CN116812116A - Underwater structure cleaning and detecting operation robot - Google Patents
Underwater structure cleaning and detecting operation robot Download PDFInfo
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- CN116812116A CN116812116A CN202311099077.4A CN202311099077A CN116812116A CN 116812116 A CN116812116 A CN 116812116A CN 202311099077 A CN202311099077 A CN 202311099077A CN 116812116 A CN116812116 A CN 116812116A
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- cleaning
- main frame
- frame body
- robot
- propping
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- 238000004140 cleaning Methods 0.000 title claims abstract description 118
- 230000007246 mechanism Effects 0.000 claims abstract description 113
- 238000007667 floating Methods 0.000 claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 32
- 238000007689 inspection Methods 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 10
- 238000005498 polishing Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000003562 lightweight material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- 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
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to the technical field of ocean engineering equipment, and provides an underwater structure cleaning and detecting operation robot. The floating carrier comprises a floating body and a main frame body, wherein the floating body provides buoyancy for the main frame body; the propelling mechanism is arranged on the main frame body; the propping mechanism comprises a propping frame and a propping piece, the propping frame is hinged to the main frame body, the propping piece is rotationally connected to the propping frame, and the pushing mechanism can prop the propping piece against the surface of the marine structure by pushing the floating carrier under water, so that the robot can adapt to the surfaces of the marine structures with different curvatures. The cleaning device comprises a cleaning mechanism and a fixing device, the fixing device is fixed on the main frame body, and the cleaning mechanism is telescopically arranged on the fixing device to adjust the distance between the cleaning mechanism and the marine structure and the cleaning range of the marine structure, so that the cleaning efficiency and the operation capability level of the robot are improved.
Description
Technical Field
The application relates to the technical field of ocean engineering equipment, in particular to an underwater structure cleaning and detecting operation robot.
Background
Due to the influence of complex marine environments, marine structures are often attached by fouling organisms in the ocean, and in order to ensure the safety and reliability of the marine structures, the marine structures need to be cleaned and detected regularly.
Currently, the cleaning and detection of marine structures are generally carried out by manual operation within 50m, and when the water depth exceeds 50m, the cleaning and detection are generally carried out by adopting an underwater robot. When the underwater robot works underwater, the underwater robot generally crawls on the marine structure by means of a crawler belt, a magnetic adsorption mechanism, a sucker or a travelling mechanism, and in order to ensure the stability of the underwater robot during cleaning, a chassis clamping mechanism is generally used for clamping the frame of the marine structure, and then cleaning and detecting are carried out.
However, in the related cleaning technology of the underwater robot, the surface of the marine structure in different forms such as a plane, a curved surface and a cylindrical surface is difficult to adapt to during cleaning operation, so that the flexibility is poor, the moving range is small, the cleaning efficiency of the underwater robot is low, and the operation capability level is not high.
Disclosure of Invention
The application provides an underwater structure cleaning and detecting operation robot which is used for solving the problems that in the related art, the underwater robot is difficult to adapt to the surfaces of ocean structures in different forms such as planes, curved surfaces and cylindrical surfaces, so that the flexibility is poor, the moving range is small, and the cleaning efficiency and the operation capability level of the underwater robot are low.
The application provides an underwater structure cleaning and detecting operation robot, which comprises the following components:
the floating carrier comprises a floating body and a main frame body, wherein the floating body provides buoyancy for the main frame body;
the propelling mechanism is arranged on the main frame body and is suitable for propelling the main frame body to move in water;
the propping mechanism comprises a propping frame and a propping piece, the propping frame is hinged to the main frame body, the propping piece is rotatably connected to the propping frame, and the pushing mechanism enables the propping piece to prop against the marine structure by pushing the floating carrier;
the cleaning device comprises a cleaning mechanism and a fixing device, wherein the fixing device is fixed on the main frame body, and the cleaning mechanism is telescopically arranged on the fixing device.
Specifically, the underwater structure cleaning and detecting operation robot provided by the application has the advantages that the pushing mechanism and the abutting mechanism are in linkage fit, so that the abutting piece of the abutting mechanism abuts against the marine structure, the stability of the robot abutting against the marine structure is ensured, the contact area between the cleaning mechanism and the marine structure can be increased by means of the telescopic function of the cleaning device on the basis, the cleaning range of the marine structure is enlarged, and the cleaning efficiency and the operation capability level of the robot are improved.
