CN108212886A - The high-pressure water nozzle pose adjustment mechanism that a kind of underwater cleaning robot carries - Google Patents
The high-pressure water nozzle pose adjustment mechanism that a kind of underwater cleaning robot carries Download PDFInfo
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- CN108212886A CN108212886A CN201810002561.3A CN201810002561A CN108212886A CN 108212886 A CN108212886 A CN 108212886A CN 201810002561 A CN201810002561 A CN 201810002561A CN 108212886 A CN108212886 A CN 108212886A
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- China
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- adjustment mechanism
- pose adjustment
- scissor arms
- nozzle
- cleaning robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Abstract
The invention discloses the high-pressure water nozzle pose adjustment mechanisms that a kind of underwater cleaning robot carries, and belong to robot field.The high-pressure water nozzle pose adjustment mechanism of the present invention includes nozzle swing mechanism, telescoping mechanism and nozzle pose adjustment mechanism, nozzle swing mechanism includes bottom plate and semicircle fluting turbine, bottom plate is used to connect with cleaning robot, arc groove is along the circumferential direction provided on semicircle fluting turbine, the circular arc protruding block for being mutually clamped and being slided along arc groove with arc groove is fixedly installed on bottom plate, the worm screw being meshed with semicircle fluting turbine is additionally provided on bottom plate；Nozzle pose adjustment mechanism is arranged in pairs, and a pair of of nozzle pose adjustment mechanism is connected to by semicircle reversing frame on telescoping mechanism, and the high-pressure gun of adjustable position is provided on nozzle pose adjustment mechanism.The present invention can replace manual mode of operation, realize and carry out high quality, high efficiency, reliable and secure cleaning to conductor string.
Description
Technical field
The present invention relates to robotic technology fields, particularly relate to the high-pressure water nozzle position that a kind of underwater cleaning robot carries
Appearance adjustment mechanism.
Background technology
Wellhead platform plays important angle as the important equipment in marine petroleum exploitation operation in modern marine exploitation
Color.Most of offshore oil wellhead platform is all made of steel pile pile, conductor string and deck, and the conductor string of wellhead platform is sea
The growth of foreign biology provides an ideal place, and marine organisms can be largely adsorbed for a long time in water immersion area and Tidal zone
On conductor string, the marine organisms of attachment change the roughness and damped coefficient on conductor string surface, increase the surface of conductor string
Product, while the total weight (weight of marine organisms even can be more than the weight of conductor string in itself sometimes) of conductor string is also increased,
Conductor string is made to bear weight load, seaway load and the action of ocean current power of bigger, platform stabilization and weatherliness decline, danger
Dangerous occurrence probability greatly increases.
At present, China still relies primarily on latent for the method for cleaning of ocean wellhead platform conductor string attachment marine organisms
Water person is slipped into seabed and marine organisms is cleared up using giant.Such mode of operation brings many bottlenecks：(1)
The labor intensity of manual cleaning is big, and disposal costs are high；(2) efficiency is low and is influenced greatly by weather；(3) the waters operation of complex environment
When can generate serious threat to the life security of diver, have very big security risk.
Invention content
The present invention, which provides one kind, can replace manual mode of operation, realize and high quality, high efficiency, reliable is carried out to conductor string
The high-pressure water nozzle pose adjustment mechanism that the underwater cleaning robot cleared up safely carries.
In order to solve the above technical problems, present invention offer technical solution is as follows：
On the one hand, the present invention provides the high-pressure water nozzle pose adjustment mechanism that a kind of underwater cleaning robot carries, including
Nozzle swing mechanism, telescoping mechanism and nozzle pose adjustment mechanism, wherein：
The nozzle swing mechanism includes bottom plate and semicircle fluting turbine, and the bottom plate is used to connect with cleaning robot,
Arc groove is along the circumferential direction provided on the semicircle fluting turbine, is fixedly installed on the bottom plate and mutually blocks with the arc groove
The circular arc protruding block that connects and can be slided along the arc groove is additionally provided on the bottom plate and is mutually nibbled with semicircle fluting turbine
The worm screw of conjunction；
The nozzle pose adjustment mechanism is arranged in pairs, and a pair of of nozzle pose adjustment mechanism is connected by semicircle reversing frame
In on the telescoping mechanism, the high-pressure gun of adjustable position is provided on the nozzle pose adjustment mechanism.
