CN205704210U - A kind of negative-pressure adsorption assists clipping underwater steel construction cleaning robot with double-manipulator - Google Patents
A kind of negative-pressure adsorption assists clipping underwater steel construction cleaning robot with double-manipulator Download PDFInfo
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- CN205704210U CN205704210U CN201620360543.9U CN201620360543U CN205704210U CN 205704210 U CN205704210 U CN 205704210U CN 201620360543 U CN201620360543 U CN 201620360543U CN 205704210 U CN205704210 U CN 205704210U
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Abstract
This utility model provides a kind of negative-pressure adsorption to assist clipping underwater steel construction cleaning robot with double-manipulator, including back propulsive mechanism, afterbody propulsive mechanism, both sides propulsive mechanism, clamp system, manipulator mechanism, each several part uses 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, disclosure satisfy that the cleaning requirement of ocean large jacket.
Description
Technical field
This utility model relates to a kind of cleaning robot, particularly relates to a kind of negative-pressure adsorption and assists clipping steel under water with double-manipulator
Structure cleaning robot, belongs 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,
The resource of land the most quickly reduces.Wherein the mankind are maximum for the dependency of oil, and the oil of land has been opened
Begin can not meet at leisure the needs of the mankind.Owing to ocean is progressively transferred at oil exploitation center so that increasing oil is put down
Platform occurs in ocean.As time goes by, the anticorrosive coat on the catheterostat surface of ocean underwater facility can gradually damage, simultaneously
It surface also can adhere to thickly dotted marine organisms, due to the severe of marine environment and the Unpredictability of seabed plane,
Make efficiently easily ocean underwater facility to be detected and clean this problem and become more and more important.Along with China's ocean stone
The development of oil cause, will have increasing catheterostat to occur in the relatively deep water sea area such as the East Sea and the South Sea, and clean or detect deeper
Steel needs a kind of special instrument underwater steel construction cleaning robot under water.
Steel construction is the most also dependent on manually being carried out at present, but the domestic underwater cleaning technology to hull is the most ripe,
In order to the pollutant of boats and ships outer surface are removed, design and develop underwater robot for cheaning hull, move aspect, employing
It is double caterpillar manner, but its shortcoming is that heavy burden is excessive and structure is complicated.For motor, generally use hydraulic motor, so need
Carry hydraulic oil source.Weight can be caused to increase, and pipeline connection to be carried out, structure is complicated, is not easy between steel pipe motion.Conventional
Cleaning method have two kinds, one is that wire brush cleans, but is so easily damaged rigid body.Another kind of cleaning method is water jet method,
Being divided into high-pressure water jet and cavitating water jet, the former cleaning pressure is the highest, it is achieved get up relatively difficult, there is also safety hidden
Suffer from.
Summary of the invention
The purpose of this utility model is to provide a kind of negative-pressure adsorption and double-manipulator auxiliary clamping to solve problem of the prior art
Formula underwater steel construction cleaning robot.
The purpose of this utility model is achieved in that and includes rack-mounted mechanical hand, for clamping the clamping of steel construction
Mechanism, back propulsive mechanism, both sides propulsive mechanism, afterbody propulsive mechanism, described clamp system includes being arranged on frame one side
On clamping support, be arranged on clamping support on clamp system motor be connected with clamping motor outfan leading screw, be arranged on
Two nuts on leading screw, each nut is hingedly connected with small rod, and the end of each small rod is hinged with long connecting rod, and long
Rod hinge connection is arranged on clamping support, and the end of each long connecting rod is provided with the clamping arc plate with tube fit；
The back electricity that described back propulsive mechanism includes the back bracket being arranged on frame another side, is arranged in back bracket
Back output shaft that machine is connected with back motor output end, it is arranged on the little gear in output shaft upper end, back two, is arranged on back
Back main shaft on support, it is arranged on No. two gear wheels of back main shaft and is arranged on the back gear wheel of back spindle nose, institute
State 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 installed
Having the little gear in back, four little gears in back to engage with back gear wheel, the end of the every little rotating shaft in back is provided with back simultaneously
Propeller；
Described side propulsive mechanism include the both sides motor being arranged in back bracket, No. one be arranged on the motor output shaft of both sides
Little gear, the rack sleeve being arranged on by bearing on the main shaft interlude of back, a gear wheel being arranged on rack sleeve,
A described little gear and a gear wheel engagement, described rack sleeve is also equipped with main shaft bevel gear, in described back bracket
Be also equipped with two power transmission shafts, two power transmission shafts be separately installed with left bevel gear and right side bevel gear, and left bevel gear and
Bevel gear engages with main shaft bevel gear simultaneously on right side, and 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, be arranged on bracket at tail part afterbody motor and
The afterbody output main shaft that afterbody motor output shaft connects, afterbody output main shaft is provided with two driving pulleys, described bracket at tail part
On two afterbody driven shafts are installed and two afterbody driven shafts are positioned at the both sides of afterbody output main shaft, every afterbody driven shaft is pacified
Dress driven pulley, installs V band, every afterbody driven shaft is also equipped with afterbody little between driven pulley and corresponding driving pulley
Gear, the little gear of each afterbody is arranged on the engagement of afterbody gear wheel, the end of every rear screw axle on rear propeller shaft with corresponding
It is also equipped with tail undercarriage.
