CN113843767A - Underwater operation robot capable of overhauling special-shaped space - Google Patents
Underwater operation robot capable of overhauling special-shaped space Download PDFInfo
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- CN113843767A CN113843767A CN202111159271.8A CN202111159271A CN113843767A CN 113843767 A CN113843767 A CN 113843767A CN 202111159271 A CN202111159271 A CN 202111159271A CN 113843767 A CN113843767 A CN 113843767A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention belongs to the technical field of detection of internal disease parts of special-shaped spaces such as diversion tunnels of dam foundations of underwater dams and underwater pipelines of drilling platforms, and particularly relates to an underwater operation robot capable of overhauling the special-shaped spaces. Compared with the prior art, the invention mainly comprises an underwater robot matrix, a micro-robot and a micro-robot recovery device, wherein the micro-robot mainly adopts a tension wheel pose follow-up combination mechanism, and the support connecting rod and the tension spring are rigidly and flexibly coupled to define the pose follow-up relation of the axial pipe diameter. The micro-robot recycling device recycles the micro-robot using a motor reel device. The six-degree-of-freedom mechanical arm mainly has seven motors to drive the joint to move, and the device is combined with the special-shaped space structure detection robot through the underwater robot to form a primary-secondary type underwater structure detection robot, so that short plates which are missed or cannot be detected in a conventional underwater detection mode are made up, and the underwater structure can be detected in all directions while the detection efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of detection of internal disease parts of special-shaped spaces such as diversion tunnels of dam foundations of underwater dams and underwater pipelines of drilling platforms, and particularly relates to an underwater operation robot capable of overhauling the special-shaped spaces.
Background
At present, the underwater structure detection and operation in ocean engineering and hydraulic engineering are realized mainly by carrying professional detection and operation equipment by divers, the problems of short single operation time, low efficiency, large risk and the like are solved, the underwater robot can overcome the limitation of the above conditions and has the unique advantages of economy, high efficiency and safety, the underwater structure detection and operation can be carried out underwater for a long time, a large range and high precision, but the conventional underwater operation robot carrying operation tools can only carry out non-contact detection outside an underwater disease structure, and the underwater structure detection and operation can not deeply detect the internal damage parts of dam foundation diversion tunnels and underwater pipelines of drilling platforms, so that the underwater detection operation has potential safety hazards.
Disclosure of Invention
The invention aims to solve the technical problems that a conventional underwater operation robot carrying an operation tool can only carry out non-contact detection outside an underwater fault structure, and cannot deeply detect the damaged parts inside a dam foundation diversion tunnel and an underwater pipeline of a drilling platform.
The object of the invention is achieved in the following way: an underwater operation robot capable of being overhauled in a special-shaped space comprises an underwater robot main body, wherein a micro robot recovery device is arranged at the end part of the underwater robot main body, a micro robot is arranged in the micro robot recovery device, and a detection device is arranged above the micro robot recovery device at the end part of the underwater robot main body;
the micro robot recovery device comprises a reel, a mooring rope, a recovery cabin body and a motor, wherein the end part of the underwater robot main body is connected with the recovery cabin body, one end of the recovery cabin body is provided with the reel, one end of the reel is connected with the output end of the motor, the mooring rope is arranged on the reel, one end of the mooring rope is connected with the micro robot, and the end part of the micro robot is provided with the micro detection device.
Micro robot includes the drive wheel, thick supporting rod, thin supporting rod, the sleeve, extension spring, base and driving motor, the one end connection base of hawser, the articulated thick supporting rod of base circumference, thick supporting rod keeps away from base one end and passes through the articulated thin supporting rod of round pin axle, the articulated sleeve of base one end is kept away from to thin supporting rod, sleeve and base clearance fit, the sleeve sets up extension spring with the base is inside, extension spring one end connecting sleeve, extension spring other end connection base, thick supporting rod keeps away from base one end and sets up the drive wheel, thick supporting rod keeps away from the inside driving motor that provides power for the drive wheel that sets up of base one end.
The output end of the driving motor is provided with a bevel gear, one side of the driving wheel is provided with the bevel gear, and the bevel gear arranged at the output end of the driving motor is meshed with a bevel gear arranged at one side of the driving wheel.
