CN115503899A - Hybrid-driven ocean platform cleaning and detecting robot and operation method thereof - Google Patents
Hybrid-driven ocean platform cleaning and detecting robot and operation method thereof Download PDFInfo
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- CN115503899A CN115503899A CN202211308854.7A CN202211308854A CN115503899A CN 115503899 A CN115503899 A CN 115503899A CN 202211308854 A CN202211308854 A CN 202211308854A CN 115503899 A CN115503899 A CN 115503899A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims description 9
- 238000001179 sorption measurement Methods 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 22
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- 230000005484 gravity Effects 0.000 claims abstract description 15
- 238000009826 distribution Methods 0.000 claims abstract description 12
- 230000009193 crawling Effects 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 4
- 239000000696 magnetic material Substances 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 8
- 238000005507 spraying Methods 0.000 claims description 7
- 230000009184 walking Effects 0.000 claims description 5
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- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
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- 230000009194 climbing Effects 0.000 description 3
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- 238000005260 corrosion Methods 0.000 description 3
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a hybrid-driven ocean platform cleaning and detecting robot, which comprises a water surface device and an underwater device, wherein the underwater device comprises a structure, a buoyancy force, a driving system, a communication system, an operation system, a power distribution system and a control system; the structure system is provided with a frame structure, the buoyancy system comprises three units of main buoyancy, manipulator buoyancy and magnetic adsorption crawling buoyancy, and the main buoyancy unit balances the self weight of the robot and ensures that the buoyancy center is higher than the gravity center; the driving system comprises a propeller and a magnetic wheel drive, the propeller consists of a group of propellers which are arranged in a vector manner in the vertical direction and the horizontal direction, the propeller comprises a left main propeller, a right main propeller, a front main propeller, a rear main propeller, a vertical main propeller and a magnetic wheel drive, and the vertical main propeller is arranged on the upper side of the frame and used for providing power for the robot to move underwater; the magnetic wheels and the chassis are composed of driving wheels, follow-up wheels, driving motors and the like which are made of magnetic materials, and the magnetic wheels and the chassis are used for enabling the robot to be attracted to the surface of the steel structure of the ocean platform to work; the observation system consists of a fore-and-aft camera, a tripod head, a cloud table lamp, an underwater lamp, a camera and a forward-looking sonar, and the operation system comprises a fore-operating manipulator and can perform detection and cleaning.
Description
Technical Field
The invention relates to an ocean platform cleaning and detecting robot and an operation method thereof, in particular to an underwater robot which is suitable for cleaning and structure detecting of steel structure marine organisms of various ocean platform structure types and an offshore operation method thereof.
Background
The underwater structure of the ocean platform is the basis for the operation and maintenance safety of the maritime work equipment. Since the offshore platform is immersed in seawater for a long time, the offshore platform is subjected to tests of various severe environmental conditions and is influenced by various factors such as seawater corrosion, structural impact, mechanical damage and the like, and hidden dangers are brought to the safety production of the platform, the detection of an underwater structure needs to be carried out regularly to ensure the structural safety and the marine environmental safety of offshore facilities. In addition, the platform to be retired is also subjected to structure detection before being abandoned, so that the operation safety during dismantling is ensured.
The structural detection of various ocean platforms, no matter wind power platforms or oil gas platforms, mainly comprises appearance inspection, structural thickness measurement, marine organism height measurement, potential detection, nondestructive inspection and the like. According to the offshore operation convention, the overall structure detection is carried out on each platform every period, which is an important work in the operation and maintenance of marine engineering equipment.
The prior art ocean platform underwater structure cleaning and detecting operation mainly has three modes, namely diver operation, operation remote control underwater Robot (ROV) operation and wall climbing robot. The three technical means have respective characteristics, but have respective problems which are as follows:
the operation of the diving operation personnel is higher than the flexibility of the robot, the detection operation of complex nodes is easier, but the diving operation has larger hidden troubles due to the characteristics of poor ocean current, vortex and underwater visibility in the marine platform and the like. And the environmental window of the diving operation is limited, the construction period is long, the weight of the carried equipment is limited, and the operation efficiency is low.
