CN205008291U - Rinse mechanical hand under water - Google Patents
Rinse mechanical hand under water Download PDFInfo
- Publication number
- CN205008291U CN205008291U CN201520721702.9U CN201520721702U CN205008291U CN 205008291 U CN205008291 U CN 205008291U CN 201520721702 U CN201520721702 U CN 201520721702U CN 205008291 U CN205008291 U CN 205008291U
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- CN
- China
- Prior art keywords
- arm
- mount pad
- washing barrel
- washing
- machinery hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a rinse mechanical hand under water, including two robotic arm and install in a robotic arm's clamping device with install in another robotic arm's belt cleaning device, belt cleaning device includes mount pad, washing drum and blade, the mount pad is for the box and be equipped with the inlet, washing drum rotates around its self axis single degree of freedom and connects in the mount pad, it is interior and rotatory under the fluidic impetus by in the inlet entering mount pad that the mount pad is located to the blade, and root fixing is used for driving washing drum in washing drum and rotates, the utility model discloses a rinse mechanical hand under water to the operation is washd to an arm centre gripping, the abluent mode of arm, realizes the harmonious washing of both arms, screw emergence pivoted technical problem in the time of effectively solving complicated curved surface washing difficulty of screw and washing.
Description
Technical field
The utility model relates to automated machine device, particularly relates to a kind of underwater cleaning machinery hand.
Background technology
Manipulator is widely studied as critical equipment comparatively main in important manufacturing equipment, be mainly used in automobile, boats and ships, naval vessels, aircraft, satellite, rocket, spaceship, heavy duty machine tools, large-scale production line and the industry such as equipment group and Ferrous Metallurgy, and Underwater resources exploration work, mostly come by the underwater robot or diver that are equipped with manipulator.
Boats and ships are after long-term navigation, ship outer casing below its water line can be formed the dirty layer that one deck is thick, these dirty layers are made up of algae, shellfish attachment, in order to ensure the normal/cruise of boats and ships and extend regular the cleaning boats and ships of needs in its service life, at present, the cleaning that during underwater cleaning, screw etc. are complex-curved is more difficult, and can run into the situations such as rotation, for the operation of boats and ships underwater cleaning brings great difficulty during screw cleaning.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of underwater cleaning machinery hand, washing and cleaning operation is carried out in the mode of an arm clamping, an arm cleaning, realize Dual-Arm Coordination cleaning, the technical problem that when effectively can solve the complex-curved cleaning difficulty of screw and clean, screw rotates.
Underwater cleaning machinery hand of the present utility model, comprises two mechanical arms and is installed on the clamping device of a mechanical arm and is installed on the cleaning device of another mechanical arm; Described cleaning device comprises mount pad, washing barrel and blade; Described mount pad is casing and is provided with inlet, and described washing barrel is rotationally connected with mount pad around himself axis single-degree-of-freedom; Described blade to be located in mount pad and to be rotated under the impetus entering the fluid in mount pad by inlet, and blade is connected to washing barrel and rotates for driving washing barrel.
Further, one end of described washing barrel is provided with rotating shaft and is rotationally connected with mount pad by this rotating shaft single-degree-of-freedom; Described rotating shaft is stretched in mount pad, and described blade is fixed on the cylindrical of rotating shaft.
Further, an end face of the cylindrical of described washing barrel and washing barrel mount pad is dorsad equipped with bristle; Described rotating shaft is that hollow shaft makes the inner chamber of washing barrel communicate with the inner chamber of mount pad; The corresponding bristle gap uniformity of sidewall of washing barrel is provided with multiple nozzle.
Further, be provided with in described nozzle and prevent fluid countercurrent current from entering check valve in washing barrel.
Further, described clamping device is hydraulic clamp.
Further, described mechanical arm comprises base, the first arm, the second arm, the first driving hydraulic cylinder and the second driving hydraulic cylinder; Described base, the first arm and the second arm are hinged successively; First drives hydraulic cylinder to be connected to for driving the first arm relative to base rotation between base and the first arm, and second drives hydraulic cylinder to be connected between the first arm and the second arm for driving the second arm to roll over relative to first; Clamping device and cleaning device are installed on the second arm of corresponding mechanical arm respectively.