Further, the bearing block for being used to support the worm screw and driving are provided on the bottom plate of the nozzle swing mechanism
The first servo motor of the worm screw.
Further, the telescoping mechanism include successively hinged the first scissor arms, the second scissor arms, third scissor arms and
4th scissor arms, first scissor arms and the 4th scissor arms are hinged by flexible pedestal, and the flexible pedestal is fixed on institute
It states on semicircle fluting turbine, first scissor arms, the second scissor arms, the equal length of third scissor arms and the 4th scissor arms.
Further, first scissor arms and the second scissor arms are hinged by the first link block, the third
Scissor arms and the 4th scissor arms are hinged by the second link block, and second scissor arms and third scissor arms pass through third
Link block is hinged, screw is equipped between first link block and the second link block, one end of the screw is in institute
The second servo motor for being provided at the first link block and driving the screw rotation is stated, the other end of the screw is described second
Feed screw nut is provided at link block.
Further, first scissor arms, the second scissor arms, third scissor arms and the 4th scissor arms are by parallel to each other
Two bars form, be provided with a pair of of pitch wheel on the flexible pedestal.
Further, the nozzle pose adjustment mechanism includes circular substrate, described its radial direction of circular substrate upper edge
Outer hinge is hinged with, described its radial direction of circular substrate upper edge is hinged with inner hinge, and the outer hinged and inner hinge is half
Arc-shaped hinge, the hinge joint of the outer hinge and the inner hinge is uniformly distributed on the circumference of the circular substrate, described
Annular groove is both provided in the middle part of outer hinge and inner hinge, the annular groove of the outer hinge and the annular groove of inner hinge form rectangle
Space, the rectangular space are used to wear the high-pressure gun.
Further, one end of the outer hinge and interior hinged one end are separately provided on the circular substrate
The third servo motor and the 4th servo motor that the outer hinge and inner hinge is driven to rotate.
Further, universal joint is provided in the middle part of the circular substrate, the upper end of the universal joint is equipped with guide post, institute
High-pressure gun is stated to be located on the guide post.
On the other hand, the present invention provides a kind of cleaning robot, the high pressure carried including above-mentioned underwater cleaning robot
Sprinkler head pose adjustment mechanism.
In another aspect, the manner of cleaning up of the cleaning robot of the present invention, including：
Step 1：When it is straight catheter column to clear up object, cleaning robot is attached on conductor string, at this point, a pair of of nozzle position
Plane and circular substrate holding where the outer hinge of appearance adjustment mechanism is vertical motionless, and inner hinge is in the driving of the 4th servo motor
The outer hinge of lower edge makees the action that symmetrically swings back and forth, and the semicircle fluting turbine of nozzle swing mechanism is increasingly turned to limit on the left position by middle position
It puts, then middle position is gone back to by limit on the left position, complete cleanup action A, nozzle swing mechanism is increasingly turned to limit on the right-right-hand limit position by middle position,
Middle position is gone back to by limit on the right-right-hand limit position again, cleanup action B, cleanup action A and cleanup action B is completed and completes jointly on straight catheter column
The cleaning of one section of annulus attachment；
Telescoping mechanism extends, and repeats cleanup action A and cleanup action B, completes cleanup action C, at this point, telescoping mechanism is retracted
To initial position, cleaning robot replaces attachment position, repeats cleanup action A, cleanup action B and cleanup action C, until will be straight
Conductor string is cleaned out；
Step 2：When it is tubing string infall to clear up object, cleaning robot, which is attached to, is closely located to tubing string infall, adjusts
The position of whole telescoping mechanism causes high-pressure gun and tubing string infall to have a certain distance, a pair of of nozzle pose adjustment mechanism
Plane where outer hinge keeps vertical with circular substrate motionless, and inner hinge hinge outside the driving lower edge of the 4th servo motor turns
Orientation angle dynamic, that high-pressure gun is adjusted to need, then repeatedly cleanup action A and cleanup action C, completes fettler
Make；
Step 3：When the somewhere adsorbate that cleaning object is tubing string, cleaning robot is attached on conductor string, at this time basis
The position of adsorbate adjusts the position of nozzle swing mechanism and elongation mechanism so that high-pressure gun is directed toward absorption for clearance
Object, nozzle pose adjustment mechanism perform cleanup action A, complete cleaning work.