The operation of the operation-level remote control underwater Robot (ROV) has very high equipment cost and operation cost. The ROV operation generally needs to use a large engineering ship with dynamic positioning capability, and the daily cost is very high; if the offshore wind power platform is subjected to structure detection of a plurality of platforms in the whole wind power plant, the operation cost of the ROV is huge; secondly, the operation-level remotely-controlled submersible is in a suspended state during operation, the operation difficulty is high in a scene with high detection precision requirement, the detection requirement is difficult to realize, and in addition, the risks of umbilical cable winding and equipment collision exist, so that the operation difficulty is high; furthermore, because the overall volume of the ROV is large, the interior area of the ROV is difficult to reach and the reachable area is limited for the operation of complex ocean platforms such as a jacket platform and a self-elevating platform.
The wall climbing robot is used for fixing equipment and an operation surface together in a rigid or flexible way in a negative pressure type, thrust type or magnetic type mode, and the robot moves along the wall surface of a leg column during operation. The most important advantage of this method is that it has stable supporting surface, and its movement is relatively stable, and it is easy to operate. In addition, the whole weight is small, large-scale operation ships do not need to be used, and the operation cost is greatly reduced. Wall climbing robots have developed over the last two decades and are mainly used for periodically repeated inspection tasks, such as marine organism cleaning, material thickness inspection, crack inspection, corrosion detection, etc. At present, most of the wall-climbing robots for underwater cleaning and detection researched at home and abroad are shallow water operation robots within 5 meters, such as ship shells, ocean platforms, reservoir dams, swimming pools and the like. In comparison, the large-scale wall surface cleaning and detecting robot for ships and ocean platforms in China is still in the starting stage, and has many defects. For example, the main problems of the wall-climbing robot in the jacket platform application can be summarized as follows: (1) the permanent magnet lacks the active control capability, and can not recover automatically once falling off in operation; (2) the capability of crossing obstacles such as K-type nodes, horizontal layers, anode blocks and the like is weak, and the divers are required to assist in displacement and adsorption; (3) k-type nodes and other special positions and complex operation capacity are weak.
Disclosure of Invention
The invention aims to provide an ocean platform cleaning and detecting robot which can overcome the defects of an ocean platform cleaning and detecting robot in the prior art, has a hybrid driving function, can be independent of large-scale operation ships, has good maneuvering flexibility, can be suitable for cleaning and detecting marine organisms in various ocean platform structural forms, has stronger operation capability under complex conditions, has high safety, and can greatly reduce the manufacturing cost and the use cost.
The purpose of the invention is realized by the following technical scheme.
A hybrid-driven robot for cleaning and detecting an ocean platform comprises a water surface control device and an underwater implementing device which are connected by a communication cable and a steel cable, and is characterized in that the underwater implementing device comprises a structural system, a buoyancy system, a driving system, an observing and communicating system, an operating system, a power distribution system and an underwater control system;
the underwater implementation device is a robot body, wherein a structural system is provided with a frame structure, a pressure-resistant tank body and an electrical junction box, and the frame is a main body structure for carrying various systems; the buoyancy system comprises a main buoyancy unit, a manipulator buoyancy unit and a magnetic adsorption crawling buoyancy unit, the main buoyancy unit is fixedly arranged above the framework, the manipulator buoyancy unit is fixedly arranged at the front end below the framework, the magnetic adsorption crawling buoyancy unit is fixedly arranged at the rear end below the framework, the main buoyancy unit is used for balancing the self weight of the robot, and meanwhile, the floating center of the robot is higher than the integral gravity center, so that the robot has unconditional stability; the driving system comprises a propeller system, a magnetic wheel driving system and a chassis system, the propeller system consists of a group of propellers, the propellers are arranged in a vector mode in the vertical direction and the horizontal direction and comprise a left front main propeller, a right front main propeller, a left rear main propeller and a right rear main propeller which are symmetrically arranged on the left side and the right side of the frame respectively, and vertical main propellers symmetrically arranged on the upper side surface of the frame along a connecting line of a floating center and a gravity center, wherein the propeller system is used for providing power for the robot to move underwater; the magnetic wheel driving system and the chassis system are formed by assembling a driving wheel and a follow-up wheel which are made of magnetic materials, a driving motor and a protective rubber sleeve, wherein the driving motor drives the driving wheel through a speed reducer and has the function of providing that the robot can be adsorbed on the surface of a steel structure of an ocean platform to carry out cleaning and detection operations; the observing and communicating system consists of a bow cloud platform camera, a stern camera, a bow cloud platform, a stern cloud platform, a bow cloud desk lamp, a stern cloud desk lamp, an underwater lamp, a camera and a forward-looking sonar, is arranged at the bow part and the stern part according to configuration and operation requirements and is used for underwater observation; the operating system comprises a bow operating mechanical arm which can execute the requirements of structure detection and marine organism cleaning operation; the power distribution system provides power and power distribution for the robot system, and the underwater control system is an underwater control system of the robot.
