CN109229310A - A kind of underwater outer round tube cleaning and detect robot - Google Patents
A kind of underwater outer round tube cleaning and detect robot Download PDFInfo
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- CN109229310A CN109229310A CN201811215322.2A CN201811215322A CN109229310A CN 109229310 A CN109229310 A CN 109229310A CN 201811215322 A CN201811215322 A CN 201811215322A CN 109229310 A CN109229310 A CN 109229310A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 84
- 238000001514 detection method Methods 0.000 claims abstract description 72
- 230000005484 gravity Effects 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000009193 crawling Effects 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000005286 illumination Methods 0.000 claims abstract description 4
- 238000001179 sorption measurement Methods 0.000 claims description 52
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 239000013598 vector Substances 0.000 claims description 6
- 208000037656 Respiratory Sounds Diseases 0.000 claims description 5
- 235000001674 Agaricus brunnescens Nutrition 0.000 claims description 4
- 230000002633 protecting effect Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000012010 growth Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
Abstract
The invention discloses a kind of underwater outer round tube cleaning and detection robots, including chassis, propeller propulsion system, gravity center adjusting mechanism, cleaning system, manipulator, light way system and operation detection instrument；Chassis is located at the lower section of robot, for providing stable operating platform support and driving robot crawling exercises；Propeller propulsion system is fixed on the top on chassis, for driving robot suspended motion；Gravity center adjusting mechanism is located at the lower section on chassis, for adjusting the position of centre of gravity of robot；Cleaning system is fixed on the lower front on chassis, for carrying out underwater cleaning；Manipulator is fixed on the front upper on robot chassis, for grabbing operation detection instrument；Light way system is for providing illumination, camera shooting and external communication function.The present invention has cleaning and detection function simultaneously, and operating flexibility is affected by environment small, and activity duration window is big, and operating cost is moderate, can provide stable detection platform for marine underwater facility detection, improve detection accuracy.
Description
Technical field
The invention belongs to robotic technology fields, are related to underwater robot, and in particular to a kind of underwater outer round tube cleaning
With detection robot.
Background technique
With people it is horizontal for ocean development be gradually increased and using technology continuous development, at sea built more
Carry out more underwater facilities, especially more and more oil platform jackets.Facility waterborne is in b.s.l. throughout the year, because
This is easy to adhere to a large amount of marine growth, and the secretion of these marine growths can corrode the steel construction of underwater facility, increase structure
Stress weakens the load-carrying ability of underwater facility structure.It is required simultaneously according to Offshore Units operation safety guarantee and classification society is strong
System requires, some underwater facility structures necessary periodic detection, including appearance, crackle, thickness measure, potentiometric detection etc..Therefore right
More and more important in the structure cleaning and detection of marine underwater facility, the cost of maintenance is also higher and higher.
For now, less than the cleaning of the marine underwater facility structure of 50 meters of depths and the detection operation overwhelming majority by diving under water
Member completes, and is greater than the cleaning of the marine underwater facility structure of 50 meters of depths and detects operation and generally controlled by job class undersea long
Robot (ROV) completes.
Diver's operation is a kind of high risk operation, and the ocean current, whirlpool and underwater visual in underwater facility structure are poor
The features such as to underwater operation bring very big security risk.It is superimposed with giant operation again, further increases underwater operation
Personnel hazard's property；In addition diver due to the physical reason activity duration it is limited, working efficiency is low；And diver is more than 50
Meter Shui Shen or less basically can not operation.
The large-scale lash ship branch that traditional job class undersea long control robot (ROV) needs to have dynamic positioning ability
It holds, equipment and operating cost are high, and influence of the hovering operation of ROV vulnerable to external environment, and control difficulty is big, and operating efficiency is low.
Summary of the invention
Main problem existing in the prior art includes: that (1) operating risk is big；(2) affected by environment big, activity duration window
Mouth is limited；(3) operating efficiency is low；(4) operating cost is high.
For the above-mentioned problems in the prior art, the present invention provides a kind of underwater outer round tube cleaning and detection machines
People, while there is cleaning and detection function, operating flexibility is affected by environment small, and activity duration window is big, and operating cost is moderate,
Stable detection platform can be provided for marine underwater facility detection, improve detection accuracy.