The invention has the advantages that：
The high-pressure water nozzle pose adjustment mechanism that a kind of underwater cleaning robot of the present invention carries, at work, circular arc
Protruding block is connected in arc groove and can be slided along arc groove, and nozzle swing mechanism is slotted the matching of turbine and worm screw by semicircle
Close the circular motion completed around conductor string, during circumferential movement, the high-pressure gun on a pair of of nozzle pose adjustment mechanism
Adjustment is directed toward, and tubing string is cleared up；
The high-pressure water nozzle pose adjustment mechanism that the underwater cleaning robot of the present invention carries, passes through the elongation of telescoping mechanism
Or shorten to expand cleanup area, cleaning robot of the invention is adjusted in nozzle swing mechanism, telescoping mechanism and nozzle pose
, it can be achieved that the cleaning of the marine organisms aufwuch at straight catheter column, tubing string infall and tubing string fixed point under the cooperation of mechanism.This
Invention can replace manual mode of operation, realize and carry out high quality, high efficiency, reliable and secure cleaning to conductor string.
Description of the drawings
Fig. 1 is that the high-pressure water nozzle pose adjustment mechanism that the underwater cleaning robot of the present invention carries is located on conductor string
Structure diagram；
Fig. 2 is the structure diagram of high-pressure water nozzle pose adjustment mechanism that the underwater cleaning robot of the present invention carries；
Fig. 3 is the nozzle swing mechanism of high-pressure water nozzle pose adjustment mechanism that the underwater cleaning robot of the present invention carries
Front view；
Fig. 4 is located at structure diagram during limit on the left position for the semicircle fluting turbine of nozzle swing mechanism in Fig. 3；
Fig. 5 is located at structure diagram during limit on the right-right-hand limit position for the semicircle fluting turbine of nozzle swing mechanism in Fig. 3；
Fig. 6 is the knot of the telescoping mechanism of high-pressure water nozzle pose adjustment mechanism that the underwater cleaning robot of the present invention carries
Structure schematic diagram；
The structure diagram when telescoping mechanism that Fig. 7 is Fig. 6 is shunk；
Structure diagram during the telescoping mechanism elongation that Fig. 8 is Fig. 6；
Fig. 9 is the nozzle pose of the high-pressure water nozzle pose adjustment mechanism adjustment that the underwater cleaning robot of the present invention carries
The structure diagram sea of mechanism；
Figure 10 shows for the cleaning effect of cleanup action A and cleanup action B in the manner of cleaning up of the cleaning robot of the present invention
It is intended to；
Figure 11 is the cleaning effect schematic diagram of cleanup action C in the manner of cleaning up for clearing up robot of the invention；
Figure 12 is the structure diagram that object is cleared up in the manner of cleaning up of the cleaning robot of the present invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides the high-pressure water nozzle pose adjustment mechanism that a kind of underwater cleaning robot carries, and such as schemes
Shown in 1- Figure 12, including nozzle swing mechanism 1, telescoping mechanism 2 and nozzle pose adjustment mechanism 3, wherein：
Nozzle swing mechanism 1 preferably include bottom plate 1-1 and semicircle fluting turbine 1-2, bottom plate 1-1 be used for and cleaning robot
Connection, it is preferred that the 1-3 connections of U-shaped connecting plate may be used, arc groove is along the circumferential direction provided on semicircle fluting turbine 1-2
It is fixedly installed and is clamped with arc groove 1-2-1 phases and can be along circular arc that arc groove 1-2-1 is slided protrusion on 1-2-1, bottom plate 1-1
