阅读说明：本技术 一种水下壁面清洗机器人两自由度清洁工作装置 (Two-degree-of-freedom cleaning working device of underwater wall surface cleaning robot ) 是由 管志光 张�林 王保平 孙琴 赵凌燕 张洪丽 于 2020-05-12 设计创作，主要内容包括：一种水下壁面清洗机器人两自由度清洁工作装置,包含输水管、水枪、机架、臂杆、主动杆、连杆、直线驱动器,输水管为刚性管,包括第一、第二输水管,所述臂杆包括第一、第二臂杆；机架、第一臂杆、第二臂杆、主动杆、连杆、直线驱动器构成平面两自由度连杆机构；第一输水管固定安装在第一臂杆上,第二输水管固定安装在第二臂杆上；第一臂杆、机架、直线驱动器构成第一闭环回路,主动杆、第一臂杆、第二臂杆、连杆组成第二闭环回路；第一输水管一端连通高压水路,另一端通过软管与第二输水管一端连通,第二输水管另一端与水枪连通。该种壁面清洗机器人清洁工作装置可使水枪相对机架两自由度可控运动,利用高压水流实现竖立面的清洁作业。(A cleaning working device with two degrees of freedom for an underwater wall surface cleaning robot comprises a water pipe, a water gun, a rack, an arm rod, a driving rod, a connecting rod and a linear driver, wherein the water pipe is a rigid pipe and comprises a first water pipe and a second water pipe, and the arm rod comprises a first arm rod and a second arm rod; the frame, the first arm lever, the second arm lever, the driving lever, the connecting rod and the linear driver form a planar two-degree-of-freedom connecting rod mechanism; the first water delivery pipe is fixedly arranged on the first arm rod, and the second water delivery pipe is fixedly arranged on the second arm rod; the first arm rod, the rack and the linear driver form a first closed loop, and the driving rod, the first arm rod, the second arm rod and the connecting rod form a second closed loop; one end of the first water delivery pipe is communicated with the high-pressure water channel, the other end of the first water delivery pipe is communicated with one end of the second water delivery pipe through a hose, and the other end of the second water delivery pipe is communicated with the water gun. The wall surface cleaning robot cleaning device can enable the water gun to move controllably in two degrees of freedom relative to the frame, and the cleaning operation of the vertical surface is realized by utilizing high-pressure water flow.)

1. The utility model provides a two degree of freedom cleaning work devices of wall cleaning robot under water, contains raceway, squirt, frame, armed lever, active lever, connecting rod, linear actuator, its characterized in that: the water pipe is a rigid pipe and comprises a first water pipe and a second water pipe, the arm comprises a first arm rod and a second arm rod, the frame, the first arm rod, the second arm rod, the driving rod, the connecting rod and the linear driver form a planar two-degree-of-freedom connecting rod mechanism, the first water pipe is fixedly installed on the first arm rod, the second water pipe is fixedly installed on the second arm rod, the first arm rod, the frame and the linear driver form a first closed loop, the driving rod, the first arm rod, the second arm rod and the connecting rod form a second closed loop, one end of the first water pipe is communicated with a high-pressure water channel, the other end of the first water pipe is communicated with one end of the second water pipe through a hose, and the other end of the second water pipe is communicated with a water gun.

2. The two-degree-of-freedom cleaning device for the underwater wall surface cleaning robot as recited in claim 1, wherein: the first arm rod is connected with the rack through a first rotating pair, one end of the linear driver is connected with the rack through a second rotating pair, and the other end of the linear driver is connected with the first arm rod through a third rotating pair; the linear driver is a servo electric cylinder;

the driving rod is connected with the rack through a fourth rotating pair, one end of the connecting rod is connected with the driving rod through a fifth rotating pair, the other end of the connecting rod is connected with the second arm rod through a sixth rotating pair, and the second arm rod is installed on the first arm rod through a seventh rotating pair; the driving rod is driven by a servo motor; the first rotating pair and the fourth rotating pair form a composite hinge, and the hole center distance between the fourth rotating pair and the fifth rotating pair is equal to the hole center distance between the sixth rotating pair and the seventh rotating pair;

the rack is connected with the wall climbing robot through an eighth revolute pair.

Technical Field

The invention relates to the field of wall surface cleaning robots, in particular to a two-degree-of-freedom cleaning working device of an underwater wall surface cleaning robot.