For this purpose, the invention adopts the following technical scheme:
A kind of underwater outer round tube cleaning and detection robot, including chassis system, propeller propulsion system, center of gravity adjusting machine
Structure, cleaning system, manipulator, light way system and operation detection instrument；The chassis system is located at the lower section of robot, for mentioning
For stable operating platform support and driving robot crawling exercises；The propeller propulsion system is fixed on the upper of chassis system
Portion, for driving robot suspended motion；The gravity center adjusting mechanism is located at the lower section of chassis system, for adjusting robot
Position of centre of gravity；The cleaning system is fixed on the lower front of chassis system, for carrying out underwater cleaning；The manipulator is fixed
In the front upper of robot chassis system, there are multiple freedom degrees, for grabbing operation detection instrument, complete to underwater facility
Detection and operation；The smooth way system is for providing illumination, camera shooting and external communication function.
Preferably, the chassis system is equipped with chassis girder, the lower section of chassis girder be equipped with preceding main driving sorption wheel, after
Main driving sorption wheel and left swing arm driving sorption wheel, right swing arm drive sorption wheel；Preceding main driving sorption wheel, rear main driving sorption wheel
The underwater facility structure of magnetizer material can be adsorbed, while driving force being provided；The left swing arm driving sorption wheel is connected to a left side
The end of swing arm driving sorption wheel swing arm, left swing arm driving sorption wheel, right swing arm driving sorption wheel are according to underwater facility structure
Diameter changes the pivot angle of swing arm, does the movement that similar arm is encircled, and adsorbs magnetizer material by the sorption wheel of swing arm end
Underwater facility structure, while driving force being provided；The middle position of chassis girder is equipped with lifting mushroom head, is used for lifting machine people.
Preferably, the preceding main driving sorption wheel, rear main driving sorption wheel and left swing arm driving sorption wheel, right swing arm driving
Sorption wheel in sorption wheel includes the structure of permanent magnet or electromagnet.
Preferably, the propeller propulsion system includes that the horizontal propeller of 4 horizontal vector arrangements and 4 are arranged vertically
Vertical spin paddle, horizontal propeller provides before and after Robot Y-axis and the linear motion of X-axis or so and rotates about the z axis
Movement, vertical spin paddle provide the movement that Robot Z axis moves along a straight line up and down and rotates around Y-axis and X-axis.
Preferably, the horizontal propeller of 4 horizontal vectors arrangement and the Y-axis and X-axis of robot distinguish angle cloth at 45 °
It sets；The Z axis of 4 vertically arranged vertical spin paddles and robot is arranged at 5 ° of angles respectively.
Preferably, the propeller of the propeller propulsion system is coated in the first buoyant mass, and first buoyant mass is solid
It is scheduled on chassis system.
Preferably, the gravity center adjusting mechanism is articulated in the lower section of chassis girder, including submersible machine, lead screw, nut machine
Structure, the second buoyant mass, sliding rail and support；The second buoyant mass is fixed on the nut body, the submersible machine is for driving silk
Thick stick and nut body are moved along sliding rail and support, to adjust the position of centre of gravity of robot.
Preferably, the cleaning system has 2 grades of cylindrical racks and gear drive structure, respectively by two submersible machines
Driving；First order motor output shaft, which has first order cylindrical gear and is installed on, is fixed on the first of chassis system lower front
On grade pedestal, installation is there are four first order roller on first order pedestal, and both sides are fixed on four the to first order cylinder rack gear up and down
On level-one roller, and left and right is done by first order cylin-drical tooth wheel drive first order cylinder rack gear and is moved repeatedly；Second level pedestal is used
Fixing bolt is fixed on first order cylinder rack gear middle position, and there are four second level roller, the second level for installation on the pedestal of the second level
Motor output shaft is with second level cylindrical gear and is installed on the pedestal of the second level, and second level cylinder rack gear is fixed on both sides up and down
In on four second level rollers, and left and right is done by second level cylin-drical tooth wheel drive second level cylinder rack gear and is moved repeatedly；Second
There are two reciprocal cleaning sprayer, the reciprocal cleaning sprayer is swung by reciprocal cleaning sprayer for the both-side ends installation of grade cylinder rack gear
Driving motor driving.