This utility model also includes so some architectural features:
1. mechanical hand described in includes the lumbar frame being arranged on frame upper end, be arranged in lumbar frame waist motor, it is arranged on
Waist driving gear on waist motor output shaft, the waist rotating shaft being arranged in lumbar frame, the waist that is arranged in waist rotating shaft
Portion's driven gear, waist driving gear engages with waist driven gear, and the end of waist rotating shaft is fixed with large arm framework, large arm frame
Installing large arm motor on frame, 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 driven large arm cone
Gear engages, and 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 of big arm axle
Hold and be connected with middle link, middle link is provided with forearm framework, forearm framework is provided with forearm motor, forearm electricity
Forearm driving gear is installed on the output shaft of machine, 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, and described forearm rotating shaft is also equipped with forearm, and the end of forearm is solid
Dingan County, equipped with wrist framework, wrist framework is provided with wrist motor, and the output shaft of wrist motor is provided with actively wrist cone tooth
Wheel, described wrist framework is provided with wrist connecting shaft, and wrist connecting shaft is provided with driven wrist bevel gear, actively wrist cone
Gear and the engagement of driven wrist bevel gear, the end of described wrist connecting shaft is fixed with hand framework, and hand framework is installed hand
Motor, the outfan of hand motor is connected with hand axle, hand axle is provided with helicitic texture and is provided with nut, nut and circle
Slide block is connected, and smooth block is symmetrically installed with two hand long connecting rods, and each hand long connecting rod is hinged on connecting rod rack, even
Shaft bar is fixing with hand framework to be connected, and the end of each hand long connecting rod connects 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 beneficial effects of the utility model are: this utility model provides one to be used for cleaning offshore oil and puts down
Platform and the robot of large ocean facility, be carried out for getting rusty and adhering to the underwater portion of Marine microorganism, use gear
Mode transmits the force to propeller, and then dive is near steel, and is matched for clamping tightly mechanism to realize cleaning robot on steel surface
Mobile, absorption, after steel mechanism, carries out detection or the Water jet sprayer cleaning of steel by 5DOF mechanical hand.It has right
Piling bar destroys little, not by depth limit, the feature such as work efficiency is high, fastening safety is reliable.This utility model patent will design one
The individual carrier that can move freely under water, uses motor as current source, uses highly integrated circuit board, and pass through tooth
Engagement transmission power between wheel drives 8 propellers to move, can be by the start and stop of control propeller and the difference of direction of rotation
Change direction.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 rotating, two ends transmission nut relative to leading screw midpoint by draw close simultaneously or away from
Axially-movable.Nut drives clamping arc plate to move, by transmission nut, short connecting rod, long connecting rod and clamping arc by small rod
The double-manipulator clamping of plate composition realizes clamping arc plate and to the clamping of pipeline and unclamps action.Fix compared to conventional,
Steel column is destroyed little while having larger clamping force by the double-manipulator clamping of this design.Carrier is installed one and cleans machinery
Hands, its hand one Water jet sprayer of clamping, it is carried out by cavitating water jet method, by mechanical hand freely moving in space
Move and realize the cleaning of omnibearing steel construction.
