阅读说明：本技术 一种水下壁面清洗机器人两自由度大空间工作装置 (Two-degree-of-freedom large-space working device of underwater wall surface cleaning robot ) 是由 张东 管志光 王学林 姜茹 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大空间工作装置,包含输水管、水枪、机架、臂杆、平动链、直线驱动器,输水管为刚性管,包括第一、第二、第三输水管,所述臂杆包括第一、第二、第三臂杆；所述输水管固定安装在臂杆上,机架、臂杆、平动链、直线驱动器构成平面两自由度连杆机构,包含第一、第二、第三、第四闭环回路,其中由平动链、第一臂杆、第二臂杆构成的第三、第四闭环回路可维持水枪平动；各输水管通过软管连通,第一输水管一端通过软管连通高压水路,第三输水管与水枪连通。该种壁面清洗机器人清洁工作装置可实现水枪相对机架两自由度可控平动,利用高压水流实现大面积、结构复杂度低的船舶等海洋设备外竖立面的清洁作业。(A two-degree-of-freedom large-space working device of an underwater wall surface cleaning robot comprises a water pipe, a water gun, a rack, an arm rod, a translation chain 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 water pipe is fixedly arranged on the arm rod, the rack, the arm rod, the translational chain and the linear driver form a planar two-degree-of-freedom link mechanism which comprises a first closed loop, a second closed loop, a third closed loop and a fourth closed loop, wherein the third closed loop and the fourth closed loop which are formed by the translational chain, the first arm rod and the second arm rod can maintain the translational motion of the water gun; each water pipe is communicated through a hose, one end of the first water pipe is communicated with a high-pressure water channel through a hose, and the third water pipe is communicated with a water gun. The wall surface cleaning robot cleaning device can realize two-degree-of-freedom controllable translational motion of the water gun relative to the frame, and can realize cleaning operation of the outer vertical surfaces of marine equipment such as ships with large area and low structural complexity by utilizing high-pressure water flow.)

1. The utility model provides a big space equipment of two degrees of freedom of wall cleaning robot under water, contains raceway, squirt, frame, armed lever, translation chain, 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 rods comprise a first arm rod, a second arm rod and a third arm rod, the translation chain comprises a first connecting rod, a rocker arm and a second connecting rod, the linear driver comprises a first linear driver and a second 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, the first connecting rod, the rocker arm and the second connecting rod form a planar two-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 frame and the first linear driver form a first closed loop circuit,

the first arm lever, the second arm lever and the second linear driver form a second closed loop circuit,

the machine frame, the first connecting rod, the first arm rod and the rocker arm form a third closed loop, the machine frame, the first connecting rod, the first arm rod and the rocker arm form a parallelogram kinematic chain,

the second connecting rod, the rocker arm, the second arm lever and the third arm lever form a fourth closed loop circuit, the second connecting rod, the rocker arm, the second arm lever and the third arm lever form a parallelogram kinematic chain,

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 two-degree-of-freedom large-space working device of the underwater wall surface cleaning robot as claimed 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;

one end of the first connecting rod is connected with the rack through a seventh rotating pair, the other end of the first connecting rod is connected with the rocker arm through an eighth rotating pair, the rocker arm is installed on the first arm rod through a ninth rotating pair, the fourth rotating pair and the ninth rotating pair form a composite hinge, and the hole center distance between the first rotating pair and the seventh rotating pair is equal to the hole center distance between the eighth rotating pair and the ninth rotating pair; the hole center distance between the seventh rotating pair and the eighth rotating pair is equal to the hole center distance between the first rotating pair and the ninth rotating pair;

one end of the second connecting rod is connected with the rocker arm through a tenth revolute pair, the other end of the second connecting rod is connected with a third arm rod through an eleventh revolute pair, and the third arm rod is connected with the second arm rod through a twelfth revolute pair; the pitch between the centers of the holes between the tenth revolute pair and the ninth revolute pair is equal to the pitch between the centers of the holes between the eleventh revolute pair and the twelfth revolute pair, and the pitch between the centers of the holes between the ninth revolute pair and the twelfth revolute pair is equal to the pitch between the centers of the holes between the tenth revolute pair and the eleventh revolute pair;

the frame is connected with the wall climbing robot through a thirteenth revolute pair.