Block 1-4, arc groove 1-2-1 and circular arc protruding block 1-4 are preferably concentric, and circular arc protruding block 1-4 can be that both ends thicken therebetween
Card slot is formed, card slot is stuck in arc groove 1-2-1, can only be slided along arc groove 1-2-1 without generating along semicircle fluting turbine 1-2
Axial displacement, realize semicircle fluting turbine 1-2 be rotary motion, bottom plate 1-1 around tubing string under the constraint of circular arc protruding block 1-4
On be additionally provided with and the worm screw 1-5 that are meshed of semicircle fluting turbine 1-2；
Nozzle pose adjustment mechanism 3 can be arranged in pairs, and a pair of of nozzle pose adjustment mechanism can by semicircle reversing frame 4
To be connected on telescoping mechanism 2 by T-shaped connecting plate, the high pressure water of adjustable position is provided on nozzle pose adjustment mechanism 3
Pipette tips 5, in of the invention, the radius of semicircle reversing frame 4 and semicircle fluting turbine 1-2 are all higher than the radius of tubing string.
The high-pressure water nozzle pose adjustment mechanism that the underwater cleaning robot of the present invention carries, at work, circular arc protrusion
Block is connected in arc groove and can be slided along arc groove, and nozzle swing mechanism is complete by the cooperation of semicircle fluting turbine and worm screw
Into the circular motion around conductor string, during circumferential movement, the high-pressure gun adjustment on a pair of of nozzle pose adjustment mechanism
It is directed toward, tubing string is cleared up；
The high-pressure water nozzle pose adjustment mechanism that the underwater cleaning robot of the present invention carries, passes through the elongation of telescoping mechanism
Or shorten to expand cleanup area, cleaning robot of the invention is adjusted in nozzle swing mechanism, telescoping mechanism and nozzle pose
, it can be achieved that the cleaning of the marine organisms aufwuch at straight catheter column, tubing string infall and tubing string fixed point under the cooperation of mechanism.This
Invention can replace manual mode of operation, realize and carry out high quality, high efficiency, reliable and secure cleaning to conductor string.
Further, as shown in figure 3, being provided with the axis that is used to support worm screw 1-5 on the bottom plate 1-1 of nozzle swing mechanism 1
The first servo motor 1-7 of bearing 1-6 and driving worm screw 1-5, the first servo motor 1-7 are preferably mounted on motor cabinet, and first
The motor shaft of servo motor 1-7 and worm shaft are concentric, and the two can be connected by shaft coupling.
First servo motor 1-7 drives worm screw 1-5 rotations, and worm screw 1-5 is engaged with semicircle fluting turbine 1-2 so that semicircle is opened
Slot turbine 1-2 opposed bottoms 1-1 does rotary motion, and when the first servo motor 1-7 is rotated forward, semicircle slots turbine 1-2 the bottom of with respect to
Plate 1-1 is rotated clockwise, and when the first servo motor 1-7 is inverted, semicircle fluting turbine 1-2 opposed bottoms 1-1 is done counterclockwise
Rotation, when semicircle fluting turbine 1-2 is rotated clockwise to limit on the left position, as shown in figure 4, semicircle fluting turbine 1-2 is counterclockwise
When turning to by extreme position, as shown in Figure 5.
Further, as shown in fig. 6, telescoping mechanism 2 includes hinged successively the first scissor arms 2-1, the second scissor arms 2-
2nd, third scissor arms 2-3's and the 4th scissor arms 2-4, the first scissor arms 2-1 and the 4th scissor arms 2-4 passes through the pedestal 2-5 that stretches
Hinged, flexible pedestal 2-5 is fixed on semicircle fluting turbine 1-2, the first scissor arms 2-1, the second scissor arms 2-2, third scissor
The equal length of arm 2-3 and the 4th scissor arms 2-4.