Accompanying drawing explanation
Fig. 1 is main apparent direction structural representation of the present utility model；
Fig. 2 is the structural representation of afterbody propulsive mechanism of the present utility model；
Fig. 3 is the structural representation in side-looking direction of the present utility model；
Fig. 4 is the structural representation of the amplification of I part in Fig. 3；
Fig. 5 is the structural representation in vertical view direction of the present utility model；
Fig. 6 is the structural representation of the main apparent direction of clamp system of the present utility model；
Fig. 7 is the structural representation overlooking direction of clamp system of the present utility model；
Fig. 8 is the structural representation one of mechanical hand of the present utility model；
Fig. 9 is the structural representation two of mechanical hand of the present utility model；
Figure 10 is the structural representation of Manipulator Hand of the present utility model.
Detailed description of the invention
With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.
The purpose of this utility model is that a kind of negative-pressure adsorption assists clipping underwater steel construction cleaning robot with double-manipulator, and it is first
Employing motor drives, and propeller controls it and moves near steel construction, and two mechanical hand auxiliary clampings of head and afterbody clamp
And cleaned by mechanical hand.It includes that back propulsive mechanism, afterbody propulsive mechanism, both sides propulsive mechanism, double-manipulator assist
Clamp system, manipulator mechanism five part, because of its underwater particularity, the frame of these five parts above-mentioned is connected by screw
Connect and have respective motor as driving, beneficially airtight performance.This robot generally connects with gear, is come by axle
Transmission power drives propeller or screw turns and then drives the operation of each several part.It is characterized in that: robot to be cleaned after dive,
Controlling gear driven propeller motion near steel construction to be cleaned, the rotation drive nut shaft of leading screw is to movement, and at two-shipper
Under the cooperation of tool hands clamping force, use the mode of negative-pressure adsorption so that it is be fixed on steel construction motionless, be so possible to prevent clamping
Power crosses the stability of havoc piling bar, it is also possible to preferably fix.Cleaning manipulator is carried out by cavitating water jet mode,
Utilize during cleaning propeller thrust offset water jet to the counteracting force of cleaning robot, and by start and stop propeller
Control position and direction, through repeatedly moving the cleaning realized whole steel structure surface.
The cleaning robot of a kind of Yu Haiyang catheterostat is by steel pipe 1,5DOF mechanical hand 2, back propeller 3, afterbody electricity
Machine 4, afterbody output main shaft 5, driving pulley 6, V band 7, driven pulley 8, afterbody gear wheel 9, the little gear of afterbody 10,
Rear propeller shaft 11, tail undercarriage 12, negative-pressure adsorption clamping hands 13, back gear wheel 14, back main shaft 15, main shaft cone
Gear 16, rack sleeve 17,1 18, No. 1 gear wheel 19 of little gear, the output shaft 20, two of both sides propulsive mechanism motor
The motor 21 of side propeller, back motor 22, screw 23, back output shaft 25, No. 2 little gears 26 of 24, No. 2 gear wheels,
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 spiral
Oar 33, O type rubber seal 34, magnetic coupling separation sleeve 35, magnetic coupling internal rotor 36, magnetic coupling outer rotor 37, transmission spiral shell
Mother 38, leading screw 39, small rod 40, long connecting rod 41 (clamp linkage), the axle 42 of clamp system, the shaft coupling of clamp system
43, 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 connecting shaft 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 from
The parts compositions such as moving gear e, actively wrist bevel gear f, 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 spiral shell
Rotation oar motor 21 transfers power to output shaft 20, passes to main shaft after slowing down via No. 1 little gear 18 and No. 1 gear wheel 19
Sleeve 17 drives main shaft bevel gear 16 to rotate, and the left bevel gear 30 engaged and right side bevel gear 31 are simultaneously with phase negative side
To motion, 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, passes to back main shaft 15 after slowing down via No. 2 little gears 26 and No. 2 gear wheels 25 and drives back gear wheel
The rotation of 14, four the back little gear concomitant rotation engaged, and then drive four back propellers 3 to rotate, it is achieved machine
People's elevating movement of device people；The fixed form of the motor of afterbody is same as described above, and the principle in face, left and right is identical, as a example by 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 carries 7 by V
