Two-degree-of-freedom cleaning working device of underwater wall surface cleaning robot

Abstract

A two-degree-of-freedom cleaning working device of an underwater wall surface cleaning robot comprises water conveying pipes, a water gun, a rack, arm rods, a driving rod, a connecting rod and a linear driver, the water conveying pipes are rigid pipes and comprise a first water conveying pipe and a second water conveying pipe, and the arm rods comprise 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 conveying pipe is fixedly installed on the first arm rod, and the second water conveying pipe is fixedly installed 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; and one end of the first water conveying pipe communicates with the high-pressure waterway, the other end of the first water conveying pipe communicates with one end of the second water conveying pipe, and the other end of the second water conveying pipe communicates with the water gun. According to the cleaning working device of the wall surface cleaning robot, the water gun can make two-degree-of-freedom controllable movement relative to the rack, and cleaning operation of a vertical surface is achieved through high-pressure water flow.

Description

technical field [0001] The invention relates to the field of wall surface cleaning robots, in particular to a two-degree-of-freedom cleaning working device for an underwater wall surface cleaning robot. Background technique [0002] The wall-climbing robot is a mobile robot that is mainly used in extreme operations such as vertical surface maintenance, inspection, and cleaning. The wall cleaning robot is one of the most promising applications in the wall mobile robot. At present, there are three main methods of wall cleaning: manual cleaning, hanging basket cleaning, and automatic equipment cleaning. The first two cleaning methods are completely dependent on workers for cleaning, which is labor-intensive and has potential safety hazards. The vertical surface cleaning of automated equipment is also inseparable from manual labor. Intervention, while the equipment is expensive. The cleaning avoidance method described above is still difficult to be widely used in the land envir...

AI Technical Summary

Problems solved by technology

At present, there are two main ways to remove marine organisms such as ships and other marine equipment: one is to rely on divers for manual cleaning, which has low cleaning efficiency and a high risk factor; the other is to clean ships and other marine equipment in docks, which costs high, time-consuming

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