CN212313830U - Three-degree-of-freedom cleaning working device of underwater wall surface cleaning robot - Google Patents
Three-degree-of-freedom cleaning working device of underwater wall surface cleaning robot Download PDFInfo
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- CN212313830U CN212313830U CN202020774021.XU CN202020774021U CN212313830U CN 212313830 U CN212313830 U CN 212313830U CN 202020774021 U CN202020774021 U CN 202020774021U CN 212313830 U CN212313830 U CN 212313830U
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Abstract
A three-degree-of-freedom cleaning working device of an underwater wall surface cleaning robot comprises a water pipe, a water gun, a rack, an arm rod and a linear driver, wherein the water pipe is a rigid pipe and comprises a first water pipe, a second water pipe and a third water pipe, and the arm rod comprises a first arm rod, a second arm rod and a third arm rod; the frame, the arm rod and the linear driver form a planar three-degree-of-freedom link mechanism; the first, second and third water delivery pipes are respectively and fixedly arranged on the first, second and third arm rods; the first arm rod, the rack and the first linear driver form a first closed loop, the first arm rod, the second arm rod and the second linear driver form a second closed loop, and the second arm rod, the third arm rod and the third linear driver form a third closed loop; each water pipe is communicated through a hose, one end of the first water pipe is communicated with a high-pressure water channel, and the third water pipe is communicated with a water gun. The wall surface cleaning robot cleaning device can realize three-degree-of-freedom controllable movement of the water gun relative to the rack, and realizes cleaning operation of the vertical surface by using high-pressure water flow.
Description
Technical Field
The utility model relates to a wall cleaning robot field, especially a three degree of freedom cleaning work devices of wall cleaning robot under water.
Background
The wall-climbing robot is a mobile robot mainly applied to limit operations such as maintenance, inspection, cleaning and the like of a vertical surface, and a wall-surface cleaning robot is one of the most promising applications in wall-surface mobile robots. Currently, there are three main ways for wall cleaning: the automatic vertical surface cleaning device comprises manual cleaning, hanging basket cleaning and automatic equipment cleaning, the former two cleaning modes completely depend on worker cleaning, the labor intensity is high, potential safety hazards exist, manual intervention cannot be avoided when the automatic equipment is used for vertical surface cleaning, and meanwhile, the equipment manufacturing cost is high. The above-described cleaning avoidance methods are difficult to use widely in land environments and more difficult to use in more specific underwater environments. Marine equipment such as ships and the like often have a large amount of marine organisms attached below a waterline in a marine environment for a long time, and in order to maintain the good working state of the equipment, attachments need to be removed periodically so as to reduce resistance and oil consumption, maintain the performance of the equipment and improve the efficiency of the equipment. At present, marine organisms of marine equipment such as ships and the like are removed mainly in two modes: one is manual cleaning by a diver, and the cleaning efficiency is low and the danger coefficient is large; another type is the cleaning of marine equipment such as ships, which is costly and time consuming. The underwater cleaning operation is restricted by the influence of the reasons in all aspects, and along with the continuous development of ocean trade, the device is researched and designed on the basis of the underwater wall-climbing robot, so that the underwater vertical surfaces of ocean equipment such as ships and the like can be cleaned flexibly and efficiently, and the problem which needs to be solved urgently in the industry is formed.
Disclosure of Invention
The utility model aims to solve the problems in the prior art and provide a three-freedom-degree cleaning device of an underwater wall surface cleaning robot, on one hand, on the basis of a wall climbing robot, the cleaning operation of a vertical surface is completed through the three-freedom-degree controllable motion of a water gun; on the other hand, the cleaning device has the advantages of strong bearing capacity, stable movement, convenient assembly, high structural strength, good stability and the like.