Preferably, the manipulator is equipped with multiple rotary joints, has a 6+1 freedom degree, and the end of manipulator is equipped with the
Two low-light video cameras, the cleaning sprayer with recoil force compensating and gripper；The gripper can grab operation detection instrument, completion pair
The detection and operation of underwater facility.
Preferably, the smooth way system includes being fixed on robot bottom for observing the underwater high-definition camera of washing and cleaning operation
Machine, underwater lamp and backsight Underwater Camera, the Underwater Camera for being fixed on robot protect-ing frame structure front, robot tail portion
The obstacle avoidance sonar at one low-light video camera and top；The operation detection instrument includes Underwater Electric Potential instrument, underwater crackle detecting instrument,
They are placed on the meshed operation of robot chassis system front band and detection instrument basket.
Compared with prior art, the beneficial effects of the present invention are:
(1) robot for cleaning and detecting dedicated for marine underwater facility, while there is cleaning and detection function.
(2) cleaning sprayer moves back and forth that range is big, and operating flexibility, can carry out hovering operation and absorption is creeped operation.
(3) affected by environment small, activity duration window is big.
(4) can flexible positioning, have multiple freedom degree locomitivities.
(5) stable detection platform is provided for marine underwater facility detection, improves detection accuracy.
(6) robot manipulating task moderate cost.
Detailed description of the invention
Fig. 1 is the basic structure composition signal of a kind of underwater outer round tube cleaning and detection robot provided by the present invention
Figure.
Fig. 2 is the main view of a kind of underwater outer round tube cleaning and detection robot provided by the present invention.
Fig. 3 is the left view of a kind of underwater outer round tube cleaning and detection robot provided by the present invention.
Fig. 4 is the top view of a kind of underwater outer round tube cleaning and detection robot provided by the present invention.
Fig. 5 is the bottom view of a kind of underwater outer round tube cleaning and detection robot provided by the present invention.
Fig. 6 is the explosive view of a kind of underwater outer round tube cleaning and detection robot provided by the present invention.
Fig. 7 is the main view of gravity center adjusting mechanism in a kind of underwater outer round tube cleaning provided by the present invention and detection robot
Figure.
Fig. 8 is the vertical view of gravity center adjusting mechanism in a kind of underwater outer round tube cleaning provided by the present invention and detection robot
Figure.
Fig. 9 is the three-dimensional of gravity center adjusting mechanism in a kind of underwater outer round tube cleaning provided by the present invention and detection robot
Structural schematic diagram.
Figure 10 is the main view of cleaning system in a kind of underwater outer round tube cleaning provided by the present invention and detection robot.
Figure 11 is the top view of cleaning system in a kind of underwater outer round tube cleaning provided by the present invention and detection robot.
Figure 12 is the left view of cleaning system in a kind of underwater outer round tube cleaning provided by the present invention and detection robot.
Figure 13 is the three-dimensional knot of cleaning system in a kind of underwater outer round tube cleaning provided by the present invention and detection robot
Structure schematic diagram.
Figure 14 is the three-dimensional structure of manipulator in a kind of underwater outer round tube cleaning provided by the present invention and detection robot
Schematic diagram.
Figure 15 is that a kind of underwater outer round tube cleaning provided by the present invention and detection robot are adsorbed on diameter as 600mm
It creeps on magnetic conductivity column the main view of schematic diagram.
Figure 16 is that a kind of underwater outer round tube cleaning provided by the present invention and detection robot are adsorbed on diameter as 600mm
It creeps on magnetic conductivity column the left view of schematic diagram.
Figure 17 is that a kind of underwater outer round tube cleaning provided by the present invention and detection robot are adsorbed on diameter as 600mm
It creeps on magnetic conductivity column the top view of schematic diagram.
