NL2029791B1

NL2029791B1 - Three-degree-of-freedom high-flexibility working device for underwater wall surface cleaning robot

Info

Publication number: NL2029791B1
Application number: NL2029791A
Authority: NL
Inventors: Wang Yongjuan; Zhang Lin; Wang Baoping; Guan Zhiguang
Original assignee: Univ Shandong Jiaotong
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2023-06-12

Abstract

The present utility model discloses a three—degree—of—freedom high—flexibility working device for an underwater wall surface cleaning robot, which can realize three—degree—of—freedom controllable movement of a water gun relative to a machine frame, 5 and can realize a cleaning operation of a vertical surface outside marine equipment, such as a ship, with a large area and high structural complexity by using high—pressure water flow. (+ Fig. l) 10

Description

P812/NLpd

THREE-DEGREE-OF-FREEDOM HIGH-FLEXIBILITY WORKING DEVICE FOR

UNDERWATER WALL SURFACE CLEANING ROBOT

TECHNICAL FIELD

The present utility model relates to the field of wall sur- face cleaning robots, and in particular, to a three-degree-of- freedom high-flexibility working device for an underwater wall surface cleaning robot.

BACKGROUND ART

A wall climbing robot is a mobile robot mainly used in ex- treme operations, such as vertical surface maintenance, inspec- tion, and cleaning. A wall surface cleaning robot is one of the most promising applications in wall surface mobile robots. How to develop and design a cleaning working device on the basis of an underwater wall climbing robot to clean an underwater vertical surface of marine equipment, such as a ship, flexibly and effi- ciently has become an urgent problem to be solved in the industry.

SUMMARY

An objective of the present utility model is to provide a three-degree-of-freedom high-flexibility working device for an un- derwater wall surface cleaning robot with respect to the problems in the prior art. On one hand, a cleaning operation of a vertical surface is completed through three-degree-of-freedom controllable translational movement of a water gun on the basis of a wall climbing robot; and on the other hand, the cleaning working device has the advantages of high flexibility, stable movement, conven- ience in assembling, high structural structure, good stability, and the like.

The present utility model achieves the above objective through the following technical solution:

A three-degree-of-freedom high-flexibility working device for an underwater wall surface cleaning robot includes water pipes, a water gun, a machine frame, arm rods, drive chains, and a linear driver. The water pipes are rigid pipes, and include a first water pipe, a second water pipe, and a third water pipe. The arm rods include a first arm rod, a second arm rod, and a third arm rod.

The drive chains include a first drive chain and a second drive chain. The first drive chain includes a first driving rod, a first connecting rod, a rocker arm, a second connecting rod. The second drive chain includes a second driving rod and a third connecting rod. The first water pipe is fixedly mounted on the first arm rod.

The second water pipe is fixedly mounted on the second arm rod.

The third water pipe is fixedly mounted on the third arm rod. The machine frame, the arm rods, the drive chains, and the linear driver form a planar three-degree-of-freedom connecting rod mecha- nism.

The machine frame, the first arm rod, the second driving rod, and the third connecting rod form a first closed loop.

The first arm rod, the third connecting rod, the linear driv- er, and the second arm rod form a second closed loop.

The first driving rod, the first connecting rod, the first arm rod, and the rocker arm form a third closed loop.

The second connecting rod, the rocker arm, the second arm rod, and the third arm rod form a fourth closed loop.

One end of the first water pipe is communicated with a high- pressure water pipe through a hose, and the other end of the first water pipe is communicated with one end of the second water pipe through a hose. The other end of the second water pipe is communi- cated with one end of the third water pipe through a hose, and the other end of the third water pipe is communicated with the water gun through a hose.

The present utility model has the following outstanding ad- vantages: 1. Compared with the existing water gun that is completely connected through hoses, a water pipeline is easily damaged, aged and cracked in complex environments, such as seawater corrosion.