Being passed to by power on driven pulley 8, afterwards by the little gear of afterbody 10, the primary speed-down of afterbody gear wheel 9, power is passed
On rear propeller shaft 11, now tail undercarriage 12 rotates, it is achieved the forward-reverse of robot；Clamp system motor 29
Output shaft is connected by shaft coupling 43 with its axle 42, and transmits the force to leading screw 39, drives leading screw 39 to move, when leading screw 39
During rotation, owing to leading screw 39 two ends thread rotary orientation is contrary, relative leading screw 39 midpoint of two ends transmission nut 38 by drawing close simultaneously or
Person away from axially-movable.The motion of transmission nut 38 and then drive both sides small rod 40 and long connecting rod 41 and clamping arc plate
The planar machinery motion of 27 compositions, realizes double-manipulator auxiliary clamping action, so can be clamped pipeline 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 one
Motor 29 sealing mechanism based on magnetic coupling (magnetic coupling internal rotor 36, magnetic coupling outer rotor 37)；For 5DOF mechanical hand
Link, same waist motor 67 drives waist axle 68, waist gear 69 to move, and waist slew gear 59 turns round therewith, from
And waist rotates；Large arm motor 65 has transmitted the force to splined shaft 64, engages and then change the direction of power with gear shaft 56, then
Driven big arm axle 62 to rotate by spur gear, drive the operation of large arm 58；Hand motor 52 transmits power, nut by axle 50
60 concomitant rotation drive smooth block 51, hand long connecting rod 49 to move then to make cleaning manipulator 48 retained part work；Little
Arm, large arm, wrist are identical with waist principle.
Hand motor 52 transmits the improvement that power, axle 50 and nut 60 are screw-nut bodies, motor 52 by axle 50
Rotating band moving axis 50 rotate, the translating rotation of axle 50 is moving forward and backward of nut 60, and nut 60 is carried by smooth block 51
The folding of dynamic long connecting rod 49, long connecting rod 49, the small rod on side and retained part 48 constitute a parallelogram lindage, logical
Cross the parallel clamping using parallelogram lindage to can ensure that 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 the most accurately by motor,
Function needs can be fully met.Axle and nut are the improvement of screw-nut structure.Motor rotating band moving axis rotates, axle
Translating rotation 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
A parallelogram lindage is constituted with retained part.By using parallelogram lindage to can ensure that the parallel clamping of retained part.
Concrete structure is as shown in Figure 10.
Operation principle of the present utility model is:
1) first stage dive moves near steel construction: at the back of cleaning robot, and both sides and afterbody one have 8
Individual propeller.There are 4 propellers at the back of robot, control robot by controlling rotating and reverse of propeller
Lifting.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 to the right
Mobile.Cleaning robot, after dive, by controlling the start and stop of propeller and turning to, moves near steel construction to be cleaned.
2) second stage is from moving near steel construction to adsorbing on propeller: it is attached that cleaning robot moves to steel construction
After Jin, by the regulation of propeller, make the clamping device of robot just to steel pipe.Clamping device works, and makes cleaning robot solid
It is scheduled on steel construction.Back propeller rotates simultaneously, it is provided that near the active force of steel pipe.By clamping device and back propeller
The active force provided, makes cleaning robot to be fixed on well on steel construction motionless.
3) three phases is from adsorbing on steel construction to starting cleaning: cleaning robot is provided with a five degree of freedom machinery
Hands.The claw of mechanical hand can clamp steel construction detection equipment or Water jet sprayer, realizes tying steel by the motion of mechanical hand
The cleaning of structure.
4) four-stage carries out the cleaning on whole surface: cleaning robot can only clean the part sector of steel construction every time
Surface.After a certain partial sector surface clean terminates, the revolution speed of propeller at robot back reduces, and propeller reaction power subtracts
Little, the power that simultaneously clamps on also reduces.When needing the surface cleaning steel pipe back, start the propeller rotational of both sides, realize clear
Wash robot around steel pipe rotary.When needing top or the bottom cleaning steel pipe, start the propeller of afterbody, realize along steel
The upper shifting of pipe or decline.Repeatedly moving by robot, realizes the cleaning to whole steel structure surface.