Description of symbols: I, cleaning system；II, light way system；III, chassis system；IV, manipulator；V, propeller pushes away
Into system；VI, gravity center adjusting mechanism；1, chassis girder；2, backsight Underwater Camera；3, rear main driving sorption wheel；4, horizontal spiral shell
Revolve paddle；5, left swing arm driving sorption wheel；6, left swing arm driving sorption wheel swing arm；7, vertical spin paddle；8, right swing arm driving absorption
Wheel；9, preceding main driving sorption wheel；10, underwater crackle detecting instrument；11, underwater lamp；12, underwater high-definition camera；13, underwater camera
Machine；14, obstacle avoidance sonar；15, mushroom head is lifted by crane；16, the first buoyant mass；17, protect-ing frame structure；18, Underwater Electric Potential instrument；19, first
Low-light video camera；20, submersible machine；21, lead screw；22, nut body；23, the second buoyant mass；24, sliding rail and support；25,
Level-one cylinder rack gear；26, first order roller；27, first order pedestal；28, first order cylindrical gear；29, second level Cylinder Gear
Item；30, reciprocal cleaning sprayer；31, reciprocal to clean wobble drive motor of meeting and discussing；32, second level roller；33, the second level is cylindrical
Gear；34, second level pedestal；35, fixing bolt；36, rotary joint；37, the second low-light video camera；38, band recoil force compensating
Cleaning sprayer；39, handgrip.
Specific embodiment
With reference to the accompanying drawing and specific embodiment come the present invention will be described in detail, specific embodiment therein and explanation only
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, the invention discloses a kind of underwater outer round tube cleaning and detection robot, including chassis system III,
Propeller propulsion system V, gravity center adjusting mechanism VI, cleaning system I, manipulator IV, light way system II and operation detection instrument；
The chassis system III is located at the lower section of robot, for providing stable operating platform support and driving robot crawling fortune
It is dynamic；The propeller propulsion system V is fixed on the top of chassis system III, for driving robot suspended motion；The center of gravity
Regulating mechanism VI is located at the lower section of chassis system III, for adjusting the position of centre of gravity of robot；The cleaning system I is fixed on bottom
The lower front of disc system III, for carrying out underwater cleaning；The manipulator IV is fixed on the front of robot chassis system III
Top has multiple freedom degrees, for grabbing operation detection instrument, completes detection and operation to underwater facility；The light is logical
System II is for providing illumination, camera shooting and external communication function.
Specifically, as shown in Fig. 2-Fig. 3, the chassis system III is equipped with chassis girder 1, and the lower section of chassis girder 1 is set
There are preceding main driving sorption wheel 9, rear main driving sorption wheel 3 and left swing arm driving sorption wheel 5, right swing arm driving sorption wheel 8；Preceding main drive
Dynamic sorption wheel 9, rear main driving sorption wheel 3 can adsorb the underwater facility structure of magnetizer material, while provide driving force；It is described
Left swing arm driving sorption wheel 5 is connected to the end of left swing arm driving sorption wheel swing arm 6, and left swing arm driving sorption wheel 5, right swing arm drive
Dynamic sorption wheel 8 changes the pivot angle of swing arm according to the diameter of underwater facility structure, does the movement that similar arm is encircled, passes through swing arm end
The underwater facility structure of the sorption wheel absorption magnetizer material at end, while driving force being provided；The middle position of chassis girder 1 is equipped with
Mushroom head 15 is lifted by crane, lifting machine people is used for.
Specifically, the preceding main driving sorption wheel 9, rear main driving sorption wheel 3 and left swing arm driving sorption wheel 6, right swing arm
Sorption wheel in driving sorption wheel 8 includes the structure of permanent magnet or electromagnet.
Specifically, as shown in Figure 4-Figure 6, the propeller propulsion system V includes the horizontal spiral shell of 4 horizontal vectors arrangement
The vertically arranged vertical spin paddle 7 of paddle 4 and 4 is revolved, horizontal propeller 4 provides the straight line of Robot Y-axis front and back and X-axis or so
Movement and the movement rotated about the z axis, vertical spin paddle 7 provide Robot Z axis and move along a straight line up and down and around Y-axis and X-axis
The movement of rotation.
Specifically, the horizontal propeller 4 of 4 horizontal vectors arrangement and the Y-axis and X-axis of robot distinguish angle at 45 °
Arrangement；The Z axis of 4 vertically arranged vertical spin paddles 7 and robot is arranged at 5 ° of angles respectively.