Preferably, the first scissor arms 2-1 and the second scissor arms 2-2 are hinged by the first link block 2-6, and third is cut
Yoke 2-3 and the 4th scissor arms 2-4 are hinged by the second link block 2-7, the second scissor arms 2-2 and third scissor arms 2-
3 is hinged by third link block 2-8, and screw 2-9, silk are equipped between the first link block 2-6 and the second link block 2-7
One end of bar 2-9 is provided with the second servo motor 2-10 of driving screw 2-9 rotations at the first link block 2-6, screw 2-9's
The other end is provided with feed screw nut 2-11 at the second link block 2-7, and feed screw nut 2-11 is fixed on the second link block 2-3,
Fixed form is welding, is equipped with bearing in the transverse holes of the first link block 2-6, and the fit system of bearing outer ring and transverse holes is
Transition coordinates, and the fit system of bearing inner race and screw 2-9 are interference fit.
First scissor arms 2-1, the second scissor arms 2-2, the both ends of third scissor arms 2-3 and the 4th scissor arms 2-4 are preferably equal
Axis hole is provided with, both ends are articulated and connected by short pin shaft, and third link block 2-8 can pass through screw and semicircle reversing frame 4
Middle part connects, and flexible pedestal 2-5 can be bolted at the middle part of semicircle fluting turbine 1-2.
Preferably, the first scissor arms 2-1, the second scissor arms 2-2, third scissor arms 2-3 and the 4th scissor arms 2-4 are by mutual
Two parallel bars are formed, and a pair of of pitch wheel 2-12, pitch wheel 2-12 are provided on flexible pedestal 2-5
It is individually fixed in the junction of the first scissor arms 2-1 and the 4th scissor arms 2-4, fit system is interference fit, for locking the
The pose of one scissor arms 2-1 and the 4th scissor arms 2-4.
The flexible principle of telescoping mechanism 2 of the present invention is：Height can be promoted based on the constant base of shortening of two waist of isosceles triangle
Line.When telescoping mechanism 2 works, the second servo motor 2-10 rotatings cause screw 2-9 to rotate, screw 2-9 and feed screw nut 2-
11 coordinate to adjust what is formed by the first scissor arms 2-1, the second scissor arms 2-2, third scissor arms 2-3 and the 4th scissor arms 2-4
The length on the base of two isosceles triangles so that the promotion of two isosceles triangles and decline high line, wherein, the second scissor arms
Angle between 2-2 and third scissor arms 2-3 is bigger, then third link block 2-8 is more remote relative to screw 2-9 distances, similarly, the
Angle between adopted scissor arms 2-1 and the 4th scissor arms 2-4 is bigger, then the pedestal 2-8 that stretches is more remote relative to screw 2-9 distances.
As a modification of the present invention, as shown in figure 9, nozzle pose adjustment mechanism 3 preferably includes circular substrate 3-1,
Its radial direction of circular substrate 3-1 upper edges is hinged with outer hinge 3-2, its radial direction of circular substrate 3-1 upper edges is hinged with interior hinge
Chain 3-3, outer hinged 3-2 and inner hinge 3-3 is semicircular arc hinge, and the hinge joint of outer hinge 3-2 and inner hinge 3-3 uniformly divides
It is distributed on the circumference of circular substrate 3-1, outer hinge 3-2 and inner hinge 3-3 is preferably attached to circular substrate 3-1 by revolute pair
On, annular groove is both provided in the middle part of outer hinge 3-2 and inner hinge 3-3, outer hinge 3-2 and inner hinge 3-3 sizes are different, outer hinge
Chain is slightly larger, can be interference-free mutually with flexible rotating between inside and outside hinge, the annular groove of outer hinge 3-2 and inner hinge 3-3's
Annular groove forms rectangular space, and rectangular space is used to wear high-pressure gun 5.