The utility model discloses a following technical scheme reaches above-mentioned purpose: a three-degree-of-freedom cleaning working device of an underwater wall surface cleaning robot comprises a water pipe, a water gun, a rack, arm rods and a linear driver, wherein the water pipe is a rigid pipe and comprises a first water pipe, a second water pipe and a third water pipe, the arm rods comprise a first arm rod, a second arm rod and a third arm rod, the linear driver comprises a first linear driver, a second linear driver and a third linear driver, and the rack, the first arm rod, the second arm rod, the third arm rod, the first linear driver, the second linear driver and the third linear driver form a planar three-degree-of-freedom connecting rod mechanism; the first water delivery pipe is fixedly arranged on the first arm rod, the second water delivery pipe is fixedly arranged on the second arm rod, and the third water delivery pipe is fixedly arranged on the third arm rod; the first arm rod, the rack and the first linear driver form a first closed loop circuit, the first arm rod is installed on the rack through a first rotating pair, one end of the first linear driver is installed on the rack through a second rotating pair, and the other end of the first linear driver is installed on the first arm rod through a third rotating pair; the first linear driver is a servo electric cylinder, and the first arm rod can swing up and down around the first rotating pair through the telescopic motion of the first linear driver, so that the single-degree-of-freedom controllable swing of the first water delivery pipe relative to the rack is realized.
The first arm rod, the second arm rod and the second linear driver form a second closed loop, the second arm rod is installed on the first arm rod through a fourth rotating pair, one end of the second linear driver is installed on the first arm rod through a fifth rotating pair, and the other end of the second linear driver is installed on the second arm rod through a sixth rotating pair; the second linear driver is a servo electric cylinder, and the second arm rod can swing relative to the first arm rod through the telescopic motion of the second linear driver, so that the single-degree-of-freedom controllable swing of the second water conveying pipe relative to the first water conveying pipe is realized.
The second arm rod, the third arm rod and the third linear driver form a third closed loop circuit, the third arm rod is installed on the second arm rod through a seventh rotating pair, one end of the third linear driver is installed on the second arm rod through an eighth rotating pair, and the other end of the third linear driver is installed on the third arm rod through a ninth rotating pair; the third linear driver is a servo electric cylinder, and the third arm rod can swing relative to the second arm rod through the telescopic motion of the third linear driver, so that the single-degree-of-freedom controllable swing of the third water conveying pipe relative to the second water conveying pipe is realized. The third water delivery pipe is driven by the first linear driver, the second linear driver and the third linear driver in a coupling mode, and three-degree-of-freedom controllable motion relative to the rack can be achieved.
One end of the first water delivery pipe is communicated with the high-pressure water channel through a hose, the other end of the first water delivery pipe is communicated with one end of the second water delivery pipe through a hose, the other end of the second water delivery pipe is communicated with one end of the third water delivery pipe through a hose, and the other end of the third water delivery pipe is communicated with the water gun through a hose; the rack is connected with the wall-climbing robot through a tenth revolute pair, and the rack can controllably rotate relative to the wall-climbing robot under the driving of the power device. When the underwater wall surface cleaning robot provided with the three-degree-of-freedom cleaning working device carries out cleaning operation on an underwater vertical surface, the four-degree-of-freedom posture adjustment can be realized by the water gun relative to the underwater vertical surface under the coupling driving of the controllable rotary motion of the rack and the first linear driver, the second linear driver and the third linear driver, namely, the distance, the position and the inclination angle of the water gun relative to the underwater vertical surface are controllable and adjustable, high-pressure water in a high-pressure water channel is sprayed out through the water gun after passing through the first water pipe, the second water pipe and the third water pipe, and the cleaning operation on the underwater vertical surface of marine equipment such as ships is realized flexibly and efficiently.
The utility model discloses outstanding advantage lies in:
1. compared with the existing water gun which is connected through a full hose, a water conveying pipeline is easy to damage, age and crack under complex environments such as seawater corrosivity and the like, the water conveying pipe of the three-freedom-degree cleaning working device of the underwater wall surface cleaning robot is a rigid pipe, the pressure resistance of the pipeline is improved, the reliability of the water conveying pipeline is improved, the failure rate is reduced, and the operation stability and the underwater environment adaptability of the water gun are ensured; the rigid pipe is fixed on the arm rods, and the arm rods are connected through the revolute pair, so that the structure is simple, the cost is low, the rigidity is high, and the stability of the water delivery channel is good.
2. This kind of three degree of freedom cleaning work device of wall cleaning robot under water can realize three degree of freedom gesture adjustment, compares two degree of freedom cleaning work device, more can satisfy the operation requirement of cleaing away of the complicated face sea living beings of erectting, under the controllable rotation of frame, the squirt can further realize the controllable adjustment of four degrees of freedom, and the high-pressure rivers in the high-pressure water route pass through the squirt blowout, utilize high-pressure rivers, and nimble efficient realizes the cleaning work to marine equipment such as boats and ships.
