Deformable amphibious clean-up ship based on parallel mechanism
A technology for amphibious and cleaning ships, which is applied to the cleaning of open water surfaces, amphibious vehicles, manipulators, etc., and can solve the problems of fixed hull size, low load capacity, and low water passability
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[0023] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
[0024] See attached Figure 1-2 , a deformable amphibious cleaning ship based on a parallel mechanism, mainly composed of a hull 1, floating bodies 2 arranged on both sides of the hull 1, a flexible skin 3 for sealing, a parallel mechanism 4 for deformation, and a paddle 5 .
[0025] In the actual work of the amphibious ship, the positions and attitudes of the floating bodies 2 on both sides relative to the hull 1 are adjusted by the actions of the five driving hydraulic arms of the parallel mechanism 4 for the hulls in different working situations. The present invention has designed 4SPS / UPU parallel mechanism 4 as the connection between the hull 1 and the floating body 2, the actuator, and the two ends of each driving hydraulic arm are respectively connected to the hull 1 and the floating body 2, so that the floating body 2 on both...
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