Specifically, the propeller of the propeller propulsion system V is coated in the first buoyant mass 16, first buoyancy
Block 16 is fixed on chassis system III.
Specifically, as shown in figs. 7 to 9, the gravity center adjusting mechanism VI is articulated in the lower section of chassis girder 1, including underwater
Motor 20, lead screw 21, nut body 22, the second buoyant mass 23, sliding rail and support 24；It is floating that second is fixed on the nut body 22
Power block 23, the submersible machine 20 is for driving lead screw 21 and nut body 22 to move along sliding rail and support 24, to adjust machine
The position of centre of gravity of device people.
Specifically, as shown in Figure 10-Figure 13, the cleaning system I has 2 grades of cylindrical racks and gear drive structure,
It is driven respectively by two submersible machines；First order motor output shaft, which has first order cylindrical gear 28 and is installed on, is fixed on bottom
On the first order pedestal 27 of III lower front of disc system, there are four first order roller 26, the first order for installation on first order pedestal 27
About 25 both sides of cylinder rack gear are fixed on four first order rollers 26, and drive first order circle by first order cylindrical gear 28
Column rack gear 25 does left and right and moves repeatedly；The fixing bolt 35 of second level pedestal 34 is fixed on 25 interposition of first order cylinder rack gear
It sets, there are four second level rollers 32, second level motor output shaft to have second level cylindrical gear for installation on second level pedestal 34
It 33 and being installed on second level pedestal 34, cylinder rack gear about 29 both sides in the second level are fixed on four second level rollers 32, and
It drives second level cylinder rack gear 29 to do left and right by second level cylindrical gear 33 to move repeatedly；The two sides of second level cylinder rack gear 29
There are two reciprocal cleaning sprayer 30, the reciprocal cleaning sprayer 30 is driven by reciprocal cleaning sprayer wobble drive motor 31 for end installation
It is dynamic.
Specifically, as shown in figure 14, the manipulator IV is equipped with multiple rotary joints 36, has 6+1 freedom degree, mechanical
The end of hand IV is equipped with the second low-light video camera 37, the cleaning sprayer 38 with recoil force compensating and gripper 39；The gripper 39 can
To grab operation detection instrument, detection and operation to underwater facility are completed.
Specifically, the smooth way system II includes being fixed on robot bottom to take the photograph for observing the underwater high definition of washing and cleaning operation
Camera 12, underwater lamp 11 and backsight Underwater Camera 2, Underwater Camera 13, the machine for being fixed on 17 front of robot protect-ing frame structure
First low-light video camera 19 of device people tail portion and the obstacle avoidance sonar 14 at top；The operation detection instrument includes Underwater Electric Potential instrument
18, underwater crackle detecting instrument 10, they are placed on the meshed operation of III front band of robot chassis system and detection instrument basket
On.
When gravity center adjusting mechanism is in intermediate, the center of gravity of robot and centre of buoyancy are located at robot center of gravity for above-mentioned robot
On the vertical line at regulating mechanism center, centre of buoyancy is slightly above center of gravity.Robot can adjust robot by gravity center adjusting mechanism
Centre of buoyancy, can allow robot holding is horizontal, upright or handstand posture, increase the shape that holds position of robot operation under water
State improves the operating efficiency of robot to reduce the control requirement of robot.
Robot chassis system has the swing arm similar to arm, and the sorption wheel of swing arm end has driving force.Chassis system
The spray head for the cleaning system that there is lower front of uniting 2 grades of cylindrical racks and gear to drive can along the circumferential direction left and right it is reciprocal clear
Angle is washed greater than 90 °, cleaning sprayer can swing up and down adjusting cleaning direction.
There is various floating to move and hold position for robot.Robot can be adsorbed on the underwater facility knot of magnetizer material
Structure, and doing can crawling exercises and reciprocal cleaning.
Above-mentioned underwater outer round tube cleaning and detection robot are adsorbed on diameter and show for what is creeped on the magnetic conductivity column of 600mm
It is intended to as shown in Figure 15-Figure 17.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to restrict the invention, all in essence of the invention
Made any modification, equivalent replacement and improvement etc., should be included in protection scope of the present invention within mind and spirit
Within.