In some embodiments, the tightening frame comprises a fixing frame and a swinging frame, the tightening member comprises a roller, the fixing frame is fixedly arranged on the main frame body, the swinging frame is hinged to the fixing frame, and the roller is rotatably connected to the swinging frame. Therefore, the abutting mechanism can adapt to the surfaces of ocean structures in different forms such as planes, curved surfaces and cylindrical surfaces, the flexibility of the robot can be improved, the moving range of the robot can be enlarged, and the abutting piece is arranged as a roller, so that the abutting operation process is stable.
In some embodiments, the swing frame includes a first swing arm and a second swing arm disposed at a fixed angle to each other, both the first swing arm and the second swing arm being hinged to the fixed frame,
the gyro wheel includes first gyro wheel and second gyro wheel, and first gyro wheel rotates to be connected in first swing arm, and the second gyro wheel rotates to be connected in the second swing arm. Therefore, the stability of the first roller and the second roller when propping against the surface of the ocean structure is further improved, and the propping mechanism is ensured to be completely propped against the surface of the ocean structure.
In some embodiments, the cleaning mechanism comprises a cleaning member, a first driving member and a telescopic member, wherein the telescopic member is in telescopic connection with the fixing device, the first driving member is arranged on the telescopic member, and the first driving member is in driving connection with the cleaning member and is suitable for driving the cleaning member to clean the marine structure. Therefore, the distance between the polishing disc and the surface of the marine structure can be adjusted, so that the cleaning range of the polishing disc and the surface of the marine structure is enlarged, and the cleaning efficiency and the operation capability level are improved.
In some embodiments, the fixing device comprises a guide bracket and a second driving piece, the guide bracket is fixed on the main frame body, the second driving piece is arranged on the guide bracket, and the second driving piece is in driving connection with the telescopic piece and is suitable for driving the telescopic piece to do telescopic motion on the guide bracket. Therefore, the structure of the cleaning device can be simplified, and the manufacturing cost can be saved.
In some embodiments, the propulsion mechanism includes a vertical propeller disposed on the main frame body adapted to propel the main frame body in a vertical direction and a horizontal propeller vector disposed on the main frame body adapted to propel the main frame body in a horizontal direction and for attitude adjustment. Therefore, the vertical propeller can provide thrust in the vertical direction for the frame, and the horizontal propeller can provide thrust in the horizontal direction for the frame, and the horizontal direction is in vector arrangement, so that the robot has six-degree-of-freedom motion capability, and the flexibility and the moving range of the robot are further improved.
In some embodiments, further comprising a detection mechanism comprising a detection tool, a robotic arm, and a storage structure;
the storage structure is fixed on the main frame body and is suitable for storing the detection tool;
the manipulator is installed in the main frame body, is suitable for clamping the detection tool to detect the marine structure. Thereby, the specific condition of the marine structure can be detected.
In some embodiments, the system further comprises a processing unit comprising a cabin, a power system, and a control system;
the cabin body is arranged on the main frame body and is provided with an empty cabin, and the power system and the control system are arranged in the empty cabin;
the power system is electrically connected with the propulsion mechanism, the cleaning device and the detection mechanism to provide power;
the control system is electrically connected with the propulsion mechanism, the cleaning device and the detection mechanism and is suitable for controlling the propulsion action of the propulsion mechanism, the cleaning action of the cleaning device and the detection action of the detection mechanism. Therefore, the robot can be more intelligent and the operation is simpler.
In some embodiments, the system further comprises an auxiliary mechanism, the auxiliary mechanism comprises a sound communication device and a camera, the sound communication device and the camera are both installed on the main frame body and are electrically connected with the processing unit, the sound communication device is suitable for positioning the position of the robot, and the camera is suitable for feeding back real-time images. Therefore, the position and the real-time picture condition of the robot during operation can be fed back in real time, the intellectualization of the robot is further improved, and the operation of the robot is simplified.