The underwater robot main body is provided with a six-degree-of-freedom mechanical arm for assisting the micro robot to recover in place, and the end part of the underwater robot main body is provided with 8 propellers.
Compared with the prior art, the robot mainly comprises an underwater robot parent body, a micro robot recovery device, a six-degree-of-freedom mechanical arm and other systems, wherein the robot body adopts 4 propellers horizontally arranged to move forwards and backwards and laterally, and 4 propellers vertically arranged to move up and down and pitch. The micro robot mainly adopts a tension wheel pose follow-up combination mechanism, and defines the rigid and flexible coupling of a support connecting rod and an extension spring as the pose follow-up relation of the axial pipe diameter. The micro-robot recycling device recycles the micro-robot using a motor reel device. The six-degree-of-freedom mechanical arm mainly has seven motors to drive the joint to move, and the device is combined with the special-shaped space structure detection robot through the underwater robot to form a primary-secondary type underwater structure detection robot, so that short plates which are missed or cannot be detected in a conventional underwater detection mode are made up, and the underwater structure can be detected in all directions while the detection efficiency is improved.
Drawings
Fig. 1 is a front view of an underwater operation robot capable of being overhauled for a special-shaped space.
Fig. 2 is a top view of an underwater operation robot capable of being overhauled for a special-shaped space.
Fig. 3 is a sectional view of a micro robot of an underwater operation robot which can be serviced facing a special-shaped space.
Fig. 4 is an enlarged view of a micro-robot recovery device of an underwater operation robot capable of being overhauled for a special-shaped space.
Fig. 5 is a sectional view of a micro-robot recovery device of an underwater operation robot capable of being overhauled for a special-shaped space.
The system comprises an underwater robot main body 1, a mechanical arm 2, a micro-robot recovery device 3, a micro-robot 4, an operation pipeline 5, a propeller 6, a driving wheel 7, a coarse supporting connecting rod 8, a fine supporting connecting rod 9, a sleeve 10, an extension spring 11, a base 12, a reel 13, a cable 14, a recovery cabin 15, a motor 16, a driving motor 17, a detection device 18 and a micro detection device 19.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example 1:
the underwater operation robot capable of being overhauled for the special-shaped space comprises an underwater robot main body 1, wherein a micro-robot recovery device 3 is arranged at the end part of the underwater robot main body 1, a micro-robot 4 is arranged in the micro-robot recovery device 3, and a detection device 18 is arranged at the end part of the underwater robot main body 1, which is positioned above the micro-robot recovery device 3;
the micro robot recycling device 3 comprises a reel 13, a mooring rope 14, a recycling cabin body 15 and a motor 16, the end of the underwater robot main body 1 is connected with the recycling cabin body 15, one end of the recycling cabin body 12 is provided with the reel 13, one end of the reel 13 is connected with the output end of the motor 16, the mooring rope 14 is arranged on the reel 13, one end of the mooring rope 14 is connected with the micro robot 4, and the end of the micro robot 4 is provided with a micro detection device 19.
Micro-robot 4 includes drive wheel 7, thick supporting link 8, thin supporting link 9, sleeve 10, extension spring 11, base 12 and driving motor 17, hawser 14's one end connection base 12, the articulated thick supporting link 8 of base 12 circumference, thick supporting link 8 is kept away from base 12 one end and is passed through the articulated thin supporting link 9 of round pin axle, thin supporting link 9 is kept away from the articulated sleeve 10 of base 12 one end, sleeve 10 and base 12 clearance fit, sleeve 10 and the inside extension spring 11 that sets up of base 12, 11 one end connecting sleeve 10 of extension spring, 11 other end connection base 12 of extension spring, thick supporting link 8 is kept away from base 12 one end and is set up drive wheel 7, thick supporting link 8 is kept away from the inside driving motor 17 that sets up for drive wheel 7 provides power of base 12 one end.
The output end of the driving motor 17 is provided with a bevel gear, one side of the driving wheel 7 is provided with the bevel gear, and the bevel gear arranged at the output end of the driving motor 17 is meshed with the bevel gear arranged at one side of the driving wheel 7.