Claims (10)
1. a kind of underwater outer round tube cleaning and detection robot, including chassis system (III), propeller propulsion system (V), center of gravity
Regulating mechanism (VI), cleaning system (I), manipulator (IV), light way system (II) and operation detection instrument, it is characterised in that: institute
The lower section that chassis system (III) is located at robot is stated, for providing stable operating platform support and driving robot crawling fortune
It is dynamic；The propeller propulsion system (V) is fixed on the top of chassis system (III), for driving robot suspended motion；It is described
Gravity center adjusting mechanism (VI) is located at the lower section of chassis system (III), for adjusting the position of centre of gravity of robot；The cleaning system
(I) it is fixed on the lower front of chassis system (III), for carrying out underwater cleaning；The manipulator (IV) is fixed on robot bottom
The front upper of disc system (III) has multiple freedom degrees, for grabbing operation detection instrument, completes the detection to underwater facility
And operation；The smooth way system (II) is for providing illumination, camera shooting and external communication function.
2. a kind of underwater outer round tube cleaning according to claim 1 and detection robot, it is characterised in that: the chassis system
(III) is united equipped with chassis girder (1), the lower section of chassis girder (1) is equipped with preceding main driving sorption wheel (9), rear main driving sorption wheel
(3) and left swing arm driving sorption wheel (5), right swing arm drive sorption wheel (8)；Preceding main driving sorption wheel (9), rear main driving sorption wheel
(3) the underwater facility structure of magnetizer material can be adsorbed, while driving force being provided；The left swing arm driving sorption wheel (5) is even
It connects in the end of left swing arm driving sorption wheel swing arm (6), left swing arm driving sorption wheel (5), right swing arm drive sorption wheel (8) basis
The diameter of underwater facility structure changes the pivot angle of swing arm, does the movement that similar arm is encircled, is inhaled by the sorption wheel of swing arm end
The underwater facility structure of attached magnetizer material, while driving force being provided；The middle position of chassis girder (1) is equipped with lifting mushroom head
(15), it is used for lifting machine people.
3. a kind of underwater outer round tube cleaning according to claim 2 and detection robot, it is characterised in that: the preceding main drive
Suction in dynamic sorption wheel (9), rear main driving sorption wheel (3) and left swing arm driving sorption wheel (6), right swing arm driving sorption wheel (8)
Wheel includes the structure of permanent magnet or electromagnet.
4. a kind of underwater outer round tube cleaning according to claim 1 and detection robot, it is characterised in that: the propeller
Propulsion system (V) includes the horizontal propeller (4) and 4 vertically arranged vertical spin paddles (7) that 4 horizontal vectors are arranged, water
The movement that flat spin paddle (4) provides the linear motion of Robot Y-axis front and back and X-axis or so and rotates about the z axis, vertical spin
Paddle (7) provides the movement that Robot Z axis moves along a straight line up and down and rotates around Y-axis and X-axis.
5. a kind of underwater outer round tube cleaning according to claim 4 and detection robot, it is characterised in that: 4 water
The horizontal propeller (4) of flat vector arrangement and the Y-axis and X-axis of robot are distinguished angle at 45 ° and are arranged；Described 4 vertically arranged
The Z axis of vertical spin paddle (7) and robot is arranged at 5 ° of angles respectively.
6. a kind of underwater outer round tube cleaning according to claim 4 and detection robot, it is characterised in that: the propeller
The propeller of propulsion system (V) is coated in the first buoyant mass (16), and first buoyant mass (16) is fixed on chassis system
(III) on.
7. a kind of underwater outer round tube cleaning according to claim 2 and detection robot, it is characterised in that: the center of gravity tune
Section mechanism (VI) is articulated in the lower section of chassis girder (1), including submersible machine (20), lead screw (21), nut body (22), second
Buoyant mass (23), sliding rail and support (24)；The second buoyant mass (23), the submersible machine are fixed on the nut body (22)
(20) for driving lead screw (21) and nut body (22) mobile along sliding rail and support (24), to adjust the center of gravity position of robot
It sets.