In some embodiments, the lifting mechanism further comprises a lifting ring, wherein the lifting ring is fixed on the main frame body. Therefore, the lifting of the robot during operation can be facilitated.
The underwater structure cleaning and detecting operation robot provided by the application has the beneficial effects that compared with the prior art: the pushing mechanism is arranged to be in linkage fit with the abutting mechanism, the main frame body is pushed by the pushing mechanism to enable the abutting piece of the abutting mechanism to abut against the marine structure, the abutting piece is abutted against the marine structure under the pushing force of the pushing mechanism, so that the stability of abutting against the marine structure is ensured; in addition, the cleaning device is further provided with a telescopic cleaning mechanism arranged on the fixing device, the distance between the cleaning mechanism and the marine structure can be adjusted, the distance between the cleaning mechanism and the marine structure is shortened through adjustment, the contact area between the cleaning mechanism and the marine structure can be increased, the cleaning range of the marine structure is enlarged, and therefore the cleaning efficiency and the operation capability level of the robot are improved.
Drawings
FIG. 1 is a schematic diagram of an overall structure of an underwater structure cleaning and detecting operation robot according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a second overall structure of an underwater structure cleaning and inspection robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an underwater structure cleaning and detecting operation robot provided by the embodiment of the application after floating carriers are removed;
fig. 4 is a schematic structural view of a tightening mechanism of an underwater structure cleaning and detecting operation robot according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a cleaning device of an underwater structure cleaning and detecting operation robot according to an embodiment of the present application;
fig. 6 is a schematic diagram of a state when an underwater structure cleaning and detecting operation robot provided by the embodiment of the application abuts against a surface with different curvatures of a marine structure.
Reference numerals
1. A first surface of the marine structure;
2. a second surface of the marine structure;
100. a buoyant carrier; 110. a floating body; 120. a main frame body;
200. a propulsion mechanism; 210. a vertical propeller; 220. a horizontal propeller;
300. a tightening mechanism; 310. a tightening frame; 311. a fixing frame; 312. a swing frame; 3121. a first swing arm; 3122. a second swing arm; 320. a tightening member; 321. a roller; 3211. a first roller; 3212. a second roller;
400. a cleaning device; 410. a cleaning mechanism; 411. cleaning a piece; 412. a first driving member; 413. a telescoping member; 414. a limiting frame; 4141. a limit part; 420. a fixing device; 421. a guide bracket; 4211. a guide hole; 422. a second driving member;
500. a detection mechanism; 510. a detection tool; 520. a manipulator; 530. a storage structure;
600. a processing unit; 610. a cabin body;
700. an auxiliary mechanism; 710. an acoustic communication device; 720. a camera;
800. a lifting mechanism; 810. and lifting the lifting ring.
Detailed Description
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present application. It should be understood that the terms first, second, third, etc. may also be used herein to describe various information, but such information should not be limited to these terms, which are merely used to distinguish one type of information from another. For example, a first message (first roller) may also be referred to as a second message (second roller), and similarly, a second message (second roller) may also be referred to as a first message (first roller) without departing from the scope herein. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The application is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 to 5, an embodiment of the present application provides a robot for cleaning and detecting underwater structures, which includes a floating carrier 100, a propulsion mechanism 200, a tightening mechanism 300 and a cleaning device 400.
The floating carrier 100 includes a floating body 110 and a main frame 120, wherein the floating body 110 provides buoyancy for the main frame 120.
The pushing mechanism 200 is disposed on the main frame 120, and is adapted to push the main frame 120 to move in water.
The propping mechanism 300 comprises a propping frame 310 and a propping piece 320, wherein the propping frame 310 is hinged to the main frame body 120, the propping piece 320 is rotatably connected to the propping frame 310, and the pushing mechanism 200 enables the propping piece 320 to prop against the marine structure by pushing the floating carrier 100.
The cleaning device 400 includes a cleaning mechanism 410 and a fixing device 420, the fixing device 420 is fixed on the main frame 120, the cleaning mechanism 410 is telescopically arranged on the fixing device 420, and is suitable for adjusting the distance between the cleaning mechanism 410 and the marine structure so as to adjust the cleaning range of the marine structure.