The underwater robot main body 1 is provided with a six-degree-of-freedom mechanical arm 2 for assisting the micro robot 4 to recover in place, the six-degree-of-freedom mechanical arm 2 is mainly provided with seven motors for driving joints to move, when the detection process meets the detection working condition of underwater damaged pipelines, the underwater robot main body 1 releases the front end special-shaped space detection micro-robot 4 through the mechanical arm 2 carried by the underwater robot main body, in the process of recovering the micro-robot 4, if severe working conditions such as foreign matter tripping or cable 14 fracture are met, the micro-robot 4 is not recovered in place, the underwater robot main body 1 also adopts a mode of assisting the mechanical arm 2 to grab and recover the micro-robot 4 to the underwater robot main body 1, the phenomenon that detection tasks fail due to the loss of the micro-robot 4 in a complex operation process in a narrow space is avoided, 8 propellers 6 are arranged at the end part of the underwater robot main body 1, the underwater robot main body 1 firstly carries out large-range detection on the periphery of the underwater structure of the drilling platform.
The working process of the invention is as follows: the underwater operation robot capable of being overhauled in the special-shaped space releases the device to an operation water area through an onshore auxiliary ship in the process of detecting the underwater structure of a dam and a drilling platform, the underwater robot body 1 realizes underwater six-degree-of-freedom motion through each thruster 6 of each carried horizontal thruster 4 and each carried vertical thruster 4, sails to the vicinity of a detection object according to a planned route set by a task, detects and maintains the structure on the surface of the dam or the drilling platform through the carrying mechanical arm 2 and the detection device 18 on the underwater robot body 1, when the detection of the special-shaped space structure such as the underwater damaged pipeline of the dam diversion tunnel or the drilling platform is met, the underwater robot body 1 releases two micro-robots 4, the micro-robots 4 are connected with the underwater robot body 1 through the conforming mooring ropes 14, and an operator can control the micro-robots 4 to enter the special-shaped space in real time, the micro detection device 19 on the micro robot 4 performs detection operation, and when the detection task is completed, the motor 16 drives the reel 13 to wind the mooring rope 14 on the reel 13 to be retracted, and drives the micro robot 4 to retract into the recovery cabin 15, so that comprehensive detection on underwater structures is realized.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the overall concept of the present invention, and these should also be considered as the protection scope of the present invention.
Claims (4)
1. An underwater operation robot capable of being overhauled in a special-shaped space comprises an underwater robot main body (1) and is characterized in that a micro robot recovery device (3) is arranged at the end part of the underwater robot main body (1), a micro robot (4) is arranged in the micro robot recovery device (3), and a detection device (18) is arranged above the micro robot recovery device (3) at the end part of the underwater robot main body (1);
micro robot recovery unit (3) are including reel (13), hawser (14), retrieve the cabin body (15) and motor (16), underwater robot main part (1) end connection retrieves the cabin body (15), retrieve cabin body (12) one end and set up reel (13), motor (16) output is connected to reel (13) one end, set up hawser (14) on reel (13), micro robot (4) are connected to the one end of hawser (14), micro robot (4) tip sets up miniature detection device (19).
2. The underwater operation robot capable of being overhauled facing to a special-shaped space is characterized in that the micro-robot (4) comprises a driving wheel (7), a thick support connecting rod (8), a thin support connecting rod (9), a sleeve (10), an extension spring (11), a base (12) and a driving motor (17), one end of a cable (14) is connected with the base (12), the thick support connecting rod (8) is hinged to the base (12) in the circumferential direction of the base (12), one end, far away from the base (12), of the thick support connecting rod (8) is hinged to the thin support connecting rod (9) through a pin shaft, one end, far away from the base (12), of the thin support connecting rod (9) is hinged to the sleeve (10), the sleeve (10) is in clearance fit with the base (12), the extension spring (11) is arranged inside the sleeve (10) and the base (12), one end of the extension spring (11) is connected with the sleeve (10), the other end of the extension spring (11) is connected with the base (12), one end of the coarse support connecting rod (8) far away from the base (12) is provided with a driving wheel (7), and one end of the coarse support connecting rod (8) far away from the base (12) is internally provided with a driving motor (17) for providing power for the driving wheel (7).