The water pipe of the three-degree-of-freedom high-flexibility working device for the underwater wall surface cleaning robot is a rigid pipe, which not only improves the pressure resistance of the pipeline, but also improves the reliability of the water pipeline,

reduces the failure rate, and ensures the operation stability and the underwater environment adaptability of the water gun. The rig- id pipe is fixed to the arm rod, and the arm rods are connected with each other through rotating pairs, which is not only simple in structure and low in cost, but also has large rigidity and good stability of a water channel. 2. According to the three-degree-of-freedom high-flexibility working device for the underwater wall surface cleaning robot, three water pipes are connected in series, which greatly increases the working space of the water gun. The working device has three degrees-of-freedom, which can flexibly complete the cleaning oper- ation requirements of a complex vertical surface, make the height of the water gun from the vertical surface, the inclination angle of the water gun, and the position of the water gun controllable and adjustable. In addition, the translational movement of the wa- ter gun is realized through the adjustment of the second closed loop, the third closed loop, and the fourth closed loop, which re- duces the difficulty of controlling an operation process of the water gun. Under the controllable rotation of the machine frame, four-degree-of-freedom controllable movement of the water gun rel- ative to the vertical surface can be further realized, and high- pressure water flow in a high-pressure water path is ejected out through the water gun, so that the cleaning operation of a complex surface of marine equipment, such as a ship, can be efficiently realized by using the high-pressure water flow.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of a three-degree-of-freedom high-flexibility working device for an underwater wall surface cleaning robot of the present utility model.

FIG. 2 is a schematic diagram of a drive chain of the three- degree-of-freedom high-flexibility working device for the underwa- ter wall surface cleaning robot of the present utility model.

FIG. 3 is a schematic diagram 1 of a working pose of the three-degree-of-freedom high-flexibility working device for the underwater wall surface cleaning robot of the present utility mod- el.

FIG. 4 is a schematic diagram 2 of the working pose of the three-degree-of-freedom high-flexibility working device for the underwater wall surface cleaning robot of the present utility mod- el.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The technical solution of the present utility model is fur- ther described below by the following drawings and embodiments.

Referring to FIG. 1, FIG. 2, and FIG. 3, a three-degree-of- freedom high-flexibility working device for an underwater wall surface cleaning robot includes water pipes, a water gun 7, a ma- chine frame 1, arm rods, drive chains, and a linear driver 26. The water pipes are rigid pipes, and include a first water pipe 3, a second water pipe 24, and a third water pipe 5. The arm rods in- clude a first arm rod 4, a second arm rod 23, and a third arm rod 6. The drive chains include a first drive chain and a second drive chain. The first drive chain includes a first driving rod 29, a first connecting rod 10, a rocker arm 19, a second connecting rod 12. The second drive chain includes a second driving rod 32 and a third connecting rod 15. The first water pipe 3 is fixedly mounted on the first arm rod 4. The second water pipe 24 is fixedly mount- ed on the second arm rod 23. The third water pipe 5 is fixedly mounted on the third arm rod 6. The machine frame 1, the arm rods, the drive chains, and the linear driver form a planar three- degree-of-freedom connecting rod mechanism.

Referring to FIG. 1, FIG. 2, and FIG. 3, the machine frame 1, the first arm rod 4, the second driving rod 32, and the third con- necting rod 15 form a first closed loop. The first arm rod 4 is mounted on the machine frame 1 through a first rotating pair 28.

One end of the second driving rod 32 is mounted on the machine frame 1 through the second rotating pair 33, and the other end of the second driving rod 32 is connected to the third connecting rod 15 through a third rotating pair 14. The third connecting rod 15 includes three pairs of components, including the third rotating pair 14, a fourth rotating pair 16, and a fifth rotating pair 25.

The third connecting rod 15 is connected to the first arm rod 4 through the fourth rotating pair 16. The second driving rod 32 is driven by a servo motor, and is subjected to programmable control by the servo motor. The second driving rod 32 rotates controlla- bly, so as to drive the first arm rod 4 to swing controllably in a single degree-of-freedom. The hole center distance between the 5 first rotating pair 28 and the fourth rotating pair 16 is equal to that between the second rotating pair 33 and the third rotating pair 14. The hole center distance between the third rotating pair 14 and the fourth rotating pair 16 is equal to that of the first rotating pair 28 and the second rotating pair 33. The first closed loop forms a parallelogram kinematic chain, so that the third con- necting rod 15 performs translational movement relative to the ma- chine frame 1 all the time.