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 invention aims to solve the problems in the prior art and provides a two-degree-of-freedom cleaning working 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 controllable translational motion of two degrees of freedom 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 invention achieves the above purpose by the following technical scheme: a cleaning working device with two degrees of freedom for an underwater wall surface cleaning robot comprises a water pipe, a water gun, a rack, an arm rod, a driving rod, a connecting rod and a linear driver, wherein the water pipe is a rigid pipe and comprises a first water pipe and a second water pipe, the arm rod comprises a first arm rod and a second arm rod, the rack, the first arm rod, the second arm rod, the driving rod, the connecting rod and the linear driver form a planar two-degree-of-freedom connecting rod mechanism, the first water pipe is fixedly arranged on the first arm rod, the second water pipe is fixedly arranged on the second arm rod, the first arm rod, the rack and the linear driver form a first closed loop, the first arm rod is connected with the rack through a first revolute pair, one end of the linear driver is connected with the rack through a second revolute pair, and the other end of the linear driver is connected with the first arm rod through a third revolute pair; the 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 linear driver.

The driving rod, the first arm rod, the second arm rod and the connecting rod form a second closed loop circuit, the driving rod is connected with the rack through a fourth rotating pair, one end of the connecting rod is connected with the driving rod through a fifth rotating pair, the other end of the connecting rod is connected with the second arm rod through a sixth rotating pair, and the second arm rod is installed on the first arm rod through a seventh rotating pair; the driving rod is driven by a servo motor, the driving rod can controllably swing relative to the rack under the driving of the servo motor, so that the movement of the second arm rod is realized, and the second water delivery pipe is fixedly arranged on the second arm rod, so that the controllable movement of the second water delivery pipe can be realized through the controlled swing of the driving rod; the first rotating pair and the fourth rotating pair form a composite hinge, the hole center distance between the fourth rotating pair and the fifth rotating pair is equal to the hole center distance between the sixth rotating pair and the seventh rotating pair, therefore, the driving rod, the first arm rod, the second arm rod and the connecting rod form a parallelogram mechanism, when the posture of the driving rod is adjusted according to working requirements, the driving rod is locked, the second arm rod maintains translation along with the rotation of the first arm rod, namely when the driving rod is kept still, the second arm rod translates, and further the inclination angle of the second water conveying pipe is ensured to be unchanged.

One end of the first water delivery pipe is communicated with the high-pressure water channel, the other end of the first water delivery pipe is communicated with one end of the second water delivery pipe through a hose, and the other end of the second water delivery pipe is communicated with the water gun; the rack is connected with the wall-climbing robot through an eighth revolute pair, and the rack can rotate controllably relative to the wall-climbing robot under the driving of the power device. This kind of two degree of freedom cleaning work device operation in-process of wall cleaning machines people under water, the squirt can realize two degree of freedom attitude adjustments under linear actuator, initiative pole cooperate, under the controllable rotation of frame, the squirt can further realize the controllable adjustment of three degree of freedom, and the high pressure water current in the high pressure water route is through the squirt blowout behind first raceway, the second raceway, utilizes high pressure water current, and nimble efficient realizes carrying out cleaning operation to the perpendicular face under water of marine facilities such as boats and ships.

The invention has the outstanding advantages that:

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 pipeline of the two-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 two degree of freedom cleaning work devices of wall cleaning robot under water can realize two degree of freedom gesture adjustments, satisfies the complicated clear away operation requirement of erectting the face marine life, under the controllable rotation of frame, the squirt can further realize the controllable adjustment of three degree of freedom, and the squirt blowout is passed through to high-pressure rivers in the high pressure water route, utilizes high-pressure rivers, and nimble efficient realizes carrying out cleaning operation to the face of standing up under water of marine equipment such as boats and ships.

3. The two-degree-of-freedom cleaning working device for the underwater wall surface cleaning robot has a low mechanism coupling degree, a driving rod, a first arm rod, a second arm rod and a connecting rod form a parallelogram mechanism, when the driving rod is locked and fixed after the posture is adjusted according to working requirements, the second arm rod can maintain translation, and then the translation lifting of a second water delivery pipe and a water gun is guaranteed, so that the water gun can carry out underwater vertical surface cleaning operation on marine equipment such as ships and the like at the same inclination angle, and meanwhile, the control difficulty of the working device is low.