Further, the second arm of two mechanical arms is all installed with camera.
The beneficial effects of the utility model are: underwater cleaning machinery hand of the present utility model, washing and cleaning operation is carried out in the mode of an arm clamping, an arm cleaning, realize Dual-Arm Coordination cleaning, the technical problem that when effectively can solve the complex-curved cleaning difficulty of screw and clean, screw rotates.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the A place zoomed-in view of Fig. 1.
Detailed description of the invention
Fig. 1 is structural representation of the present utility model; Fig. 2 is the top view of Fig. 1, and Fig. 3 is the A place zoomed-in view of Fig. 1, as shown in the figure: the underwater cleaning machinery hand of the present embodiment, comprises two mechanical arms 1 and is installed on the clamping device 2 of a mechanical arm 1 and is installed on the cleaning device of another mechanical arm 1; Described cleaning device comprises mount pad 3, washing barrel 4 and blade 5; Described mount pad 3 is casing and is provided with inlet, and described washing barrel 4 is rotationally connected with mount pad 3 around himself axis single-degree-of-freedom; Described blade 5 to be located in mount pad 3 and to be rotated under the impetus entering the fluid in mount pad 3 by inlet, and blade 5 is connected to washing barrel 4 and rotates for driving washing barrel 4; The cleaning complex-curved due to screw during underwater cleaning etc. is more difficult, and can run into the situations such as rotation during screw cleaning, and Dual-Arm Coordination cleaning can effectively address this problem, an arm clamping, and the mode of an arm cleaning realizes; May correspond to cleaning device configuration water under high pressure feedway, water under high pressure feedway is connected to the inlet of mount pad 3, the fluid driven blade 5 that utilization enters in mount pad 3 and washing barrel 4 rotate, and utilize the surface of washing barrel 4 pairs of screws to clean, be suitable for underwater operation, cost is low.
In the present embodiment, one end of described washing barrel 4 is provided with rotating shaft 6 and is rotationally connected with mount pad 3 by this rotating shaft 6 single-degree-of-freedom; Described rotating shaft 6 is stretched in mount pad 3, and described blade 5 is fixed on the cylindrical of rotating shaft 6; The installation not only achieved between washing barrel 4 with mount pad 3 is connected, and rotating shaft 6 also constitutes the installation foundation of blade 5, and structure is simple, easily manufactures.
In the present embodiment, an end face of the cylindrical of described washing barrel 4 and washing barrel 4 mount pad 3 is dorsad equipped with bristle 7; Described rotating shaft 6 makes the inner chamber of washing barrel 4 communicate with the inner chamber of mount pad 3 for hollow shaft; Corresponding bristle 7 gap uniformity of sidewall of washing barrel 4 is provided with multiple nozzle 8; Fluid in mount pad 3 can to enter in washing barrel 4 and to be sprayed by nozzle 8, self-cleaning is carried out to the bristle 7 on washing barrel 4, ensure that the high efficiency of cleaning, avoid in cleaning process the program changing washing barrel 4, cost is relatively low, and economic serviceability is good.
In the present embodiment, be provided with in described nozzle 8 and prevent fluid countercurrent current from entering check valve in washing barrel 4, ensure the stability that mount pad 3 and washing barrel 4 inner fluid flow to.
In the present embodiment, described clamping device 2 is hydraulic clamp, corresponding hydraulic clamp configuration driven hydraulic cylinder, and drive hydraulic cylinder to be driven by the high-pressure oil passage of mechanical arm 1, hydraulic control clamp moves, for clamping screw.
In the present embodiment, described mechanical arm 1 comprises base, the first arm, the second arm, the first driving hydraulic cylinder and the second driving hydraulic cylinder; Described base, the first arm and the second arm are hinged successively; First drives hydraulic cylinder to be connected to for driving the first arm relative to base rotation between base and the first arm, and second drives hydraulic cylinder to be connected between the first arm and the second arm for driving the second arm to roll over relative to first; Clamping device 2 and cleaning device are installed on the second arm of corresponding mechanical arm 1 respectively, the floor installation of two mechanical arms 1 is on same matrix, the work compound of two mechanical arms 1 is utilized to complete the underwater cleaning work of propeller for vessels, the base of two mechanical arms 1 can be rotationally connected with matrix around vertical axes, increases working area.