Preferably, main buoyancy unit is equipped with focus adjusting device, and focus adjusting device comprises the group of balancing weight that connects and can follow cross track adjusting position in main buoyancy unit below to adjust the robot body from the horizontality into with the parallel state of structure thing.
According to the preferred scheme, the manipulator is provided with the pressure water spraying and flushing mechanism with the adjustable direction, and the spraying and flushing mechanism is driven to operate by the manipulator.
Preferably, each propeller arranged in a vector mode can independently or in combination cooperate to enable the body to move in the up, down, left and right directions and rotate.
Preferably scheme, the steel construction of robot body magnetism wheel and operation contacts, afterwards, utilizes magnetism to adsorb the drive wheel and walks along the wall, and marine life washs or structure detection operation while walking.
The robot can adopt a ship deploying mode or a marine platform deck deploying mode, and the marine operation method for deploying the hybrid-driven marine platform cleaning and detecting robot from the ship comprises the following steps:
1) Firstly, the robot is distributed below the water surface together with the robot through a detacher by an A-shaped frame or a crane on a supporting mother ship;
2) After the cloth is laid under water for a certain distance, a command is sent to release the unhooking device, and the robot is driven to float to the position near a steel structure which is to be operated and is provided with an upright post through a propeller;
3) The propeller finely adjusts the body to be close to the upright post, and drives the spraying and punching mechanism to clean a section of marine life on the surface of the steel structure by means of the manipulator, so that enough robot attachment space is ensured;
4) The body is adjusted from a horizontal state to a parallel state with the structure through the gravity center adjusting device, and the propellers arranged in a vector manner can enable the body to do up-and-down, left-and-right and rotary motion;
5) The magnetic wheels of the robot body are in contact with the steel structure, and then the robot body walks along the wall surface by utilizing the magnetic adsorption driving wheels, and marine organism cleaning or structure detection operation is carried out while walking;
6) After all the operations are finished, utilizing the reverse thrust of the propeller to offset the adsorption force of the magnetic wheel and enable the magnetic wheel to leave the wall surface; the robot returns to the horizontal state, and the robot returns to the position close to the water surface by using a propulsion system;
7) The lifting hook is placed down through the mother ship, the robot is automatically fastened by the automatic unhooking recovery device, and the robot is lifted and recovered.
The invention has the beneficial effects that:
1. the invention adopts a driving mode of mixing propeller propulsion and magnetic adsorption driving, adopts magnetic adsorption on the wall surface of a steel structure when needing operation, and reduces the power requirement of the propeller, thereby reducing the size of the whole equipment and reducing the operation cost; compared with the pure magnetic adsorption driving in the prior art, the device has larger power, more flexible action, more accuracy and rapidness, overcomes the problems of poor maneuverability, poor obstacle crossing capability and the like of a pure magnetic adsorption mode, and overcomes the defect of weak capability of crossing obstacles such as a K node, a horizontal layer, an anode block and the like in the prior art;
2. compared with the traditional operation type remote control submersible, the robot and the offshore construction method do not need to position a ship by means of expensive power, so that the robot and the offshore construction method have great economic advantages;
3. the defects that the magnetic adsorption is difficult to recover when falling off and the maneuverability is poor in the prior art are overcome;
4. the production risk of divers is avoided, and the safety is improved;
5. the operation is easier, and the workload is reduced;
6. the manufacturing cost and the running cost are low.
Drawings
FIG. 1 is a schematic perspective view of one embodiment of the present invention;
FIG. 2 is a schematic left side view of an embodiment of the present invention;
FIG. 3 is a schematic rear view of an embodiment of the present invention.