Negative-pressure adsorption-type underwater steel construction cleaning robot of the present utility model 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, uses motor as current source, uses highly integrated electricity
Road plate, and moved by gear driven propeller, the rotation of leading screw realize clamp system, there is the same of larger clamping force
In time, destroy little to steel column, and installs a mechanical hand on carrier, and hand one Water jet sprayer of clamping of mechanical hand, with sky
Change water jet method to be carried out, realize omnibearing steel construction by mechanical hand moving freely in space and clean.It has
Clamping force is relatively big, conveniently moving, cleaning is by depth limit, work efficiency high.It is mainly used in external diameter and is about Skirt piles be carried out, maximum operating pressure is about 20.7MPa.
Yu Haiyang catheterostat cleaning robot of the present utility model is by back propulsive mechanism, afterbody propulsive mechanism, both sides pusher
Structure, clamp system, manipulator mechanism five part form, and use motor as power, the mode of negative-pressure type absorption, have good
Motion credibility, and clean steel time self can offset a part because of water jet produce counteracting force, there is good guiding
Property, double-manipulator is little to piling bar destructive power, has the features such as bigger clamping force simultaneously, it is possible to meet ocean large jacket
Cleaning requirement.
Claims (5)
1. a negative-pressure adsorption assists clipping underwater steel construction cleaning robot with double-manipulator, it is characterised in that: include installing
Mechanical hand in frame, for clamping the clamp system of steel construction, back propulsive mechanism, both sides propulsive mechanism, afterbody advance
Mechanism, described clamp system includes the clamping support being arranged on frame one side, the clamp system electricity being arranged on clamping support
Leading screw that machine is connected with clamping motor outfan, two nuts being arranged on leading screw, each nut is hingedly connected with little Lian
Bar, 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
It is provided with the clamping arc plate with tube fit；
The back electricity that described back propulsive mechanism includes the back bracket being arranged on frame another side, is arranged in back bracket
Back output shaft that machine is connected with back motor output end, it is arranged on the little gear in output shaft upper end, back two, is arranged on back
Back main shaft on support, it is arranged on No. two gear wheels of back main shaft and is arranged on the back gear wheel of back spindle nose, institute
State 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 installed
Having the little gear in back, four little gears in back to engage with back gear wheel, the end of the every little rotating shaft in back is provided with back simultaneously
Propeller；
Described side propulsive mechanism include the both sides motor being arranged in back bracket, No. one be arranged on the motor output shaft of both sides
Little gear, the rack sleeve being arranged on by bearing on the main shaft interlude of back, a gear wheel being arranged on rack sleeve,
A described little gear and a gear wheel engagement, described rack sleeve is also equipped with main shaft bevel gear, in described back bracket
Be also equipped with two power transmission shafts, two power transmission shafts be separately installed with left bevel gear and right side bevel gear, and left bevel gear and
Bevel gear engages with main shaft bevel gear simultaneously on right side, and 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, be arranged on bracket at tail part afterbody motor and
The afterbody output main shaft that afterbody motor output shaft connects, afterbody output main shaft is provided with two driving pulleys, described bracket at tail part
On two afterbody driven shafts are installed and two afterbody driven shafts are positioned at the both sides of afterbody output main shaft, every afterbody driven shaft is pacified
Dress driven pulley, installs V band, every afterbody driven shaft is also equipped with afterbody little between driven pulley and corresponding driving pulley
Gear, the little gear of each afterbody is arranged on the engagement of afterbody gear wheel, the end of every rear screw axle on rear propeller shaft with corresponding
It is also equipped with tail undercarriage.