Technical Field

The invention relates to the field of wall surface cleaning robots, in particular to a two-degree-of-freedom large-space 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 large-space 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 two-degree-of-freedom large-space working device of an underwater wall surface cleaning robot comprises a water pipe, a water gun, a rack, arm rods, a translation chain 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 translation chain comprises a first connecting rod, a rocker arm and a second connecting rod, the linear driver comprises a first linear driver and a second 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, the first connecting rod, the rocker arm and the second connecting rod form a planar two-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 rack, the first connecting rod, the first arm rod and the rocker arm form a third closed loop, one end of the first connecting rod is connected with the rack through a seventh rotating pair, the other end of the first connecting rod is connected with the rocker arm through an eighth rotating pair, the rocker arm is installed on the first arm rod through a ninth rotating pair, the fourth rotating pair and the ninth rotating pair form a composite hinge, and the hole center distance between the first rotating pair and the seventh rotating pair is equal to the hole center distance between the eighth rotating pair and the ninth rotating pair; the hole center distance between the seventh rotating pair and the eighth rotating pair is equal to the hole center distance between the first rotating pair and the ninth rotating pair; the rack, the first connecting rod, the first arm rod and the rocker arm form a parallelogram kinematic chain, and the rocker arm maintains translation relative to the rack.

The second connecting rod, the rocker arm, the second arm rod and the third arm rod form a fourth closed loop circuit, one end of the second connecting rod is connected with the rocker arm through a tenth revolute pair, the other end of the second connecting rod is connected with the third arm rod through an eleventh revolute pair, and the third arm rod is connected with the second arm rod through a twelfth revolute pair. The hole center distance between the tenth revolute pair and the ninth revolute pair is equal to the hole center distance between the eleventh revolute pair and the twelfth revolute pair, the hole center distance between the ninth revolute pair and the twelfth revolute pair is equal to the hole center distance between the tenth revolute pair and the eleventh revolute pair, and the second connecting rod, the rocker arm, the second arm rod and the third arm rod form a parallelogram kinematic chain.

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 thirteenth revolute pair, and the rack can rotate controllably 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 performs cleaning operation on underwater vertical surfaces, the three-degree-of-freedom translational adjustment can be realized by the water gun relative to the vertical surfaces under the coupling driving of the controllable rotary motion of the rack and the coupling driving of the first linear driver and the second linear driver, namely, the distance and the position of the water gun relative to the vertical surfaces are controllable and adjustable, the translational motion of the water gun is always maintained, and 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, so that the cleaning operation on the underwater vertical surfaces of marine equipment such as ships and the like is realized flexibly and efficiently.

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 large-space 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 big space equipment of two degrees of freedom of wall cleaning robot under water is established ties by three raceway, the working space of squirt has been improved by a wide margin, this equipment has only two degrees of freedom, the squirt maintains the translation all the time under the translation chain effect at the operation in-process, compare three degrees of freedom clean work device, the control degree of difficulty and cost have effectively been reduced, under the controllable rotation of frame, the controllable translation of three degrees of freedom can further be realized to the relative vertical face of squirt, the squirt blowout is passed through to the high-pressure rivers in the high-pressure water route, utilize high-pressure rivers, the cleaning operation to marine equipment regular surface such as boats and ships is realized to the efficient.

Drawings

FIG. 1 is a schematic view of a two-degree-of-freedom large-space working device of an underwater wall surface cleaning robot according to the present invention.

FIG. 2 is a perspective view of a two-degree-of-freedom large-space working device of an underwater wall surface cleaning robot according to the present invention.

FIG. 3 is a schematic view of a two-degree-of-freedom large-space working device translation chain of the underwater wall surface cleaning robot.

FIG. 4 is one of the schematic views of the working position of the two-degree-of-freedom large-space working device of the underwater wall surface cleaning robot.

Fig. 5 is a second schematic view of the working position of the two-degree-of-freedom large-space working device of the underwater wall surface cleaning robot according to the present invention.

Detailed Description

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

Referring to fig. 1, 2 and 3, the two-degree-of-freedom large space working device of the underwater wall surface cleaning robot comprises a water pipe, a water gun 7, a frame 1, an arm rod, a translation chain and a linear driver, wherein the water pipe is a rigid pipe and comprises a first water pipe 3, a second water pipe 24 and a third water pipe 5, the arm rod comprises a first arm rod 4, a second arm rod 23 and a third arm rod 6, the translation chain comprises a first connecting rod 10, a rocker arm 19 and a second connecting rod 12, the linear driver comprises a first linear driver 15 and a second linear driver 26, and the frame 1, the first arm rod 4, the second arm rod 23, the third arm rod 6, the first linear driver 15, the second linear driver 26, the first connecting rod 10, the rocker arm 19 and the second connecting rod 12 form a planar two-degree-of-freedom connecting rod mechanism; the first water pipe 3 is fixedly arranged on the first arm rod 4, the second water pipe 24 is fixedly arranged on the second arm rod 23, and the third water pipe 5 is fixedly arranged on the third arm rod 6;