A frame structure 1; a main buoyancy unit 2; a manipulator buoyancy unit 3; a magnetic adsorption crawling buoyancy unit 4; a left front main thruster 5; a right front main thruster 6; a rear left main propeller 7; a rear right main thruster 8; a vertical main thruster 9; a magnetic wheel drive system 10; a bow pan-tilt camera 11; a stern camera 12; a bow cloud deck 13; a stern pan/tilt 14; a bow cloud lamp 15; a stern pan-tilt lamp 16; an underwater light 17; a camera 18; a forward looking sonar 19; the working robot 20.
Detailed Description
The embodiments of the invention are described in detail below with reference to the drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
Example 1:
a hybrid-driven robot for cleaning and detecting an ocean platform comprises a water surface control device and an underwater implementation device which are connected through a communication cable and a steel cable, wherein the underwater implementation device comprises a structural system, a buoyancy system, a driving system, a viewing system, an operation system, a power distribution system and an underwater control system.
The underwater implementation device is a robot body, wherein a structural system is provided with a frame structure 1, a pressure-resistant tank body and an electrical junction box, and the frame structure 1 is a main body structure for carrying various systems; the buoyancy system comprises a main buoyancy unit 2, a manipulator buoyancy unit 3 and a magnetic adsorption crawling buoyancy unit 4, wherein the main buoyancy unit 2 is fixedly arranged above the framework, the manipulator buoyancy unit 3 is fixedly arranged at the front end below the framework, the magnetic adsorption crawling buoyancy unit 4 is fixedly arranged at the rear end below the framework, the main buoyancy unit 2 is used for balancing the dead weight of the robot, and meanwhile, the floating center of the robot is higher than the whole gravity center, so that the robot has unconditional stability; the frame structure 1, namely the rack, is made of high-quality aluminum alloy, and because the aluminum alloy has the characteristics of low density, high strength, good corrosion resistance and low processing cost, the 6061-T6 aluminum alloy is integrally formed into the frame structure through welding, bolt connection and other forms, and finally the requirements on equipment space arrangement and overall strength are met. See figures 1 and 2.
The driving system comprises a propeller system, a magnetic wheel driving system 10 and a chassis system, the propeller system consists of a group of propellers, the propellers are arranged in a vector mode in the vertical direction and the horizontal direction, the propellers comprise a left front main propeller 5, a right front main propeller 6, a left rear main propeller 7 and a right rear main propeller 8 which are symmetrically arranged on the left side and the right side of the frame respectively, vertical main propellers 9 which are symmetrically arranged on the connecting line of a floating center and the gravity center and are uniformly distributed on the upper side face of the frame, and the propeller system is used for providing power for the robot to move underwater; the magnetic wheel driving system 10 and the chassis system are assembled by a driving wheel and a following wheel made of magnetic materials, a driving motor and a protective rubber sleeve, the driving motor drives the driving wheel through a speed reducer, and the function of the driving wheel driving system is to provide that the robot can be adsorbed on the surface of a steel structure of an ocean platform to carry out cleaning and detection operation; the view system consists of a bow tripod head camera 11, a stern camera 12, a bow tripod head 13, a stern tripod head 14, a bow tripod head lamp 15, a stern tripod head lamp 16, an underwater lamp 17, a camera 18 and a forward-looking sonar 19, and is arranged at the bow part and the stern part according to configuration and operation requirements for underwater observation; the operation system comprises a bow operation mechanical arm 20 which can execute the requirements of structure detection and marine organism cleaning operation; the power distribution system provides robot system power and power distribution, and the underwater control system is an underwater control system of the robot. See figure 3.
The operating system comprises a bow operating mechanical arm which can execute the requirements of structure detection and marine organism cleaning operation; the power distribution system provides power and power distribution for the robot system, and the underwater control system is an underwater control system of the robot. The robot body magnetic wheel contacts with the steel structure of operation, afterwards, utilizes magnetism to adsorb the drive wheel and walks along the wall, walks and carries out marine organism washing or structure detection operation simultaneously.
