A three-degree-of-freedom cleaning working device of an underwater wall surface cleaning robot comprises water conveying pipes, a water gun, a rack, arm rods and linear drivers, 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 rack, the arm rods and the linear drivers form a planar three-degree-of-freedom connecting rod mechanism; the first, second and third water conveying pipes are fixedly mounted on the first, second and third arm rods respectively; the first arm rod, the rack and the first linear driver form a first closed loop, the first arm rod, the second arm rod and the second linear driver form a second closed loop, and the second arm rod, the third arm rod and the third linear driver form a third closed loop; 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, 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 a vertical surface is realized by utilizing high-pressure water flow.

    一种水下壁面清洗机器人三自由度清洁工作装置,包含输水管、水枪、机架、臂杆、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;机架、臂杆、直线驱动器构成平面三自由度连杆机构;第一、第二、第三输水管分别固定安装在第一、第二、第三臂杆上;第一臂杆、机架、第一直线驱动器构成第一闭环回路,第一臂杆、第二臂杆、第二直线驱动器组成第二闭环回路,第二臂杆、第三臂杆、第三直线驱动器构成第三闭环回路;各输水管通过软管连通,第一输水管一端连通高压水路,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,利用高压水流实现竖立面的清洁作业。


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    Title :

    Three-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三自由度清洁工作装置


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



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