In the present embodiment, the second arm of two mechanical arms 1 is all installed with camera 9, utilizes wireless telecommunications system to realize control on the bank to robot, two mechanical arm 1 co-operatings to realize complex surface, your cleaning of unstable surface.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (7)
1. a underwater cleaning machinery hand, is characterized in that: comprise two mechanical arms and be installed on the clamping device of a mechanical arm and be installed on the cleaning device of another mechanical arm; Described cleaning device comprises mount pad, washing barrel and blade; Described mount pad is casing and is provided with inlet, and described washing barrel is rotationally connected with mount pad around himself axis single-degree-of-freedom; Described blade to be located in mount pad and to be rotated under the impetus entering the fluid in mount pad by inlet, and blade is connected to washing barrel and rotates for driving washing barrel.
2. underwater cleaning machinery hand according to claim 1, is characterized in that: one end of described washing barrel is provided with rotating shaft and is rotationally connected with mount pad by this rotating shaft single-degree-of-freedom; Described rotating shaft is stretched in mount pad, and described blade is fixed on the cylindrical of rotating shaft.
3. underwater cleaning according to claim 2 machinery hand, is characterized in that: an end face of the cylindrical of described washing barrel and washing barrel mount pad is dorsad equipped with bristle; Described rotating shaft is that hollow shaft makes the inner chamber of washing barrel communicate with the inner chamber of mount pad; The corresponding bristle gap uniformity of sidewall of washing barrel is provided with multiple nozzle.
4. underwater cleaning according to claim 3 machinery hand, is characterized in that: be provided with in described nozzle and prevent fluid countercurrent current from entering check valve in washing barrel.
5. underwater cleaning machinery hand according to claim 1, is characterized in that: described clamping device is hydraulic clamp.
6. underwater cleaning machinery hand according to claim 1, is characterized in that: described mechanical arm comprises base, the first arm, the second arm, the first driving hydraulic cylinder and the second driving hydraulic cylinder; Described base, the first arm and the second arm are hinged successively; First drives hydraulic cylinder to be connected to for driving the first arm relative to base rotation between base and the first arm, and second drives hydraulic cylinder to be connected between the first arm and the second arm for driving the second arm to roll over relative to first; Clamping device and cleaning device are installed on the second arm of corresponding mechanical arm respectively.
7. underwater cleaning machinery hand according to claim 6, is characterized in that: the second arm of two mechanical arms is all installed with camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520721702.9U CN205008291U (en) | 2015-09-17 | 2015-09-17 | Rinse mechanical hand under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520721702.9U CN205008291U (en) | 2015-09-17 | 2015-09-17 | Rinse mechanical hand under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205008291U true CN205008291U (en) | 2016-02-03 |
Family
ID=55206919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520721702.9U Expired - Fee Related CN205008291U (en) | 2015-09-17 | 2015-09-17 | Rinse mechanical hand under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205008291U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105149257A (en) * | 2015-09-17 | 2015-12-16 | 重庆交通大学 | Double-arm coordinative propeller cleaning manipulator |
| WO2021159903A1 (en) * | 2020-02-13 | 2021-08-19 | 鹏城实验室 | Window cleaning apparatus and method, and underwater device |
| US20210402443A1 (en) * | 2018-05-03 | 2021-12-30 | Petróleo Brasileiro S.A. - Petrobras | Device for cleaning and polishing connections of underwater equipment |
-
2015
- 2015-09-17 CN CN201520721702.9U patent/CN205008291U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105149257A (en) * | 2015-09-17 | 2015-12-16 | 重庆交通大学 | Double-arm coordinative propeller cleaning manipulator |
| US20210402443A1 (en) * | 2018-05-03 | 2021-12-30 | Petróleo Brasileiro S.A. - Petrobras | Device for cleaning and polishing connections of underwater equipment |
| WO2021159903A1 (en) * | 2020-02-13 | 2021-08-19 | 鹏城实验室 | Window cleaning apparatus and method, and underwater device |
| US11638934B2 (en) | 2020-02-13 | 2023-05-02 | Peng Cheng Laboratory | Optical window cleaning device, optical window cleaning method and underwater optical device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160203 Termination date: 20160917 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |