CN105751226A - Negative-pressure suction and dual-manipulator assisted clamping type underwater steel structure cleaning robot - Google Patents
Negative-pressure suction and dual-manipulator assisted clamping type underwater steel structure cleaning robot Download PDFInfo
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- CN105751226A CN105751226A CN201610265272.3A CN201610265272A CN105751226A CN 105751226 A CN105751226 A CN 105751226A CN 201610265272 A CN201610265272 A CN 201610265272A CN 105751226 A CN105751226 A CN 105751226A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 52
- 239000010959 steel Substances 0.000 title claims abstract description 52
- 238000004140 cleaning Methods 0.000 title claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 210000000245 forearm Anatomy 0.000 claims description 35
- 210000000707 wrist Anatomy 0.000 claims description 30
- 238000010276 construction Methods 0.000 claims description 29
- 230000001141 propulsive effect Effects 0.000 claims description 20
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- 230000000717 retained effect Effects 0.000 claims description 10
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- 230000002441 reversible effect Effects 0.000 abstract description 4
- 230000001066 destructive effect Effects 0.000 abstract description 2
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- 238000005859 coupling reaction Methods 0.000 description 8
- 239000003921 oil Substances 0.000 description 6
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- 239000010720 hydraulic oil Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention provides a negative-pressure suction and dual-manipulator assisted clamping type underwater steel structure cleaning robot which comprises a back pushing mechanism, a tail pushing mechanism, two side pushing mechanisms, a clamping mechanism and a manipulator structure.A motor provides power for all parts, the underwater steel structure cleaning robot has good motion reliability in a negative-pressure suction mode, the robot itself can offset a part of a reverse action force produced by water jet during steel cleaning and has good guidance performance, double manipulators have small destructive power to steel piles and meanwhile have the advantages of being large in clamping force and the like, and the cleaning requirements of large offshore jackets can be met.
Description
Technical field
The present invention relates to a kind of cleaning robot, particularly relate to a kind of negative-pressure adsorption and assist clipping underwater steel construction cleaning robot with double-manipulator, belong to the field of marine settings technology.
Background technology
Entering 21 century, along with being continuously increased of rapid development of economy and world population, the consumption of resource is got more and more by we, and the resource of land quickly reduces.Wherein the mankind are maximum for the dependency of oil, and the oil of land has begun to can not meet at leisure the needs of the mankind.Owing to ocean is progressively transferred at oil exploitation center so that increasing oil platform occurs in ocean.As time goes by, the anticorrosive coat on the catheterostat surface of ocean underwater facility can damage gradually, thickly dotted marine organisms also can be adhered in its surface simultaneously, Unpredictability due to the severe of marine environment and seabed plane so that efficiently detecting and clean this problem to ocean underwater facility easily becomes more and more important.Along with the development of China's offshore oil cause, increasing catheterostat will be had to occur in the relatively deep water sea area such as the East Sea and the South Sea, and clean or detect compared with a kind of special instrument underwater steel construction cleaning robot of steel needs under deep water.
Current steel construction is mainly also dependent on manually being carried out, but the domestic underwater cleaning technology to hull is ripe gradually, in order to the pollutant of boats and ships outer surface are removed, design and develop underwater robot for cheaning hull, mobile aspect, what adopt is double; two caterpillar manner, but its shortcoming is that heavy burden is excessive and structure is complicated.For motor, generally adopt hydraulic motor, so need to carry hydraulic oil source.Causing that weight increases, and to carry out pipeline connection, structure is complicated, is not easy between steel pipe and moves.Conventional cleaning method has two kinds, and one is that wire brush cleans, but is so easily damaged rigid body.Another kind of cleaning method is water jet method, is divided into high-pressure water jet and cavitating water jet, and the former cleaning pressure is very high, it is achieved gets up relatively difficult, there is also potential safety hazard.
Summary of the invention
The invention aims to solve problem of the prior art and provide a kind of negative-pressure adsorption to assist clipping underwater steel construction cleaning robot with double-manipulator.
The object of the present invention is achieved like this: includes rack-mounted mechanical hand, for clamping the clamp system of steel construction, back propulsive mechanism, both sides propulsive mechanism, afterbody propulsive mechanism, described clamp system includes the clamping support being arranged on frame one side, it is arranged on the clamp system motor on clamping support, the leading screw being connected with clamping motor outfan, it is arranged on two nuts on leading screw, each nut is hingedly connected with small rod, the end of each small rod is hinged with long connecting rod, and long connecting rod is hingedly mounted on clamping support, the end of each long connecting rod is provided with the clamping arc plate with tube fit；
Described back propulsive mechanism includes the back bracket being arranged on frame another side, it is arranged on the back motor in back bracket, the back output shaft being connected with back motor output end, it is arranged on the little gear in output shaft upper end, back two, it is arranged on the back main shaft in back bracket, it is arranged on No. two gear wheels of back main shaft and is arranged on the back gear wheel of back spindle nose, described No. two little gears and No. two gear wheel engagements, described back bracket is also equipped with four little rotating shafts, every little rotating shaft is provided with the little gear in back, four little gears in back engage with back gear wheel simultaneously, the end of the every little rotating shaft in back is provided with back propeller；
Described side propulsive mechanism includes the both sides motor being arranged in back bracket, it is arranged on a little gear on the motor output shaft of both sides, it is arranged on the rack sleeve on the main shaft interlude of back by bearing, it is arranged on a gear wheel on rack sleeve, a described little gear and a gear wheel engagement, described rack sleeve is also equipped with main shaft bevel gear, described back bracket is also equipped with two power transmission shafts, two power transmission shafts are separately installed with left bevel gear and right side bevel gear, and left bevel gear and right side bevel gear engage with main shaft bevel gear simultaneously, the end of two power transmission shafts is separately installed with both sides propeller；
Described afterbody propulsive mechanism includes the bracket at tail part being arranged on frame lower end, it is arranged on the afterbody motor on bracket at tail part, the afterbody output main shaft being connected with afterbody motor output shaft, afterbody output main shaft is provided with two driving pulleys, described bracket at tail part is provided with two afterbody driven shafts and two afterbody driven shafts are positioned at afterbody and export the both sides of main shaft, every afterbody driven shaft is installed driven pulley, V band is installed between driven pulley and corresponding driving pulley, every afterbody driven shaft is also equipped with the little gear of afterbody, the little gear of each afterbody is arranged on rear propeller shaft the engagement of afterbody gear wheel with corresponding, the end of every rear screw axle is also equipped with tail undercarriage.
Present invention additionally comprises so some architectural features:
null1. mechanical hand described in includes the lumbar frame being arranged on frame upper end、It is arranged on the waist motor in lumbar frame、It is arranged on the waist driving gear on waist motor output shaft、It is arranged on the waist rotating shaft in lumbar frame、It is arranged on the waist driven gear in waist rotating shaft，Waist driving gear engages with waist driven gear，The end of waist rotating shaft is fixed with large arm framework，Large arm framework is installed large arm motor，The outfan of large arm motor arranges actively large arm bevel gear，Described large arm framework is arranged above large arm gear shaft and big arm axle，Large arm gear shaft is provided with driven large arm bevel gear，Actively large arm bevel gear and the engagement of driven large arm bevel gear，Big arm axle is provided with big arm gear，The tooth-shape structure engagement of big arm gear and large arm gear shaft，The two ends of big arm axle are connected with middle link，Middle link is provided with forearm framework，Forearm framework is provided with forearm motor，The output shaft of forearm motor is provided with forearm driving gear，Forearm framework is additionally provided with forearm rotating shaft，Forearm rotating shaft is provided with forearm from gear，Forearm driving gear engages with forearm driven gear，Described forearm rotating shaft is also equipped with forearm，The end of forearm is installed with wrist framework，Wrist framework is provided with wrist motor，The output shaft of wrist motor is provided with actively wrist bevel gear，Described wrist framework is provided with wrist and connects axle，Wrist connection axle is provided with driven wrist bevel gear，Actively wrist bevel gear and the engagement of driven wrist bevel gear，Described wrist connects the end of axle and is fixed with hand framework，Hand framework is installed hand motor，The outfan of hand motor is connected with hand axle，Hand axle is provided with helicitic texture and nut is installed，Nut is connected with smooth block，Smooth block is symmetrically installed with two hand long connecting rods，And each hand long connecting rod is hinged on connecting rod rack，Connecting rod rack is fixing with hand framework to be connected，The end of each hand long connecting rod is connected to hand retained part.
2. small rod described in is arc.
3. clamp system described in has two sets, is symmetrically mounted on the same side of frame.
Compared with prior art, the invention has the beneficial effects as follows: the present invention provides a kind of for cleaning offshore oil platform and the robot of large ocean facility, it is carried out for getting rusty and adhering to the underwater portion of Marine microorganism, the mode adopting gear transmits the force to propeller, and then dive is near steel, and it is matched for clamping tightly mechanism to realize the cleaning robot movement on steel surface, after being adsorbed on steel mechanism, carried out detection or the Water jet sprayer cleaning of steel by 5DOF mechanical hand.It has piling bar is destroyed little, by depth limit, the feature such as work efficiency is high, fastening safety is reliable.Patent of the present invention is by one carrier that can move freely under water of design, adopt motor as current source, use highly integrated circuit board, and drive 8 propellers to move by the engagement transmission power between gear, it is possible to changed direction by the difference of the start and stop of control propeller and direction of rotation.Auxiliary clamping aspect is to drive leading screw to rotate by motor, and two nuts on leading screw will be closer or far from, oppositely oriented because of leading screw two ends screw thread, when rotation, the relative leading screw midpoint of two ends transmission nut by draw close simultaneously or away from axially-movable.Nut drives clamping arc plate motion by small rod, realizes clamping arc plate by the double-manipulator clamping of transmission nut, short connecting rod, long connecting rod and clamping arc plate composition and to the clamping of pipeline and unclamps action.Fix compared to conventional, while the double-manipulator clamping of this design has larger clamping force, steel column is destroyed little.Carrier is installed a cleaning manipulator, its hand one Water jet sprayer of clamping, is carried out by cavitating water jet method, realizes omnibearing steel construction by mechanical hand moving freely in space and clean.
Accompanying drawing explanation
Fig. 1 is the main apparent direction structural representation of the present invention；
Fig. 2 is the structural representation of the afterbody propulsive mechanism of the present invention；
Fig. 3 is the structural representation in the side-looking direction of the present invention；
Fig. 4 is the structural representation of the amplification of I part in Fig. 3；
Fig. 5 is the structural representation overlooking direction of the present invention；
Fig. 6 is the structural representation of the main apparent direction of the clamp system of the present invention；
Fig. 7 is the structural representation overlooking direction of the clamp system of the present invention；
Fig. 8 is the structural representation one of the mechanical hand of the present invention；
Fig. 9 is the structural representation two of the mechanical hand of the present invention；
Figure 10 is the structural representation of the Manipulator Hand of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail.
It is an object of the invention to a kind of negative-pressure adsorption and assist clipping underwater steel construction cleaning robot with double-manipulator, it first adopts motor to drive, propeller controls it and moves near steel construction, and two mechanical hand auxiliary clampings of head and afterbody are clamped and cleaned by mechanical hand.It includes back propulsive mechanism, afterbody propulsive mechanism, both sides propulsive mechanism, double-manipulator auxiliary clamp mechanism, manipulator mechanism five part, because of its underwater particularity, the frame of these five parts above-mentioned is connected by screw and has respective motor as driving, is conducive to airtight performance.This robot is generally and connects with gear, transmits power by axle and comes carrying screws or screw turns and then drive the operation of each several part.It is characterized in that: robot to be cleaned is after dive, control gear driven propeller motion near the steel construction to clean, the rotation of leading screw drives nut to move axially, and under the cooperation of double-manipulator clamping force, adopt the mode of negative-pressure adsorption, make it be fixed on steel construction motionless, be so possible to prevent clamping force to cross the stability of havoc piling bar, it is also possible to better to fix.Cleaning manipulator is carried out by cavitating water jet mode, the thrust utilizing propeller during cleaning offsets water jet to the counteracting force of cleaning robot, and control position and direction by starting and stop propeller, through repeatedly moving the cleaning realized whole steel structure surface.