Specifically, in some embodiments of the present application, both the floating body 110 and the main frame body 120 may be made of lightweight materials, the main frame body 120 may be made of a frame having a cuboid shape, the floating body 110 may be made of a buoyancy material having a cuboid-shaped buoyancy block, and the buoyancy block is embedded in the frame, so that the buoyancy block can bear the gravity of the entire floating carrier 100 under the action of the buoyancy force.
It can be appreciated that, in the underwater structure cleaning and detecting operation robot provided by the embodiment of the application, by arranging the propulsion mechanism 200 and the propping mechanism 300 to be in linkage fit, the propulsion mechanism 200 can push the floating carrier 100 to enable the propping piece 320 of the propping mechanism 300 to prop against the marine structure, so that the propping piece 320 is tightly clung to the marine structure under the thrust of the propulsion mechanism 200 to ensure the stability of propping against the marine structure, and as the propulsion mechanism 200 can push the propping mechanism 300 to freely move in water, the flexibility of the propping mechanism 300 is strong, the moving range is large, and when the robot is to be fixed at a place where the marine structure needs cleaning, the propulsion force direction of the propulsion mechanism 200 is only required to be adjusted to enable the propping mechanism 300 to prop against the surface of the marine structure.
Meanwhile, since the abutting frame 310 is hinged to the main frame 120, the abutting piece 320 is rotatably connected to the abutting frame 310, when the abutting piece 320 abuts against surfaces with different curvatures, the abutting frame 310 is rotated at the hinge to adjust the opening angle, so that the abutting piece 320 can be more stably abutted against the surfaces with different curvatures, and the robot can be more easily adapted to the surfaces of marine structures with different forms such as planes, curved surfaces and cylindrical surfaces, and the flexibility of the robot can be improved and the moving range of the robot can be enlarged.
In addition, the cleaning device 400 is further provided with a cleaning mechanism 410 which is telescopically arranged on the fixing device 420, the distance between the cleaning mechanism 410 and the marine structure can be adjusted, and the contact area between the cleaning mechanism 410 and the marine structure can be increased by adjusting and shortening the distance between the cleaning mechanism 410 and the marine structure, so that the cleaning range of the marine structure is enlarged, and the cleaning efficiency and the operation capability level of the robot are improved.
Referring to fig. 1 and 4, in some embodiments of the present application, the tightening frame 310 includes a fixing frame 311 and a swing frame 312, the tightening member 320 includes a roller 321, the fixing frame 311 is fixedly disposed on the main frame 120, the swing frame 312 is hinged to the fixing frame 311, and the roller 321 is rotatably connected to the swing frame 312.
Specifically, in some embodiments, the number of the abutting frames 310 may be four, and when the main frame 120 is a rectangular frame, the abutting frames 310 are uniformly distributed at four corners of the rectangular frame, and the number of the abutting pieces 320 is matched with the number of the abutting frames 310. When the pushing mechanism 200 pushes the propping mechanism 300 to prop against the ocean structure, the roller 321 and the surface of the ocean structure prop against, the swinging frame 312 swings around the hinging point, the roller 321 rolls on the surface of the ocean structure to adapt to the surface curvature of the ocean structure, after the roller 321 is completely stuck against the surface of the ocean structure, the swinging frame 312 stops swinging, so that the propping mechanism 300 can adapt to the ocean structure surfaces in different forms such as planes, curved surfaces and cylindrical surfaces, the flexibility of the robot can be improved, the moving range of the robot can be enlarged, and the propping piece 320 is provided with the roller 321 to enable the propping operation process to be more stable.
Referring to fig. 1 and 4, in some embodiments of the present application, the swing frame 312 includes a first swing arm 3121 and a second swing arm 3122, the first swing arm 3121 and the second swing arm 3122 are disposed at a fixed angle to each other, and the first swing arm 3121 and the second swing arm 3122 are both hinged to the fixed frame 311.
The roller 321 includes a first roller 3211 and a second roller 3212, the first roller 3211 is rotatably connected to the first swing arm 3121, and the second roller 3212 is rotatably connected to the second swing arm 3122. The swinging frame 312 is arranged to form a fixed included angle, a first swinging arm 3121 and a second swinging arm 3122 are arranged, and a first roller 3211 and a second roller 3212 are respectively arranged on the first swinging arm 3121 and the second swinging arm 3122, so that the first roller 3211, the second roller 3212 and the hinge position form a triangle shape, the stability when the first roller 3211 and the second roller 3212 are abutted against the surface of the marine structure is further improved, and the abutting mechanism 300 is ensured to be completely abutted against the surface of the marine structure.