8. a kind of underwater outer round tube cleaning according to claim 1 and detection robot, it is characterised in that: the cleaning system
(I) is united with 2 grades of cylindrical racks and gear drive structure, is driven respectively by two submersible machines；First order motor output shaft
With first order cylindrical gear (28) and it is installed on the first order pedestal (27) for being fixed on chassis system (III) lower front,
There are four first order roller (26) for installation on first order pedestal (27), and both sides are fixed on four to first order cylinder rack gear (25) up and down
On first order roller (26), and left and right is done by first order cylindrical gear (28) driving first order cylinder rack gear (25) and is transported repeatedly
It is dynamic；Second level pedestal (34) is fixed on first order cylinder rack gear (25) middle position, second level pedestal with fixing bolt (35)
(34) there are four second level roller (32) for installation on, and second level motor output shaft is with second level cylindrical gear (33) and installs
In on second level pedestal (34), second level cylinder rack gear (29) up and down be fixed on four second level rollers (32) by both sides, and by
Second level cylindrical gear (33) driving second level cylinder rack gear (29) is done left and right and is moved repeatedly；Second level cylinder rack gear (29)
There are two reciprocal cleaning sprayer (30) for both-side ends installation, and the reciprocal cleaning sprayer (30) is by reciprocal cleaning sprayer wobble drive
Motor (31) driving.
9. a kind of underwater outer round tube cleaning according to claim 1 and detection robot, it is characterised in that: the manipulator
(IV) multiple rotary joints (36) are equipped with, there is 6+1 freedom degree, the end of manipulator (IV) is equipped with the second low-light video camera
(37), cleaning sprayer (38) and gripper (39) with recoil force compensating；The gripper (39) can grab operation detection instrument, complete
The detection and operation of pairs of underwater facility.
10. a kind of underwater outer round tube cleaning according to any one of claim 1 to 9 and detection robot, feature exist
In: the smooth way system (II) include be fixed on robot bottom for observe washing and cleaning operation underwater high-definition camera (12),
Underwater lamp (11) and backsight Underwater Camera (2), the Underwater Camera (13), the machine that are fixed on robot protect-ing frame structure (17) front
The first low-light video camera (19) of device people tail portion and the obstacle avoidance sonar (14) at top；The operation detection instrument includes underwater electricity
Position instrument (18), underwater crackle detecting instrument (10), they be placed on robot chassis system (III) meshed operation of front band and
On detection instrument basket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN109733570A (en) * | 2019-01-29 | 2019-05-10 | 山东大学 | A kind of running on wheels-thrust by airscrew underwater cleaning robot |
| CN113631287A (en) * | 2019-04-02 | 2021-11-09 | 皇家飞利浦有限公司 | Assessing at least one structural feature of an anti-biofouling arrangement |
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| CN110341908A (en) * | 2019-06-24 | 2019-10-18 | 浙江大学 | A kind of control method of underwater steel construction surface marine growth cleaning robot |
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| CN110341910A (en) * | 2019-06-25 | 2019-10-18 | 浙江大学 | A kind of underwater steel construction surface marine growth cleaning robot and its omnidirectional imaging system |
| CN110341911B (en) * | 2019-06-25 | 2021-09-14 | 浙江大学 | Underwater steel structure surface marine organism cleaning robot and control method of imaging system |
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| CN111337730B (en) * | 2020-03-06 | 2022-04-19 | 中海油信息科技有限公司 | Underwater structure potential detection device with impact probe |
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| CN114750907A (en) * | 2022-04-21 | 2022-07-15 | 中海油能源发展股份有限公司 | Offshore oil jacket platform washs underwater robot with scanning swing arm |
| CN115009486A (en) * | 2022-07-14 | 2022-09-06 | 飞马滨(青岛)智能科技有限公司 | Gravity center adjusting method of underwater robot |
| CN115503899A (en) * | 2022-10-25 | 2022-12-23 | 上海海洋大学 | Hybrid-driven ocean platform cleaning and detecting robot and operation method thereof |
| CN116812116A (en) * | 2023-08-30 | 2023-09-29 | 广东智能无人系统研究院(南沙) | Underwater structure cleaning and detecting operation robot |
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