Referring to FIG. 1, FIG. 2, and FIG. 3, the first arm rod 4, the third connecting rod 15, the linear driver 26, and the second arm rod 23 form the second closed loop. One end of the linear driver 26 is connected to the third connecting rod 15 through the fifth rotating pair 25, and the other end of the linear driver 26 is connected to the second arm rod 23 through a sixth rotating pair 27. The second arm rod 23 is connected to the first arm rod 4 through a seventh rotating pair 22. Under the coupling drive of the second driving rod 32 and the linear driver 26, the second arm rod 23 can swing in a single degree-of-freedom relative to the first arm rod 4. The hole center distance between the fourth ro- tating pair 16 and the fifth rotating pair 25 is equal to that be- tween the sixth rotating pair 27 and the seventh rotating pair 22.

When the linear driver 26 extends and retracts until the hole cen- ter distance between the fifth rotating pair 25 and the sixth ro- tating pair 27 is equal to that between the first rotating pair 28 and the seventh rotating pair 22, at this moment, the linear driv- er 26 is locked, and the second closed loop forms a parallelogram kinematic chain, at this moment, the second arm rod 23 translates relative to the third connecting rod 15 all the time, and the third connecting rod 15 translates relative to the machine frame 1 all the time. Therefore, in the above-mentioned situation, when the second driving rod 32 is driven to rotate by the servo motor, the second arm rod 23 translates in a single degree-of-freedom relative to the machine frame 1 all the time. Since the second arm rod 23 is mounted on the first arm rod 4, the translation range of the second arm rod 23 will be greatly increased, i.e., a gain is obtained, and the cleaning operation requirement for a large space on the vertical surface are met.

Referring to FIG. 1, FIG. 2, and FIG. 3, the first driving rod 29, the first connecting rod 10, the first arm rod 4, and the rocker arm 19 form the third closed loop. One end of the first driving rod 29 is mounted on the machine frame 1 through an eighth rotating pair 18, the eighth rotating pair 18 and the first rotat- ing pair 28 form a compound hinge. The other end of the first driving rod 29 is connected to one end of the first connecting rod 10 through a ninth rotating pair 9. The other end of the first connecting rod 10 is connected to the rocker arm 19 through an eleventh rotating pair 11. The rocker arm 19 is mounted on the first support arm 4 through a twelfth rotating pair 21. The twelfth rotating pair 21 and the seventh rotating pair 22 form a compound hinge. The hole center distance between the eighth rotat- ing pair 18 and the ninth rotating pair 9 is equal to that between the twelfth rotating pair 21 and the eleventh rotating pair 11.

The hole center distance between the ninth rotating pair 9 and the eleventh rotating pair 11 is equal to that between the eighth ro- tating pair 18 and the twelfth rotating pair 21. The first driving rod 29, the first connecting rod 10, the first arm rod 4, and the rocker arm 19 form a parallelogram motion chain. The first driving rod 29 is driven by the servo motor, and is subjected to program- mable control by the servo motor. The first driving rod 29 rotates controllably, and the rocker arm 19 translates relative to the first driving rod 29 all the time.