referring to fig. 1, 2 and 3, the first arm 4, the frame 1 and the first linear actuator 15 form a first closed loop, the first arm 4 is mounted on the frame 1 through a first revolute pair 18, one end of the first linear actuator 15 is mounted on the frame 1 through a second revolute pair 14, and the other end of the first linear actuator is mounted on the first arm 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 18 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, 2 and 3, the first arm 4, the second arm 23 and the second linear actuator 26 form a second closed loop, the second arm 23 is mounted on the first arm 4 through a fourth revolute pair 22, one end of the second linear actuator 26 is mounted on the first arm 4 through a fifth revolute pair 25, and the other end of the second linear actuator is mounted on the second arm 23 through a sixth revolute pair 27; the second linear driver 26 is a servo electric cylinder, and the second arm 23 can swing relative to the first arm 4 through the telescopic motion of the second linear driver 26, so that the single-degree-of-freedom controllable swing of the second water conveying pipe 24 relative to the first water conveying pipe 3 is realized.

Referring to fig. 1, 2 and 3, the frame 1, the first link 10, the first arm 4 and the rocker arm 19 form a third closed loop, one end of the first link 10 is connected to the frame 1 through the seventh revolute pair 9, the other end of the first link is connected to the rocker arm 19 through the eighth revolute pair 11, the rocker arm 19 is mounted on the first arm 4 through the ninth revolute pair 21, the fourth revolute pair 22 and the ninth revolute pair 21 form a compound hinge, and the pitch between the first revolute pair 18 and the seventh revolute pair 9 is equal to the pitch between the eighth revolute pair 11 and the ninth revolute pair 21; the pitch between the seventh revolute pair 9 and the eighth revolute pair 11 is equal to the pitch between the first revolute pair 18 and the ninth revolute pair 21; the rack 1, the first connecting rod 10, the first arm rod 4 and the rocker arm 19 form a parallelogram kinematic chain, and the rocker arm 19 maintains translation relative to the rack 1.

Referring to fig. 1, 2 and 3, the second connecting rod 12, the rocker arm 19, the second arm 23 and the third arm 6 form a fourth closed loop, one end of the second connecting rod 12 is connected to the rocker arm 19 through a tenth revolute pair 20, the other end of the second connecting rod is connected to the third arm 6 through an eleventh revolute pair 13, and the third arm 6 is connected to the second arm 23 through a twelfth revolute pair 8. The hole center distance between the tenth revolute pair 20 and the ninth revolute pair 21 is equal to the hole center distance between the eleventh revolute pair 13 and the twelfth revolute pair 8, the hole center distance between the ninth revolute pair 21 and the twelfth revolute pair 8 is equal to the hole center distance between the tenth revolute pair 20 and the eleventh revolute pair 13, and the second connecting rod 12, the rocker arm 19, the second arm rod 23 and the third arm rod 6 form a parallelogram motion chain, so that the third arm rod 6 swings along with the second arm rod 23 and translates relative to the rocker arm 19, and the rocker arm 19 translates relative to the rack 1 during motion, so that the third arm rod 6 translates relative to the rack 1 during motion, and the third water pipe 5 is fixedly mounted on the third arm rod 6, so that the third water pipe 5 translates in two degrees of freedom in a plane relative to the rack 1.

Referring to fig. 1, 2, 3, 4 and 5, one end of the first water pipe 3 is communicated with the high-pressure waterway through a hose, the other end of the first water pipe 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 5 is communicated with the water gun 7 through a hose; the rack 1 is connected with the wall-climbing robot 17 through the thirteenth revolute pair 2, and the rack 1 can controllably rotate relative to the wall-climbing robot 17 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 underwater vertical surfaces, three-degree-of-freedom translation adjustment can be realized by the water gun 7 relative to the underwater vertical surfaces under the coupling driving of the controllable rotary motion of the rack 1 and the coupling driving of the first linear driver 15 and the second linear driver 26, namely, the distance and the position of the water gun 7 relative to the underwater vertical surfaces are controllable and adjustable, the posture of the water gun 7 is always maintained in translation, 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 24 and the third water pipe 5, so that the cleaning operation on the underwater vertical surfaces of marine equipment such as ships and the like can be flexibly and efficiently realized by utilizing the high-pressure water flow.