3. The three-degree-of-freedom cleaning working device of the underwater wall surface cleaning robot is high in flexibility, all water conveying pipes are connected with the arm rods in series, the structure is compact, the working space is large, and the cleaning operation of the surface of a complex vertical surface can be met.
Drawings
Fig. 1 is a schematic view of a three-degree-of-freedom cleaning device for an underwater wall surface cleaning robot.
Fig. 2 is a schematic view of a three-degree-of-freedom cleaning device for an underwater wall surface cleaning robot.
Fig. 3 shows one of the three degrees of freedom cleaning devices of the underwater wall surface cleaning robot in the working pose intentions.
Fig. 4 is a second intention of the three-freedom-degree cleaning device of the underwater wall surface cleaning robot in the working pose.
Detailed Description
The technical solution of the present invention is further explained by the accompanying drawings and examples.
Referring to fig. 1 and 2, the three-degree-of-freedom cleaning device for the underwater wall surface cleaning robot comprises a water pipe, a water gun 7, a frame 1, an arm rod and a linear driver, wherein the water pipe is a rigid pipe and comprises a first water pipe 3, a second water pipe 9 and a third water pipe 5, the arm rod comprises a first arm rod 4, a second arm rod 10 and a third arm rod 6, the linear driver comprises a first linear driver 15, a second linear driver 12 and a third linear driver 19, and the frame 1, the first arm rod 4, the second arm rod 10, the third arm rod 6, the first linear driver 15, the second linear driver 12 and the third linear driver 19 form a planar three-degree-of-freedom connecting rod mechanism; the first water pipe 3 is fixedly arranged on the first arm rod 4, the second water pipe 9 is fixedly arranged on the second arm rod 10, and the third water pipe 5 is fixedly arranged on the third arm rod 6; the first arm rod 4, the rack 1 and the first linear driver 15 form a first closed loop, the first arm rod 4 is installed on the rack 1 through a first revolute pair 21, one end of the first linear driver 15 is installed on the rack 1 through a second revolute pair 14, and the other end of the first linear driver is installed on the first arm rod 4 through a third revolute pair 16; the first linear driver 15 is a servo electric cylinder, and the first arm 4 can swing up and down around the first revolute pair 21 through the telescopic motion of the first linear driver 15, so that the single-degree-of-freedom controllable swing of the first water delivery pipe 3 relative to the rack 1 is realized.
Referring to fig. 1 and fig. 2, the first arm 4, the second arm 10, and the second linear actuator 12 form a second closed loop, the second arm 10 is mounted on the first arm 4 through a fourth revolute pair 11, one end of the second linear actuator 12 is mounted on the first arm 4 through a fifth revolute pair 13, and the other end of the second linear actuator is mounted on the second arm 10 through a sixth revolute pair 17; the second linear driver 12 is a servo electric cylinder, and the second arm rod 10 can swing relatively to the first arm rod 4 through the telescopic motion of the second linear driver 12, so that the single-degree-of-freedom controllable swing of the second water conveying pipe 9 relative to the first water conveying pipe 3 is realized.
Referring to fig. 1 and 2, the second arm 10, the third arm 6, and the third linear actuator 19 form a third closed loop, the third arm 6 is mounted on the second arm 10 through the seventh revolute pair 8, one end of the third linear actuator 19 is mounted on the second arm 10 through the eighth revolute pair 18, and the other end of the third linear actuator is mounted on the third arm 6 through the ninth revolute pair 20; the third linear driver 19 is a servo electric cylinder, and the third arm lever 6 can swing relative to the second arm lever 10 through the telescopic motion of the third linear driver 19, so that the single-degree-of-freedom controllable swing of the third water conveying pipe 5 relative to the second water conveying pipe 9 is realized. The third water pipe 5 is driven by the first linear driver 15, the second linear driver 12 and the third linear driver 19 in a coupling manner, so that three-degree-of-freedom controllable motion relative to the frame 1 can be realized.