Referring to FIG. 1, FIG. 2, and FIG. 3, the second connect- ing rod 12, the rocker arm 19, the second arm rod 23, and the third arm rod 6 form a fourth closed loop. One end of the second connecting rod 12 is connected to the rocker arm 19 through a thirteenth rotating pair 20, and the other end of the second con- necting rod 12 is connected to the third arm rod 6 through a four- teenth rotating pair 13. The third arm rod 6 is connected to the second arm rod 23 through the fifteenth rotating pair 8. The hole center distance between the thirteenth rotating pair 20 and the fourteenth rotating pair 13 is equal to that between the seventh rotating pair 22 and the fifteenth rotating pair 8, and the hole center distance between the seventh rotating pair 22 and the thir- teenth rotating pair 20 is equal to the hole center distance be- tween the fifteenth rotating pair 8 and the fourteenth rotating pair 13. The second connecting rod 12, the rocker arm 19, the sec- ond arm 23, and the third arm 6 form a parallelogram kinematic chain, so that the third arm 6 translates relative to the rocker arm 19 as the second arm 23 swings. The rocker arm 19 translates relative to the first driving rod 29 all the time during the move- ment, so that the third arm rod 6 translates relative to the first driving rod 29 during the movement. Since the third water pipe 5 is fixedly mounted on the third arm rod 6, when the first driving rod 29 is locked and fixed, the third water pipe 5 will translate relative to the machine frame 1 all the time. In addition, the third water pipe 5 can perform planar three-degree-of-freedom con- trollable movement relative to the machine frame under the cou- pling drive of the first driving rod 29, the second driving rod 32, and the linear driver 26.

Referring to FIG. 1, FIG. 2, FIG. 3, and FIG. 4, one end of the first water pipe 3 is communicated with a high-pressure water pipe through a hose, and the other end of the first water pipe 3 is communicated with one end of the second water pipe 24 through a hose. The other end of the second water pipe 24 is communicated with one end of the third water pipe 5 through a hose, and the other end of the third water pipe 24 is communicated with the wa- ter gun 7 through a hose. The machine frame 1 is connected to a wall climbing robot 17 through a tenth rotating pair 2. The ma- chine frame 1 can be driven by a power device to rotate controlla- bly relative to the wall climbing robot 17. When the underwater wall surface cleaning robot mounted with the three-degree-of- freedom high-flexibility working device performs a cleaning opera- tion on an underwater vertical surface, under the controllable ro- tary motion of the machine frame 1 and the coupling drive of the first driving rod 29, the second driving rod 32, and the linear driver 26, the adjustment of the four-degree-of-freedom transla- tional movement of the water gun relative to the vertical surface can be realized, i.e., the distance and the position of the water gun relative to the vertical surface, and the inclination degree of the water gun are all adjustable, the pose of the water gun can translate relative to the vertical surface and can also be con-

trollable and adjustable.

High-pressure water flow in a high- pressure water path is ejected out through the water gun 7 after passing through the first water pipe 3, the second water pipe 24, and the third water pipe 5, so as to realize the cleaning opera- tion on a complex underwater vertical surface of marine equipment,

such as a ship, flexibly and efficiently by using the high- pressure water flow.

Claims

CONCLUSIONS

1. High flexibility, three degrees of freedom working device for an underwater wall cleaning robot, comprising water pipes, a water gun, a machine frame, arm bars, driving chains and a linear drive, characterized in that the water pipes are rigid pipes, and a first water conduit, a second water conduit and a third water conduit; the handle bars include a first handle bar, a second handle bar, and a third handle bar; the drive chains include a first drive chain and a second drive chain; wherein the first drive chain comprises a first drive rod, a first connecting rod, a rocker arm, a second connecting rod; wherein the second drive chain comprises a second drive rod and a third connecting rod; wherein the first water conduit is fixedly mounted on the first arm bar; the second water pipe is fixedly mounted on the second arm bar; the third water pipe is fixedly mounted on the third arm bar; wherein the machine frame, arm bars, drive chains and linear drive form a planar connecting rod mechanism with three degrees of freedom; wherein the first arm bar, the third connecting bar, the linear drive and the second arm bar form a second closed loop; wherein the first drive rod, the first connecting rod, the first arm rod and the rocker arm form a third closed loop; wherein the second connecting bar, the tumbler, the second arm bar and the third arm bar form a fourth closed loop; and wherein one end of the first water conduit is connected through a hose to a high pressure water conduit, and the other end of the first water conduit is connected through a hose to an end of the second water conduit; and the other end of the second water conduit is connected through a hose to an end of the third water conduit, and the other end of the third water conduit is connected through a hose to the spray gun.