Referring to fig. 2 and 5, in some embodiments of the present application, the cleaning mechanism 410 includes a cleaning member 411, a first driving member 412 and a telescopic member 413, the telescopic member 413 is telescopically connected with the fixing device 420, the first driving member 412 is disposed on the telescopic member 413, and the first driving member 412 is in driving connection with the cleaning member 411, so as to be suitable for driving the cleaning member 411 to clean the marine structure.
Specifically, in some embodiments, the cleaning member 411 may be a polishing disc, the first driving member 412 may be a rotating motor, the telescopic member 413 may be a rack, the polishing disc is fixed on a rotating shaft of the rotating motor, the rotating motor is fixed on the rack through the limiting frame 414, the fixing device 420 is fixed on a frame of the main frame 120, the fixing device 420 is provided with a gear matched with the rack, and when the gear rotates, the rack can slide relative to the fixing device 420, so that the polishing disc can perform telescopic movement, and the distance between the polishing disc and the surface of the marine structure can be adjusted, thereby expanding the cleaning range of the polishing disc and the surface of the marine structure, and further improving the cleaning efficiency and the working capacity level.
Further, in some embodiments of the present application, the fixing device 420 includes a guide bracket 421 and a second driving member 422, the guide bracket 421 is fixed to the main frame body 120, the second driving member 422 is disposed on the guide bracket 421, and the second driving member 422 is in driving connection with the telescopic member 413, and is adapted to drive the telescopic member 413 to perform telescopic motion on the guide bracket 421.
Specifically, the guide bracket 421 may be made into a U-shaped bracket, the U-shaped bracket is fixed on the main frame 120, two ends of the U-shaped bracket are provided with guide holes 4211, the rack may pass through the guide holes 4211, the second driving member 422 may be a driving motor, the driving motor is provided with a driving gear, the driving gear is in driving connection with the rack, the driving rack reciprocates along the guide holes 4211, a part of the limiting frame 414 may also pass through the guide holes 4211, and the limiting portion 4141 of the limiting frame 414 may abut against the guide holes 4211 to realize the stroke limitation of the telescopic motion of the polishing disc. The rack can be made to do telescopic motion by arranging the driving motor with the driving gear and the U-shaped bracket, so that the telescopic motion operation of the polishing disc is realized, the structure of the cleaning device 400 can be simplified, and the manufacturing cost is saved.
Of course, in some embodiments, the fixing device 420 may also be a telescopic cylinder (not shown in the drawings), where the telescopic cylinder is fixed on the frame of the main frame 120, and at this time, the telescopic member 413 may be a rod, where the rod is connected to a telescopic shaft of the telescopic cylinder, and only the telescopic shaft of the telescopic cylinder needs to be controlled to move to implement the telescopic movement of the rod, that is, implement the telescopic movement operation of the polishing disc, so that the structure of the cleaning device 400 is simpler.
Referring to fig. 1 to 3, in some embodiments of the present application, the propulsion mechanism 200 includes a vertical propeller 210 and a horizontal propeller 220, the vertical propeller 210 is disposed on the main frame 120 and adapted to push the main frame 120 to move in a vertical direction, and the horizontal propeller 220 is disposed on the main frame 120 and adapted to push the main frame 120 to move in a horizontal direction and adjust a posture.
Specifically, when the main frame 120 is a rectangular frame, the number of vertical thrusters 210 and horizontal thrusters 220 is four, and the vertical thrusters 210 and the horizontal thrusters 220 are uniformly distributed and fixed at four corners of the frame, and each corner includes one vertical thruster 210 and one horizontal thruster 220, where the vertical thrusters 210 can provide thrust in a vertical direction for the frame, the horizontal thrusters 220 can provide thrust in a horizontal direction for the frame, and the horizontal thrusters 220 are arranged in a vector, so that the robot has six-degree-of-freedom motion capability, so as to further improve flexibility and a range of motion of the robot.