Drawings

Fig. 1 is a schematic diagram of a two-degree-of-freedom cleaning device of an underwater wall surface cleaning robot according to the invention.

Fig. 2 is a schematic view of an underwater wall surface cleaning robot according to the present invention.

Fig. 3 is one of the translation lifting schematic diagrams of a water gun of the two-degree-of-freedom cleaning working device of the underwater wall surface cleaning robot.

Fig. 4 is a second schematic diagram of the two-degree-of-freedom cleaning device of the underwater wall surface cleaning robot of the invention, showing the translation and lifting of the water gun.

Detailed Description

The technical solution of the present invention is further illustrated by the accompanying drawings and examples.

Referring to fig. 1 and 2, the two-degree-of-freedom cleaning device for the underwater wall surface cleaning robot according to the present invention includes a water pipe, a water gun 7, a frame 1, an arm, a driving rod 10, a connecting rod 12, and a linear driver 15, wherein the water pipe is a rigid pipe and includes a first water pipe 3 and a second water pipe 5, the arm includes a first arm 4 and a second arm 6, the frame 1, the first arm 4, the second arm 6, the driving rod 11, the connecting rod 12, and the linear driver 15 form a planar two-degree-of-freedom connecting rod mechanism, the first water pipe 3 is fixedly installed on the first arm 4, the second water pipe 5 is fixedly installed on the second arm 6, the first arm 3, the frame 1, and the linear driver 15 form a first closed loop, the first arm 4 is connected to the frame 1 through a first revolute pair 9, one end of the linear driver 15 is connected to the frame 1 through a second revolute pair 14, the other end is connected with the first arm rod 4 through a third revolute pair 16; the linear driver 15 is a servo electric cylinder, and the first arm 4 can swing up and down around the first rotating pair 9 through the telescopic motion of the linear driver 15.

Referring to fig. 1, 2, 3 and 4, the active rod 10, the first arm lever 4, the second arm lever 6 and the connecting rod 12 form a second closed loop, the active rod is connected to the frame 1 through a fourth revolute pair 18, one end of the connecting rod 12 is connected to the active rod 10 through a fifth revolute pair 11, the other end of the connecting rod is connected to the second arm lever 6 through a sixth revolute pair 13, and the second arm lever 6 is mounted on the first arm lever 4 through a seventh revolute pair 8; the driving rod 10 is driven by a servo motor, the driving rod 10 swings relative to the rack 1 under the drive of the servo motor, so that the second arm rod 6 moves, and the second water conveying pipe 5 is fixedly arranged on the second arm rod 6, so that the controllable movement of the second water conveying pipe 5 can be realized through the controlled swinging of the driving rod 10; the first rotating pair 9 and the fourth rotating pair 18 form a composite hinge, the hole center distance between the fourth rotating pair 18 and the fifth rotating pair 11 is equal to the hole center distance between the sixth rotating pair 13 and the seventh rotating pair 8, therefore, the driving rod 10, the first arm lever 4, the second arm lever 6 and the connecting rod 12 form a parallelogram mechanism, when the driving rod 10 is adjusted to be in a proper posture according to working requirements, the parallelogram mechanism is locked, the second arm lever 6 maintains translation along with the rotation of the first arm lever 4, namely when the driving rod 10 is kept still, the second arm lever 6 translates, and further the inclination angle of the second water conveying pipe 5 is ensured to be unchanged.

Referring to fig. 1, 2, 3 and 4, one end of the first water pipe 3 is communicated with a high-pressure waterway, the other end of the first water pipe is communicated with one end of the second water pipe 5 through a hose, and the other end of the second water pipe 5 is communicated with a water gun 7; the rack 1 is connected with the wall-climbing robot 17 through the eighth revolute pair 2, and the rack 1 can controllably rotate relative to the wall-climbing robot 17 under the driving of the power device. This kind of two degree of freedom cleaning work device operation in-process of wall cleaning machines people under water, squirt 7 is at linear actuator 15, under the cooperation of drive rod 10, can realize two degree of freedom attitude adjustments, under the controllable rotation of frame 1, three degree of freedom controllable adjustments can further be realized to squirt 7, the first raceway 3 of high pressure water flow in the high pressure water route, behind the second raceway 5, through the squirt blowout, utilize high pressure water flow, nimble efficient realizes carrying out the cleaning operation to the perpendicular facade under water of marine facilities such as boats and ships.