The invention provides a deformable ship autonomous crawling ultrasonic cleaning robot which comprises a cleaning robot body, the cleaning robot body is composed of five octagonal phased array ultrasonic devices and small phased array ultrasonic devices, the octagonal phased array ultrasonic devices are symmetrically installed, and the small phased array ultrasonic devices are symmetrically installed. The number of the small phased array ultrasonic devices is four, and the small phased array ultrasonic devices are located at the four corners of the cleaning robot body correspondingly. The cleaning robot body is further connected with four mechanical arms capable of climbing, the mechanical arms are three-axis joints, the three-axis joints are driven by an air cylinder to expand and stretch out and draw back, the air cylinder is provided with an electromagnetic valve, the tail end of each mechanical arm is provided with an independent control chip, and the control chips are installed on a circuit board and connected to a main control device on the back of the cleaning robot body through cables. A mechanical suction cup is arranged at the head end of the mechanical arm and connected through a waterproof air cylinder in the cleaning robot body.
本发明提供可变形船舶自主爬行超声波清洗机器人,包括清洗机器人主体,清洗机器人主体是由八边形相控阵超声波装置和小型相控阵超声波装置组成,八边形相控阵超声波装置设有五个,且八边形相控阵超声波装置呈对称安装,小型相控阵超声波装置设有四个,且小型相控阵超声波装置分别位于清洗机器人主体的四个角部;清洗机器人主体还连接有四个可攀爬的机械臂,机械臂为三轴关节,三轴关节通过气缸驱动展开伸缩,气缸设有电磁阀,每个机械臂的末端设有独立的控制芯片,控制芯片安装在线路板上,并通过线缆连接到清洗机器人主体背部的主控设备,机械臂的头端设有机械吸盘,机械吸盘通过清洗机器人主体内部的防水气缸连接。
Deformable automatic crawling ultrasonic cleaning robot for ship
可变形船舶自主爬行超声波清洗机器人
2024-12-10
Patent
Electronic Resource
Chinese
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