3. An underwater operation robot capable of being overhauled facing a special-shaped space, according to claim 2, characterized in that the output end of the driving motor (17) is provided with a bevel gear, the bevel gear is arranged on one side of the driving wheel (7), and the bevel gear arranged on the output end of the driving motor (17) is meshed with the bevel gear arranged on one side of the driving wheel (7).
4. The underwater operation robot capable of being overhauled for the special-shaped space is characterized in that the underwater robot body (1) is provided with a six-degree-of-freedom mechanical arm (2) for assisting the micro robot (4) to be recovered in place, and 8 propellers (6) are arranged at the end part of the underwater robot body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111159271.8A CN113843767A (en) | 2021-09-30 | 2021-09-30 | Underwater operation robot capable of overhauling special-shaped space |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111159271.8A CN113843767A (en) | 2021-09-30 | 2021-09-30 | Underwater operation robot capable of overhauling special-shaped space |
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| CN113843767A true CN113843767A (en) | 2021-12-28 |
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| CN202111159271.8A Pending CN113843767A (en) | 2021-09-30 | 2021-09-30 | Underwater operation robot capable of overhauling special-shaped space |
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Citations (9)
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| CN101314404A (en) * | 2007-05-31 | 2008-12-03 | 中国科学院自动化研究所 | Parent-subsidiary bionic machinery fish system |
| CN105864569A (en) * | 2016-06-06 | 2016-08-17 | 于锡汉 | Underwater culvert, tunnel and pipeline detection robot |
| KR20190083716A (en) * | 2018-01-05 | 2019-07-15 | 한국해양대학교 산학협력단 | Robot for inspection and various operation on the wall-side ocean structure |
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| CN110316337A (en) * | 2019-03-25 | 2019-10-11 | 西安水泽动力科技有限公司 | A kind of multifunction changable pitch master and slave type underwater robot |
| CN110576953A (en) * | 2019-09-23 | 2019-12-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Primary-secondary type large-diameter long diversion tunnel underwater detection robot system |
| CN209814239U (en) * | 2019-03-28 | 2019-12-20 | 中国人民解放军海军工程大学 | Multifunctional underwater vehicle |
| CN111745665A (en) * | 2020-07-06 | 2020-10-09 | 芜湖旭能自动化设备设计有限公司 | Underwater primary and secondary robot for river hidden pipe water quality sampling detection |
| CN113021357A (en) * | 2021-04-16 | 2021-06-25 | 深圳斑斓海洋科技有限公司 | Master-slave underwater double-arm robot convenient to move |
-
2021
- 2021-09-30 CN CN202111159271.8A patent/CN113843767A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101314404A (en) * | 2007-05-31 | 2008-12-03 | 中国科学院自动化研究所 | Parent-subsidiary bionic machinery fish system |
| CN105864569A (en) * | 2016-06-06 | 2016-08-17 | 于锡汉 | Underwater culvert, tunnel and pipeline detection robot |
| KR20190083716A (en) * | 2018-01-05 | 2019-07-15 | 한국해양대학교 산학협력단 | Robot for inspection and various operation on the wall-side ocean structure |
| CN110316337A (en) * | 2019-03-25 | 2019-10-11 | 西安水泽动力科技有限公司 | A kind of multifunction changable pitch master and slave type underwater robot |
| CN209814239U (en) * | 2019-03-28 | 2019-12-20 | 中国人民解放军海军工程大学 | Multifunctional underwater vehicle |
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| CN110576953A (en) * | 2019-09-23 | 2019-12-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Primary-secondary type large-diameter long diversion tunnel underwater detection robot system |
| CN111745665A (en) * | 2020-07-06 | 2020-10-09 | 芜湖旭能自动化设备设计有限公司 | Underwater primary and secondary robot for river hidden pipe water quality sampling detection |
| CN113021357A (en) * | 2021-04-16 | 2021-06-25 | 深圳斑斓海洋科技有限公司 | Master-slave underwater double-arm robot convenient to move |
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