nullThe cleaning robot of a kind of Yu Haiyang catheterostat is by steel pipe 1、5DOF mechanical hand 2、Back propeller 3、Afterbody motor 4、Afterbody output main shaft 5、Driving pulley 6、V band 7、Driven pulley 8、Afterbody gear wheel 9、The little gear 10 of afterbody、Rear propeller shaft 11、Tail undercarriage 12、Negative-pressure adsorption clamping hands 13、Back gear wheel 14、Back main shaft 15、Main shaft bevel gear 16、Rack sleeve 17、No. 1 little gear 18、No. 1 gear wheel 19、The output shaft 20 of both sides propulsive mechanism motor、The motor 21 of both sides propeller、Back motor 22、Screw 23、Back output shaft 24、No. 2 gear wheels 25、No. 2 little gears 26、Clamping arc plate 27、Clamp system motor 29、Left bevel gear 30、Right side bevel gear 31、Both sides power transmission shaft 32、Both sides propeller 33、O type rubber seal 34、Magnetic coupling separation sleeve 35、Magnetic coupling internal rotor 36、Magnetic coupling outer rotor 37、Transmission nut 38、Leading screw 39、Small rod 40、Long connecting rod 41 (clamp linkage)、The axle 42 of clamp system、The shaft coupling 43 of clamp system、Motor protecting cover 44、Leading screw end frame 45、Split pin 46、Little axle 47、Hand retained part 48、Hand long connecting rod 49、Hand axle 50、Nut 60、Hand motor 52、Wrist connects axle 53、Wrist motor 54、Forearm 55、Forearm rotating shaft 56、Forearm oscillating motor 57、Large arm 58、Waist rotating mechanism 59、Smooth block 51、Big arm axle 62、Large arm gear shaft 63、Splined shaft 64、Large arm motor 65、Waist rotating shaft 66、Waist motor 67、Waist motor output shaft 68、Waist gear 28 and 69、Lumbar frame 70、Large arm framework 71、Middle link 72、Forearm framework 73、Wrist framework 74、Hand framework 61、Connecting rod rack 75、Actively large arm bevel gear a、Driven large arm bevel gear b、Big arm gear c、Forearm driving gear d、Forearm driven gear e、Actively wrist bevel gear f、The parts compositions such as driven wrist bevel gear g.
The motor 21 of back motor 22 and both sides propeller is fixed in the top shell of back frame by screw 23.Both sides propeller motor 21 transfers power to output shaft 20, passing to rack sleeve 17 after slowing down via No. 1 little gear 18 and No. 1 gear wheel 19 drives main shaft bevel gear 16 to rotate, the left bevel gear 30 engaged and right side bevel gear 31 move simultaneously in the opposite direction, and then control both sides propeller 33, it is achieved the change in robot direction；Back motor 22 imparts power to back output shaft 24, pass to back main shaft 15 after slowing down via No. 2 little gears 26 and No. 2 gear wheels 25 and drive the rotation of back gear wheel 14, the little gear concomitant rotation in four backs engaged, and then drive four back propellers 3 to rotate, it is achieved people's elevating movement of robot；The fixed form of the motor of afterbody is same as described above, the principle in face, left and right is identical, for left side, afterbody motor 4 drives output main shaft 5 to rotate, and the driving pulley 6 being positioned on output main shaft 5 therewith moves, and is with 7 to pass on driven pulley 8 by power by V, afterwards by the primary speed-down of the little gear 10 of afterbody, afterbody gear wheel 9, power is passed on rear propeller shaft 11, and now tail undercarriage 12 rotates, it is achieved the forward-reverse of robot；The output shaft of clamp system motor 29 is connected by shaft coupling 43 with its axle 42; and transmit the force to leading screw 39; leading screw 39 is driven to move; when leading screw 39 rotates; owing to leading screw 39 two ends thread rotary orientation is contrary, relative leading screw 39 midpoint of two ends transmission nut 38 by draw close simultaneously or away from axially-movable.The motion of transmission nut 38 and then the planar machinery motion of drive both sides small rod 40 and long connecting rod 41 and clamping arc plate 27 composition, realize double-manipulator auxiliary clamping action, so pipeline can be clamped and unclamp, 45 motions that support leading screw of leading screw end frame, the volume simultaneously taking account of clamp system is smaller, so devising motor 29 sealing mechanism based on magnetic coupling (magnetic coupling internal rotor 36, magnetic coupling outer rotor 37)；For 5DOF manipulator link, same waist motor 67 drives waist axle 68, waist gear 69 to move, and waist slew gear 59 turns round therewith, thus waist rotates；Large arm motor 65 has transmitted the force to splined shaft 64, engages and then changes the direction of power with gear shaft 56, then driven big arm axle 62 to rotate by spur gear, drives the operation of large arm 58；Hand motor 52 transmits power by axle 50, and nut 60 concomitant rotation drives smooth block 51, hand long connecting rod 49 to move then to make cleaning manipulator 48 retained part work；Forearm, large arm, wrist are identical with waist principle.