Referring to fig. 1, 2, 3 and 4, one end of the first water pipe 3 is communicated with the high-pressure water channel through a hose, the other end of the first water pipe is communicated with one end of the second water pipe 9 through a hose, the other end of the second water pipe 9 is communicated with one end of the third water pipe 5 through a hose, and the other end of the third water pipe 5 is communicated with the water gun 7 through a hose; the rack 1 is connected with the wall-climbing robot 22 through the tenth revolute pair 2, and the rack 1 can controllably rotate relative to the wall-climbing robot 22 under the driving of a power device. When the underwater wall surface cleaning robot provided with the three-degree-of-freedom cleaning working device carries out cleaning operation on an underwater vertical surface, the four-degree-of-freedom posture adjustment can be realized by the water gun 7 relative to the underwater vertical surface under the coupling driving of the rack 1, the first linear driver 15, the second linear driver 12 and the third linear driver 19, namely, the distance, the position and the inclination angle of the water gun 7 relative to the underwater vertical surface are controllable and adjustable, and high-pressure water flow in a high-pressure water channel is sprayed out through the water gun 7 after passing through the first water pipe 3, the second water pipe 9 and the third water pipe 5, so that the cleaning operation on the underwater vertical surface of marine equipment such as ships is realized flexibly and efficiently.
Claims (2)
1. The utility model provides a three degree of freedom cleaning work devices of wall cleaning robot under water, contains raceway, squirt, frame, armed lever, linear actuator, its characterized in that: the water conveying pipe is a rigid pipe and comprises a first water conveying pipe, a second water conveying pipe and a third water conveying pipe, the arm rod comprises a first arm rod, a second arm rod and a third arm rod, the linear driver comprises a first linear driver, a second linear driver and a third linear driver, and the rack, the first arm rod, the second arm rod, the third arm rod, the first linear driver, the second linear driver and the third linear driver form a planar three-degree-of-freedom connecting rod mechanism; the first water delivery pipe is fixedly arranged on the first arm rod, the second water delivery pipe is fixedly arranged on the second arm rod, and the third water delivery pipe is fixedly arranged on the third arm rod; the first arm rod, the rack and the first linear driver form a first closed loop, the first arm rod, the second arm rod and the second linear driver form a second closed loop, the second arm rod, the third arm rod and the third linear driver form a third closed loop, one end of the first water delivery pipe is communicated with the high-pressure water channel through a hose, the other end of the first water delivery pipe is communicated with one end of the second water delivery pipe through a hose, the other end of the second water delivery pipe is communicated with one end of the third water delivery pipe through a hose, and the other end of the third water delivery pipe is communicated with the water gun through a hose.
2. The three-degree-of-freedom cleaning working device of the underwater wall surface cleaning robot as recited in claim 1, wherein: the first arm rod is installed on the rack through a first rotating pair, one end of the first linear driver is installed on the rack through a second rotating pair, and the other end of the first linear driver is installed on the first arm rod through a third rotating pair; the first linear driver is a servo electric cylinder;
the second arm rod is arranged on the first arm rod through a fourth rotating pair, one end of the second linear driver is arranged on the first arm rod through a fifth rotating pair, and the other end of the second linear driver is arranged on the second arm rod through a sixth rotating pair; the second linear driver is a servo electric cylinder;
the third arm rod is arranged on the second arm rod through a seventh rotating pair, one end of the third linear driver is arranged on the second arm rod through an eighth rotating pair, and the other end of the third linear driver is arranged on the third arm rod through a ninth rotating pair; the third linear driver is a servo electric cylinder;
the rack is connected with the wall-climbing robot through a tenth revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020774021.XU CN212313830U (en) | 2020-05-12 | 2020-05-12 | Three-degree-of-freedom cleaning working device of underwater wall surface cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020774021.XU CN212313830U (en) | 2020-05-12 | 2020-05-12 | Three-degree-of-freedom cleaning working device of underwater wall surface cleaning robot |
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| CN212313830U true CN212313830U (en) | 2021-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020774021.XU Expired - Fee Related CN212313830U (en) | 2020-05-12 | 2020-05-12 | Three-degree-of-freedom cleaning working device of underwater wall surface cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114987713A (en) * | 2022-05-11 | 2022-09-02 | 郜士叶 | Underwater ship bottom cleaning robot |
-
2020
- 2020-05-12 CN CN202020774021.XU patent/CN212313830U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114987713A (en) * | 2022-05-11 | 2022-09-02 | 郜士叶 | Underwater ship bottom cleaning robot |
| CN114987713B (en) * | 2022-05-11 | 2024-05-03 | 南京美佳莱科技服务有限公司 | Underwater ship bottom cleaning robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210108 |
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| CF01 | Termination of patent right due to non-payment of annual fee |