In order to not influence outer hinge 3-2 and inner hinge 3-3 activities, nozzle pose adjustment mechanism 1 passes sequentially through L-type connecting plate
It 6 and turns first 7 and is connected on semicircle reversing frame 4, such L-type connecting plate 6 and turn first 7 and carried jointly for nozzle pose adjustment mechanism 1
Larger space has been supplied, has not interfered with the rotation of outer hinge 3-2 and inner hinge 3-3 thereon.
In the present invention, one end of one end of outer hinge 3-2 and interior hinged 3-3 are respectively arranged with use on circular substrate 3-1
In the third servo motor 3-4 and the 4th servo motor 3-5 that drive outer hinge 3-2 and inner hinge 3-3 rotations.Outer hinge 3-2 and
There are through-hole, outer hinge 3-2 and the hole of one end of inner hinge 3-3 and axle bed assembly 3-8 cooperations in inner hinge 3-3 both ends, specifically
It can be fixed by the shaft shoulder and nut, hole and the short axle of the other end coordinate, and can specifically be fixed by the shaft shoulder and nut, short axle passes through connection
Axis device is connect with third servo motor 3-4 or the 4th servo motor 3-5.
To improve the flexibility of high-pressure gun head of the present invention, it is provided with universal joint 3-6 in the middle part of circular substrate 3-1, ten thousand
Guide post 3-7 is installed to the upper end of section 3-6, it is preferred that the center of universal joint 3-6 is overlapped with the center of circle of guide post 3-7, giant
First 5 are located on guide post 3-7, and the axis of high-pressure gun 5 is overlapped with the axis of guide post 3-7, and high-pressure gun 5 is matched with guide post 3-7
It closes, the direction of high-pressure gun 5 is adjusted when inner hinge 3-3 and outer hinge 3-2 is rotated.
On the other hand, the present invention provides a kind of cleaning robot, the high pressure carried including above-mentioned underwater cleaning robot
Sprinkler head pose adjustment mechanism, since structure is same as described above, details are not described herein again.
In another aspect, the present invention also provides a kind of manner of cleaning up of above-mentioned cleaning robot, including：
Step 1：When it is straight catheter column to clear up object, cleaning robot is attached on conductor string, at this point, a pair of of nozzle position
Plane and circular substrate 3-1 holdings where the outer hinge 3-2 of appearance adjustment mechanism 3 is vertical motionless, and inner hinge 3-3 is in the 4th servo
The outer hinge 3-2 of the driving lower edge of motor 3-5 makees the action that symmetrically swings back and forth, the semicircle of nozzle swing mechanism 1 slot turbine 1-2 by
Middle position is increasingly turned to limit on the left position, then goes back to middle position by limit on the left position, completes cleanup action A, nozzle swing mechanism 1 is in
Position is increasingly turned to limit on the right-right-hand limit position, then goes back to middle position by limit on the right-right-hand limit position, completes cleanup action B, cleanup action A and cleanup action
B completes the cleaning of straight catheter column the preceding paragraph annulus attachment jointly, as shown in Figure 10；
Telescoping mechanism 2 extends, and repeats cleanup action A and cleanup action B, cleanup action C is completed, at this point, telescoping mechanism 2 contracts
Initial position is back to, cleaning robot replaces attachment position, repeats cleanup action A, cleanup action B and cleanup action C, until will
Straight catheter column is cleaned out, as shown in Figure 10, Figure 11；
Step 2：When it is tubing string infall to clear up object, cleaning robot, which is attached to, is closely located to tubing string infall, adjusts
The position of whole telescoping mechanism causes high-pressure gun 5 and tubing string infall to have a certain distance, a pair of of nozzle pose adjustment mechanism 3
Outer hinge 3-2 where plane keep it is vertical with circular substrate 3-1 motionless, inner hinge 3-3 is in the drive of the 4th servo motor 3-5
The dynamic outer hinge 3-2 rotations of lower edge, the orientation angle that high-pressure gun 5 is adjusted to need, then repeatedly cleanup action A and cleaning
C is acted, completes cleaning work；
Step 3：When the somewhere adsorbate that cleaning object is tubing string, cleaning robot is attached on conductor string, at this time basis
The position of the position of adsorbate, adjustment nozzle swing mechanism 1 and elongation mechanism 2 so that high-pressure gun 5 is directed toward suction for clearance
Addendum, nozzle pose adjustment mechanism 3 perform cleanup action A, complete cleaning work.