Regarding the calculation of the floating center of the robot, the robot is completely immersed in water, but the height of the robot is not large, so that only the geometric comprehensive centroid of the robot needs to be obtained, or the whole robot is regarded as that all elements are made of homogeneous materials, then the centroid of the robot is obtained, and the sealed pressure-resistant tank body and the electric junction box are regarded as solid structures during calculation. The center of gravity of the robot can be determined by calculation or by hanging experiments.
Example 2: the main buoyancy unit is provided with a gravity center adjusting device, the gravity center adjusting device is composed of a group of balancing weights connected below the main buoyancy unit and capable of adjusting positions along the cross track, the positions of the balancing weights on the cross track can be properly adjusted on site as required, and the robot body is locked and adjusted to be parallel to the structure from a horizontal state. The rest of the structure is the same as that of example 1.
Example 3: the manipulator is provided with a pressure water spraying and flushing mechanism with adjustable direction, and the spraying and flushing mechanism is driven to operate by the manipulator. The rest of the structure is the same as that of embodiment 1 or 2.
Example 4: the propellers arranged in a vector manner can independently or cooperatively act in combination to enable the body to move in the up, down, left and right directions and rotate. The rest of the structure is the same as that of embodiment 1, 2 or 3.
Example 5: the robot can adopt a ship deploying mode or a marine platform deck deploying mode, and the marine operation method for deploying the hybrid-driven marine platform cleaning and detecting robot from the ship comprises the following steps:
1) Firstly, the robot is distributed below the water surface together with the robot through a detacher by an A-shaped frame or a crane on a support mother ship;
2) After the cloth is laid under water for a certain distance, a command is sent to release the unhooking device, and the robot is driven to float to the position near a steel structure which is to be operated and is provided with an upright post through a propeller;
3) The propeller finely adjusts the body to be close to the upright post, and drives the spraying and punching mechanism to clean a section of marine life on the surface of the steel structure by means of the manipulator, so that enough robot attachment space is ensured;
4) The body is adjusted from a horizontal state to a parallel state with the structure through the gravity center adjusting device, and the propellers arranged in a vector manner can enable the body to do up-and-down, left-and-right and rotary motion;
5) The magnetic wheels of the robot body are in contact with the steel structure, and then the magnetic adsorption driving wheels are used for walking along the wall surface, so that marine organism cleaning or structure detection operation is carried out while walking;
6) After all the operations are finished, utilizing the reverse thrust of the propeller to offset the adsorption force of the magnetic wheel and make the magnetic wheel leave the wall surface; the robot returns to the horizontal state, and the robot returns to the position close to the water surface by using a propulsion system;
7) The lifting hook is placed down through the mother ship, the robot is automatically fastened by the automatic unhooking recovery device, and the robot is lifted and recovered.
The invention adopts a driving mode of mixing propeller propulsion and magnetic adsorption driving, adopts magnetic adsorption on the wall surface of a steel structure when needing operation, and reduces the power requirement of the propeller, thereby reducing the size of the whole equipment and reducing the operation cost; compared with the pure magnetic adsorption driving in the prior art, the propeller-driven magnetic adsorption device has the advantages of larger power, more flexible, more accurate and quicker action, easier operation and workload reduction; the problems of poor maneuverability, poor obstacle crossing capability and the like of a pure magnetic adsorption mode are solved, for example, the defect of weak capability of crossing obstacles such as K-type nodes, horizontal layers, anode blocks and the like in the prior art is overcome; particularly, expensive dynamic positioning ships are not needed, so that great economic advantages are achieved; in addition, the production risk of divers is avoided by using the device, and the safety is improved.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A hybrid-driven robot for cleaning and detecting an ocean platform comprises a water surface control device and an underwater implementing device which are connected by a communication cable and a steel cable, and is characterized in that the underwater implementing device comprises a structural system, a buoyancy system, a driving system, an observing and communicating system, an operating system, a power distribution system and an underwater control system;