A kind of negative-pressure adsorption the most according to claim 1 assists clipping underwater steel construction cleaning robot with double-manipulator,
It is characterized in that: the lumbar frame that described mechanical hand includes being arranged on frame upper end, the waist motor being arranged in lumbar frame,
The waist driving gear, the waist rotating shaft being arranged in lumbar frame that are arranged on waist motor output shaft, it is arranged on waist rotating shaft
On waist driven gear, waist driving gear engages with waist driven gear, and the end of waist rotating shaft is fixed with large arm framework,
Large arm motor is installed on large arm framework, the outfan of large arm motor arranges actively large arm bevel gear, above described large arm framework also
It is provided with 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 driven
Large arm bevel gear engages, and big arm axle is provided with big arm gear, the tooth-shape structure engagement of big arm gear and large arm gear shaft, large arm
The two ends of axle are connected with middle link, middle link is provided with forearm framework, forearm framework is provided with forearm motor,
Forearm driving gear is installed on the output shaft of forearm motor, forearm framework is additionally provided with forearm rotating shaft, forearm rotating shaft is installed
There is forearm to engage with forearm driven gear from gear, forearm driving gear, described forearm rotating shaft is also equipped with forearm, forearm
End is installed with wrist framework, and wrist framework is provided with wrist motor, and the output shaft of wrist motor is provided with actively wrist
Portion bevel gear, described wrist framework is provided with wrist connecting shaft, wrist connecting shaft is provided with driven wrist bevel gear, actively
Wrist bevel gear and the engagement of driven wrist bevel gear, the end of described wrist connecting shaft is fixed with hand framework, and hand framework is pacified
Dress hand motor, the outfan of hand motor is connected with hand axle, hand axle is provided with helicitic texture and is provided with nut, spiral shell
Female 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
On, connecting rod rack is fixing with hand framework to be connected, and the end of each hand long connecting rod connects hand retained part.
A kind of negative-pressure adsorption the most according to claim 1 and 2 assists clipping underwater steel construction cleaning robot with double-manipulator
People, it is characterised in that: described small rod is arc.
A kind of negative-pressure adsorption the most according to claim 1 and 2 assists clipping underwater steel construction cleaning robot with double-manipulator
People, it is characterised in that: described clamp system has two sets, is symmetrically mounted on the same side of frame.
A kind of negative-pressure adsorption the most according to claim 3 assists clipping underwater steel construction cleaning robot with double-manipulator,
It is characterized in that: described clamp system has two sets, be symmetrically mounted on the same side of frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620360543.9U CN205704210U (en) | 2016-04-26 | 2016-04-26 | A kind of negative-pressure adsorption assists clipping underwater steel construction cleaning robot with double-manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620360543.9U CN205704210U (en) | 2016-04-26 | 2016-04-26 | A kind of negative-pressure adsorption assists clipping underwater steel construction cleaning robot with double-manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205704210U true CN205704210U (en) | 2016-11-23 |
Family
ID=57293159
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620360543.9U Withdrawn - After Issue CN205704210U (en) | 2016-04-26 | 2016-04-26 | A kind of negative-pressure adsorption assists clipping underwater steel construction cleaning robot with double-manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751226A (en) * | 2016-04-26 | 2016-07-13 | 哈尔滨工程大学 | Negative-pressure suction and dual-manipulator assisted clamping type underwater steel structure cleaning 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 |
| CN109760803A (en) * | 2018-12-27 | 2019-05-17 | 中国航天空气动力技术研究院 | A kind of underwater cleaning robot |
| CN109910025A (en) * | 2019-04-09 | 2019-06-21 | 江苏科技大学 | A kind of underwater propeller cleaning robot |
-
2016
- 2016-04-26 CN CN201620360543.9U patent/CN205704210U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751226A (en) * | 2016-04-26 | 2016-07-13 | 哈尔滨工程大学 | Negative-pressure suction and dual-manipulator assisted clamping type underwater steel structure cleaning 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 |
| 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 |
| CN109760803A (en) * | 2018-12-27 | 2019-05-17 | 中国航天空气动力技术研究院 | A kind of underwater cleaning robot |
| CN109760803B (en) * | 2018-12-27 | 2021-02-05 | 中国航天空气动力技术研究院 | Underwater cleaning robot |
| CN109910025A (en) * | 2019-04-09 | 2019-06-21 | 江苏科技大学 | A kind of underwater propeller cleaning robot |
| CN109910025B (en) * | 2019-04-09 | 2022-03-08 | 江苏科技大学 | Underwater propeller cleaning robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161123 Effective date of abandoning: 20171003 |