The marine ultrahigh-pressure water cleaning wheel type wall-climbing robot comprises a frame, four walking devices are installed at the front end and the rear end of the frame, two adsorption devices are installed at the bottoms of the front end and the rear end of the frame, and a cleaning device is arranged in the center of the frame; each walking device comprises a wheel, a driving motor and a speed reducer, and the driving motor is movably connected with the wheel through a connecting shaft with a ball head. According to the adsorption device, the permanent magnet adsorption units of the Halbach array magnetic circuit tile-shaped structure are adopted, the magnetic mass ratio is increased, and the occupied space is reduced; the walking device is movably connected with wheels through a ball head device to adapt to the curved surface of the outer wall of the ship. The steering device enables the robot to achieve flexible steering motion, and the torque requirement for a driving motor is lowered; the cleaning device conducts rust removal cleaning work through ultrahigh-pressure water jet, waste water and rust slag are recycled, and the cleaning device is clean, environmentally friendly and small in noise pollution.
本发明公开了一种船用超高压水清洗轮式爬壁机器人,包括框架,所述框架前后端安装有四个行走装置,前后端底部安装有两个吸附装置,中心设有清洗装置;每个行走装置包括车轮、驱动电机和减速器,驱动电机通过带有球头的连接轴与车轮活动连接。本发明的吸附装置采用Halbach阵列磁路瓦形结构的永磁吸附单元,增大磁质比,减小占用空间;行走装置中使用球头装置活动连接车轮,适应船舶外壁曲面;转向装置使机器人实现灵活转向运动,降低对驱动电机的转矩要求;清洗装置利用超高压水射流进行除锈清洗工作,并将废水和锈渣回收处理,清洁环保,噪音污染小。
Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot
一种船用超高压水清洗轮式爬壁机器人
2022-08-30
Patent
Electronic Resource
Chinese
Crawler-type ultrahigh-pressure jet rust removal wall-climbing robot
European Patent Office | 2022
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