Hand motor 52 transmits power by axle 50, axle 50 and nut 60 are the improvement of screw-nut body, the rotating band moving axis 50 of motor 52 rotates, the translating rotation of axle 50 is moving forward and backward of nut 60, nut 60 drives the folding of long connecting rod 49 by smooth block 51, long connecting rod 49, the small rod on side and retained part 48 constitute a parallelogram lindage, by using parallelogram lindage to can ensure that the parallel clamping of retained part, then make cleaning manipulator retained part 48 work；The power of hand is provided by motor.The folding size of retained part can be controlled very accurately, it is possible to fully meet function needs by motor.Axle and nut are the improvement of screw-nut structure.Motor rotating band moving axis rotates, and the translating rotation of axle is moving forward and backward of nut.Nut drives the folding of long connecting rod by smooth block.Long connecting rod, the short connecting rod on side and retained part constitute a parallelogram lindage.By using parallelogram lindage to can ensure that the parallel clamping of retained part.Concrete structure is as shown in Figure 10.
The operation principle of the present invention is:
1) first stage dive moves near steel construction: at the back of cleaning robot, and both sides and afterbody one have 8 propellers.Have 4 propellers at the back of robot, by control propeller rotate and reverse the lifting controlling robot.Afterbody in robot has two propellers.Rotating and reverse of propeller is utilized to realize moving forward and backward of robot.Have two propellers in the both sides of robot, by control propeller rotate and reverse control robot to the left and move right.Cleaning robot, after dive, by controlling the start and stop of propeller and turning to, moves near the steel construction to clean.
2) second stage is from moving near steel construction to being adsorbed on propeller: cleaning robot moves to after near steel construction, by the adjustment of propeller, makes the clamping device of robot just to steel pipe.Clamping device works, and makes cleaning robot be fixed on steel construction.Back propeller rotates simultaneously, it is provided that near the active force of steel pipe.By the active force that clamping device and back propeller provide, cleaning robot is made to be fixed on steel construction well motionless.
3) three phases cleans from be adsorbed on steel construction to starting: cleaning robot is provided with a Five-degree-of-freedmanipulator manipulator.The claw of mechanical hand can clamp steel construction detection equipment or Water jet sprayer, realizes the cleaning to steel construction by the motion of mechanical hand.
4) four-stage carries out the cleaning on whole surface: cleaning robot can only clean a part of scalloped surface of steel construction every time.After a certain partial sector surface clean terminates, the revolution speed of propeller at robot back reduces, and propeller reaction power reduces, and the power that simultaneously clamps on also reduces.When need clean steel pipe back surface time, start the propeller rotational of both sides, realize cleaning robot around steel pipe rotary.When needing top or the bottom cleaning steel pipe, start the propeller of afterbody, realize the upper shifting along steel pipe or decline.Repeatedly moving by robot, realizes the cleaning to whole steel structure surface.
The negative-pressure adsorption-type underwater steel construction cleaning robot of the present invention is the cleaning of a kind of catheterostat being applied under ocean, the carrier that cleaning robot that is one can move freely under water, adopt motor as current source, use highly integrated circuit board, and moved by gear driven propeller, clamp system is realized by the rotation of leading screw, while there is larger clamping force, steel column is destroyed little, and a mechanical hand is installed on carrier, hand one Water jet sprayer of clamping of mechanical hand, it is carried out by cavitating water jet method, realize omnibearing steel construction by mechanical hand moving freely in space to clean.It has that clamping force is relatively big, conveniently moving, cleaning is by depth limit, work efficiency high.It is mainly used in external diameter and is aboutSkirt piles be carried out, maximum operating pressure is about 20.7MPa.
The present invention is made up of back propulsive mechanism, afterbody propulsive mechanism, both sides propulsive mechanism, clamp system, manipulator mechanism five part with Yu Haiyang catheterostat cleaning robot, adopt motor as power, the mode of negative-pressure type absorption, there is good motion credibility, and the counteracting force that a part produces self can be offset because of water jet when cleaning steel, there is good guidance quality, double-manipulator is little to piling bar destructive power, there is the features such as bigger clamping force simultaneously, it is possible to meet the cleaning requirement of ocean large jacket.
Claims (5)
1. a negative-pressure adsorption assists clipping underwater steel construction cleaning robot with double-manipulator, it is characterized in that: include rack-mounted mechanical hand, for clamping the clamp system of steel construction, back propulsive mechanism, both sides propulsive mechanism, afterbody propulsive mechanism, described clamp system includes the clamping support being arranged on frame one side, it is arranged on the clamp system motor on clamping support, the leading screw being connected with clamping motor outfan, it is arranged on two nuts on leading screw, each nut is hingedly connected with small rod, the end of each small rod is hinged with long connecting rod, and long connecting rod is hingedly mounted on clamping support, the end of each long connecting rod is provided with the clamping arc plate with tube fit；
Described back propulsive mechanism includes the back bracket being arranged on frame another side, it is arranged on the back motor in back bracket, the back output shaft being connected with back motor output end, it is arranged on the little gear in output shaft upper end, back two, it is arranged on the back main shaft in back bracket, it is arranged on No. two gear wheels of back main shaft and is arranged on the back gear wheel of back spindle nose, described No. two little gears and No. two gear wheel engagements, described back bracket is also equipped with four little rotating shafts, every little rotating shaft is provided with the little gear in back, four little gears in back engage with back gear wheel simultaneously, the end of the every little rotating shaft in back is provided with back propeller；
Described side propulsive mechanism includes the both sides motor being arranged in back bracket, it is arranged on a little gear on the motor output shaft of both sides, it is arranged on the rack sleeve on the main shaft interlude of back by bearing, it is arranged on a gear wheel on rack sleeve, a described little gear and a gear wheel engagement, described rack sleeve is also equipped with main shaft bevel gear, described back bracket is also equipped with two power transmission shafts, two power transmission shafts are separately installed with left bevel gear and right side bevel gear, and left bevel gear and right side bevel gear engage with main shaft bevel gear simultaneously, the end of two power transmission shafts is separately installed with both sides propeller；
Described afterbody propulsive mechanism includes the bracket at tail part being arranged on frame lower end, it is arranged on the afterbody motor on bracket at tail part, the afterbody output main shaft being connected with afterbody motor output shaft, afterbody output main shaft is provided with two driving pulleys, described bracket at tail part is provided with two afterbody driven shafts and two afterbody driven shafts are positioned at afterbody and export the both sides of main shaft, every afterbody driven shaft is installed driven pulley, V band is installed between driven pulley and corresponding driving pulley, every afterbody driven shaft is also equipped with the little gear of afterbody, the little gear of each afterbody is arranged on rear propeller shaft the engagement of afterbody gear wheel with corresponding, the end of every rear screw axle is also equipped with tail undercarriage.
null2. a kind of negative-pressure adsorption according to claim 1 assists clipping underwater steel construction cleaning robot with double-manipulator，It is characterized in that: described mechanical hand includes being arranged on the lumbar frame of frame upper end、It is arranged on the waist motor in lumbar frame、It is arranged on the waist driving gear on waist motor output shaft、It is arranged on the waist rotating shaft in lumbar frame、It is arranged on the waist driven gear in waist rotating shaft，Waist driving gear engages with waist driven gear，The end of waist rotating shaft is fixed with large arm framework，Large arm framework is installed large arm motor，The outfan of large arm motor arranges actively large arm bevel gear，Described large arm framework is arranged above large arm gear shaft and big arm axle，Large arm gear shaft is provided with driven large arm bevel gear，Actively large arm bevel gear and the engagement of driven large arm bevel gear，Big arm axle is provided with big arm gear，The tooth-shape structure engagement of big arm gear and large arm gear shaft，The two ends of big arm axle are connected with middle link，Middle link is provided with forearm framework，Forearm framework is provided with forearm motor，The output shaft of forearm motor is provided with forearm driving gear，Forearm framework is additionally provided with forearm rotating shaft，Forearm rotating shaft is provided with forearm from gear，Forearm driving gear engages with forearm driven gear，Described forearm rotating shaft is also equipped with forearm，The end of forearm is installed with wrist framework，Wrist framework is provided with wrist motor，The output shaft of wrist motor is provided with actively wrist bevel gear，Described wrist framework is provided with wrist and connects axle，Wrist connection axle is provided with driven wrist bevel gear，Actively wrist bevel gear and the engagement of driven wrist bevel gear，Described wrist connects the end of axle and is fixed with hand framework，Hand framework is installed hand motor，The outfan of hand motor is connected with hand axle，Hand axle is provided with helicitic texture and nut is installed，Nut is connected with smooth block，Smooth block is symmetrically installed with two hand long connecting rods，And each hand long connecting rod is hinged on connecting rod rack，Connecting rod rack is fixing with hand framework to be connected，The end of each hand long connecting rod is connected to hand retained part.
3. a kind of negative-pressure adsorption according to claim 1 and 2 assists clipping underwater steel construction cleaning robot with double-manipulator, it is characterised in that: described small rod is arc.
4. a kind of negative-pressure adsorption according to claim 1 and 2 assists clipping underwater steel construction cleaning robot with double-manipulator, it is characterised in that: described clamp system has two sets, is symmetrically mounted on the same side of frame.
5. a kind of negative-pressure adsorption according to claim 3 assists clipping underwater steel construction cleaning robot with double-manipulator, it is characterised in that: described clamp system has two sets, is symmetrically mounted on the same side of frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610265272.3A CN105751226B (en) | 2016-04-26 | 2016-04-26 | A kind of negative-pressure adsorption aids in clipping underwater steel construction cleaning robot with double-manipulator |
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| CN201610265272.3A CN105751226B (en) | 2016-04-26 | 2016-04-26 | A kind of negative-pressure adsorption aids in clipping underwater steel construction cleaning robot with double-manipulator |
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| CN105751226A true CN105751226A (en) | 2016-07-13 |
| CN105751226B CN105751226B (en) | 2017-10-03 |
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| CN106514668A (en) * | 2016-12-19 | 2017-03-22 | 华南理工大学 | Underwater robot positioning system based on double-manipulator encircling pile column |
| CN106741756A (en) * | 2016-12-19 | 2017-05-31 | 华南理工大学 | The underwater operation robot positioning system of pile is bundled with cable based on auxiliary robot |
| CN107336811A (en) * | 2017-07-31 | 2017-11-10 | 天津中德应用技术大学 | Multiple degrees of freedom offshore platform wash equipment |
| CN107747271A (en) * | 2017-08-31 | 2018-03-02 | 哈尔滨工程大学 | A kind of high-pressure water jet dismantles platform |
| CN109795644A (en) * | 2019-04-08 | 2019-05-24 | 江苏科技大学 | A kind of clipping propeller cleaning device |
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| CN107336811B (en) * | 2017-07-31 | 2023-07-28 | 天津中德应用技术大学 | Multi-degree-of-freedom offshore oil platform cleaning equipment |
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| CN109795644A (en) * | 2019-04-08 | 2019-05-24 | 江苏科技大学 | A kind of clipping propeller cleaning device |
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| CN114852290A (en) * | 2022-03-31 | 2022-08-05 | 广州大学 | Modular underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm |
| CN115401708A (en) * | 2022-09-16 | 2022-11-29 | 哈尔滨工程大学 | Surrounding type propeller-driven ocean foundation pile detection robot |
| CN115837665A (en) * | 2023-01-14 | 2023-03-24 | 菏泽牡丹区姚伟网络科技有限责任公司 | Robot connector pivot |
| CN115837665B (en) * | 2023-01-14 | 2023-11-28 | 深圳辉业科技有限公司 | Robot connector rotating shaft |
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