the underwater implementation device is a robot body, wherein a structural system is provided with a frame structure, a pressure-resistant tank body and an electrical junction box, and the frame is a main body structure for carrying various systems; the buoyancy system comprises a main buoyancy unit, a manipulator buoyancy unit and a magnetic adsorption crawling buoyancy unit, the main buoyancy unit is fixedly arranged above the framework, the manipulator buoyancy unit is fixedly arranged at the front end below the framework, the magnetic adsorption crawling buoyancy unit is fixed at the rear end below the framework, the main buoyancy unit is used for balancing the dead weight of the robot, and meanwhile, the floating center of the robot is higher than the integral gravity center, so that the robot has unconditional stability; the driving system comprises a propeller system, a magnetic wheel driving system and a chassis system, the propeller system consists of a group of propellers, the propellers are arranged in a vector mode in the vertical direction and the horizontal direction and comprise a left front main propeller, a right front main propeller, a left rear main propeller and a right rear main propeller which are symmetrically arranged on the left side and the right side of the frame respectively, and vertical main propellers symmetrically arranged on the upper side surface of the frame along a connecting line of a floating center and a gravity center, wherein the propeller system is used for providing power for the robot to move underwater; the magnetic wheel driving system and the chassis system are assembled by a driving wheel and a follow-up wheel made of magnetic materials, a driving motor and a protective rubber sleeve, the driving motor drives the driving wheel through a speed reducer, and the magnetic wheel driving system and the chassis system have the function of providing the robot which can be adsorbed on the surface of a steel structure of an ocean platform to carry out cleaning and detection operation; the observation system consists of a bow cloud platform camera, a stern camera, a bow cloud platform, a stern cloud platform, a bow cloud desk lamp, a stern cloud desk lamp, an underwater lamp, a camera and a forward-looking sonar, and is arranged at the bow part and the stern part according to configuration and operation requirements for underwater observation; the operating system comprises a bow operating mechanical arm which can execute the requirements of structure detection and marine organism cleaning operation; the power distribution system provides power and power distribution for the robot system, and the underwater control system is an underwater control system of the robot.
2. A hybrid powered robot as claimed in claim 1, wherein the main buoyancy unit is provided with a means for adjusting the center of gravity, the means for adjusting the center of gravity comprising a set of counterweights connected below the main buoyancy unit and adjustable along a cross track to adjust the robot body from a level position to a parallel position with respect to the structure.
3. A hybrid-driven robot for cleaning and inspecting ocean platforms, according to claim 1 or 2, wherein the robot arm is provided with a pressurized water jet mechanism with adjustable direction, and the jet mechanism is driven by the robot arm to operate.
4. A hybrid propulsion platform cleaning and inspection robot as claimed in claim 3 wherein the propellers are arranged in a vector configuration to move the body in up, down, left and right directions and in rotation, independently or in combination.
5. The hybrid powered robot for cleaning and inspecting marine platform as claimed in claim 4, wherein the magnetic wheels of the robot body are in contact with the steel structure for operation, and then the magnetic wheels are used to move along the wall surface for cleaning marine life or inspecting structure while moving.
6. The hybrid offshore platform cleaning and inspection robot of any one of claims 1 to 5, which can be deployed from a ship or from an offshore platform deck, the offshore operation method of the hybrid offshore platform cleaning and inspection robot deployed from a ship is as follows:
1) Firstly, the robot is distributed below the water surface together with the robot through a detacher by an A-shaped frame or a crane on a support mother ship;
2) After the cloth is laid under water for a certain distance, a command is sent to release the unhooking device, and the robot is driven to float to the position near a steel structure which is to be operated and is provided with an upright post through a propeller;
3) The propeller finely adjusts the body to be close to the upright post, and drives the spraying and punching mechanism to clean a section of marine life on the surface of the steel structure by means of the manipulator, so that enough robot attachment space is ensured;
4) The body is adjusted from a horizontal state to a parallel state with the structure through the gravity center adjusting device, and the propellers arranged in a vector manner can enable the body to do up-and-down, left-and-right and rotary motion;
5) The magnetic wheels of the robot body are in contact with the steel structure, and then the robot body walks along the wall surface by utilizing the magnetic adsorption driving wheels, and marine organism cleaning or structure detection operation is carried out while walking;
6) After all the operations are finished, utilizing the reverse thrust of the propeller to offset the adsorption force of the magnetic wheel and make the magnetic wheel leave the wall surface; the robot recovers the horizontal state, and the robot returns to the position close to the water surface by using a propulsion system;
7) The lifting hook is placed down through the mother ship, the robot is automatically fastened by the automatic unhooking recovery device, and the robot is lifted and recovered.
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| 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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