wall surface cleaning robot
一种水下壁面清洗机器人两自由度大空间工作装置
2021-11-16
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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