To sum up, the present invention is a little：
The high-pressure water nozzle pose adjustment mechanism that the underwater cleaning robot of the present invention carries, when in use, nozzle revolution
Mechanism completes the circumferential movement around conductor string, and during circumferential movement, cleaning two is repeated not by giant the first two times
90 ° of adjacent arc surfaces carry out conductor string in the case of not movable base plate whole circle cleaning to realize；
The action elongated or shortened is completed by telescoping mechanism to expand cleaning area.In addition, when needing fixed point cleaning attached
When object, the tubing string axial distance of nozzle position adjustment mechanism and attachment can be adjusted by adjusting the state of telescoping mechanism；
The direction of high-pressure gun is adjusted by nozzle position adjustment mechanism, nozzle position adjustment mechanism is by two servos
The control of motor, working space are a spherical area, realize that high-pressure gun can be directed at needs always under different cleaning requirements
Attachment on the tubing string of cleaning.
The present invention nozzle swing mechanism, telescoping mechanism, nozzle position adjustment mechanism cooperation under, it can be achieved that straight catheter
Column, tubing string infall, the attached cleaning for making biology in the ocean at tubing string fixed point, can replace manual mode of operation, realize high quality,
High efficiency, reliable and secure cleaning.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. the high-pressure water nozzle pose adjustment mechanism that a kind of underwater cleaning robot carries, which is characterized in that turned round including nozzle
Mechanism, telescoping mechanism and nozzle pose adjustment mechanism, wherein：
The nozzle swing mechanism includes bottom plate and semicircle fluting turbine, and the bottom plate is used to connect with cleaning robot, described
Semicircle fluting turbine on be along the circumferential direction provided with arc groove, be fixedly installed on the bottom plate be mutually clamped with the arc groove and
The circular arc protruding block that can be slided along the arc groove is additionally provided with what is be meshed with semicircle fluting turbine on the bottom plate
Worm screw；
The nozzle pose adjustment mechanism is arranged in pairs, and a pair of of nozzle pose adjustment mechanism is connected to institute by semicircle reversing frame
It states on telescoping mechanism, the high-pressure gun of adjustable position is provided on the nozzle pose adjustment mechanism.
2. the high-pressure water nozzle pose adjustment mechanism that underwater cleaning robot according to claim 1 carries, feature exist
In being provided with the bearing block for being used to support the worm screw on the bottom plate of the nozzle swing mechanism and drive the first of the worm screw
Servo motor.
3. the high-pressure water nozzle pose adjustment mechanism that underwater cleaning robot according to claim 1 carries, feature exist
In the telescoping mechanism includes hinged successively the first scissor arms, the second scissor arms, third scissor arms and the 4th scissor arms, institute
Being hinged by flexible pedestal for the first scissor arms and the 4th scissor arms is stated, the flexible pedestal is fixed on the semicircle fluting turbine
On, first scissor arms, the second scissor arms, the equal length of third scissor arms and the 4th scissor arms.
4. the high-pressure water nozzle pose adjustment mechanism that underwater cleaning robot according to claim 3 carries, feature exist
In first scissor arms and the second scissor arms are hinged by the first link block, and the third scissor arms and the 4th are cut
Yoke is hinged by the second link block, and second scissor arms and third scissor arms are hinged on one by third link block
It rises, screw is equipped between first link block and the second link block, one end of the screw is at first link block
The second servo motor for driving the screw rotation is provided with, the other end of the screw is provided at second link block
Feed screw nut.
5. the high-pressure water nozzle pose adjustment mechanism that underwater cleaning robot according to claim 4 carries, feature exist
In first scissor arms, the second scissor arms, third scissor arms and the 4th scissor arms are made of two bars parallel to each other, institute
It states and a pair of of pitch wheel is provided on flexible pedestal.
6. the high-pressure water nozzle pose adjustment mechanism that underwater cleaning robot according to claim 1 carries, feature exist
In the nozzle pose adjustment mechanism includes circular substrate, and described its radial direction of circular substrate upper edge is hinged with outer hinge, institute
It states circular substrate upper edge its radial direction and is hinged with inner hinge, the outer hinged and inner hinge is semicircular arc hinge, described
The hinge joint of outer hinge and the inner hinge is uniformly distributed on the circumference of the circular substrate, the outer hinge and inner hinge
Middle part is both provided with annular groove, and the annular groove of the outer hinge and the annular groove of inner hinge form rectangular space, and the rectangle is empty
Between for wearing the high-pressure gun.
7. the high-pressure water nozzle pose adjustment mechanism that underwater cleaning robot according to claim 6 carries, feature exist
In one end of the outer hinge and interior hinged one end are separately provided for driving the outer hinge on the circular substrate
With the third servo motor and the 4th servo motor of inner hinge rotation.
8. the high-pressure water nozzle pose adjustment mechanism that underwater cleaning robot according to claim 7 carries, feature exist
In being provided with universal joint in the middle part of the circular substrate, the upper end of the universal joint is equipped with guide post, the high-pressure gun position
In on the guide post.
9. a kind of cleaning robot, which is characterized in that carried including any underwater cleaning robots of claim 1-8
High-pressure water nozzle pose adjustment mechanism.
10. the manner of cleaning up of the cleaning robot described in claim 9, which is characterized in that including：
Step 1：When it is straight catheter column to clear up object, cleaning robot is attached on conductor string, at this point, a pair of of nozzle pose tune
Plane and circular substrate holding where the outer hinge of complete machine structure is vertical motionless, and inner hinge is in the driving lower edge of the 4th servo motor
Outer hinge makees the action that symmetrically swings back and forth, and the semicircle fluting turbine of nozzle swing mechanism is increasingly turned to limit on the left position by middle position,
Middle position is gone back to by limit on the left position again, completes cleanup action A, nozzle swing mechanism is increasingly turned to limit on the right-right-hand limit position by middle position, then
Middle position is gone back to by limit on the right-right-hand limit position, cleanup action B, cleanup action A and cleanup action B is completed and completes jointly one on straight catheter column
The cleaning of Duan Yuanhuan attachments；
Telescoping mechanism extends, and repeats cleanup action A and cleanup action B, completes cleanup action C, at this point, telescoping mechanism is retracted to just
Beginning position, cleaning robot replace attachment position, repeat cleanup action A, cleanup action B and cleanup action C, until by straight catheter
Column is cleaned out；
Step 2：When it is tubing string infall to clear up object, cleaning robot, which is attached to, is closely located to tubing string infall, and adjustment is stretched
The position of contracting mechanism causes high-pressure gun and tubing string infall to have a certain distance, the outer hinge of a pair of of nozzle pose adjustment mechanism
Plane where chain keeps vertical with circular substrate motionless, and inner hinge hinge outside the driving lower edge of the 4th servo motor rotates,
The orientation angle that high-pressure gun is adjusted to need, then repeatedly cleanup action A and cleanup action C, completes cleaning work；
Step 3：When the somewhere adsorbate that cleaning object is tubing string, cleaning robot is attached on conductor string, at this time according to absorption
The position of object adjusts the position of nozzle swing mechanism and elongation mechanism so that high-pressure gun is directed toward adsorbate for clearance, spray
Head pose adjustment mechanism performs cleanup action A, completes cleaning work.
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| CN114101162A (en) * | 2021-10-08 | 2022-03-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
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