A three-degree-of-freedom high-flexibility working device of an underwater wall surface cleaning robot comprises water conveying pipes, a water gun, a rack, arm rods, a driving chain and a linear driver, the water conveying pipes are rigid pipes and comprise 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 driving chain comprises a first driving chain and a second driving chain; the water conveying pipes are fixedly mounted on the arm rods; the rack, the arm rods, the driving chain and the linear driver form a planar two-degree-of-freedom connecting rod mechanism which comprises a first closed loop, a second closed loop, a third closed loop and a fourth closed loop, and the inclination angle, the pose and the like of the water gun can be controlled; and the water conveying pipes communicate with one another through hoses, one end of the first water conveying pipe communicates with the 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 three-degree-of-freedom controllable movement 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 high structural complexity is realized by utilizing high-pressure water flow.

    一种水下壁面清洗机器人三自由度高灵活性工作装置,包含输水管、水枪、机架、臂杆、驱动链、直线驱动器,所述输水管为刚性管,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;所述驱动链包括第一驱动链、第二驱动链;所述输水管固定安装在臂杆上;机架、臂杆、驱动链、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,水枪的倾斜角度、位姿等均可进行控制;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三自由度可控运动,利用高压水流实现大面积、结构复杂度高的船舶等海洋设备外竖立面的清洁作业。


    Access

    Download


    Export, share and cite



    Title :

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


    Additional title:

    一种水下壁面清洗机器人三自由度高灵活性工作装置


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



    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-bearing working device of underwater wall surface cleaning robot

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

    Free access

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

    GUAN ZHIGUANG / ZHANG LIN / WANG BAOPING 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

    Six-degree-of-freedom underwater detection robot and working method thereof

    ZHI HAIBO | European Patent Office | 2021

    Free access