Referring to fig. 1 to 3, in some embodiments of the present application, an underwater structure cleaning and inspection robot further includes an inspection mechanism 500, where the inspection mechanism 500 includes an inspection tool 510, a manipulator 520, and a storage structure 530.
The storage structure 530 is fixed to the main frame 120, and is adapted to store the detection tool 510.
The robot 520 is mounted to the main frame 120 and adapted to grip the inspection tool 510 for inspecting marine structures.
Specifically, in some embodiments, when the main frame 120 is a rectangular frame, the storage structure 530 may be a storage basket, where the storage basket is fixed on one side of the frame, and the robot 520 is also disposed on the same side of the frame, and the detection tool 510 may be a detector, for example: thickness gauge, potentiometer, etc. to detect the specifics of the marine structure.
Referring to fig. 1 to 3, in some embodiments of the present application, an underwater structure cleaning and inspection robot further includes a processing unit 600, where the processing unit 600 includes a cabin 610, a power system (not shown in the drawings), and a control system (not shown in the drawings).
The cabin 610 is provided to the main frame 120 and is provided with an empty cabin (not shown in the drawings) in which both the power system and the control system are provided.
The power system is electrically connected to propulsion mechanism 200, cleaning device 400, and detection mechanism 500 to provide power. For example, a power system is connected to propulsion mechanism 200, cleaning device 400, and detection mechanism 500 using cables.
The control system is electrically connected to the propulsion mechanism 200, the cleaning device 400 and the detection mechanism 500, and is adapted to control the propulsion action of the propulsion mechanism 200, to control the cleaning action of the cleaning device 400 and to control the detection action of the detection mechanism 500. The power system and the control system are arranged to control the motion of each mechanism, so that the robot is more intelligent and the operation is simpler. For example, a cable connection control system is used to electrically connect propulsion mechanism 200, cleaning device 400, and detection mechanism 500.
Specifically, the cabin 610 may be a cylindrical pressure-resistant structure, and the power system may power the vertical propeller 210 and the horizontal propeller 220 to rotate the vertical propeller 210 and the horizontal propeller 220. The power system may power the rotation motor and the driving motor of the cleaning apparatus 400 to rotate. The power system may power the robot 520 and the inspection tool 510 of the inspection mechanism 500 to complete the inspection operation.
The control system may control the rotation of the vertical thrusters 210 and the horizontal thrusters 220 to create a vector thrust to free the robot. The control system may control the rotation motor of the washing apparatus 400 and the rotation of the driving motor to implement the telescopic movement of the washing member 411. The control system can control the action of the manipulator 520 of the detection mechanism 500 to complete the detection operation, and the data detected by the detection tool 510 is fed back to the control system for processing.
Referring to fig. 1 to 3, in some embodiments of the present application, an underwater structure cleaning and detecting robot further includes an auxiliary mechanism 700, where the auxiliary mechanism 700 includes a sound communication device 710 and a camera 720, and the sound communication device 710 and the camera 720 are both mounted on the main frame 120 and electrically connected to the processing unit 600, for example, the processing unit 600 may be connected to the sound communication device 710 and the camera 720 by using cables. The acoustic communication device 710 is adapted to locate the position of the robot and the camera 720 is adapted to feed back real-time images. The sound communication device 710 may be a sonar device, and the camera 720 may be a high-definition camera, which are electrically connected to the power system and the control system, for example, a cable may be used to connect the control system to the power system, the sonar device, and the high-definition camera. The position and the real-time picture condition of the robot during operation are fed back to a water surface system (the water surface system controls the action of the robot by an operator), so that the intellectualization of the robot is further improved, and the operation of the robot is simplified.
Referring to fig. 1 to 3, in some embodiments of the present application, an underwater structure cleaning and detecting robot further includes a lifting mechanism 800, where the lifting mechanism 800 includes a lifting ring 810, and the lifting ring 810 is fixed to the main frame 120. When the main frame body 120 is a rectangular parallelepiped frame, the lifting ring 810 may be fixed to the top of the frame and pass through the buoyant body 110. The lifting rings 810 are arranged, so that the robot can be conveniently lifted during operation, for example, the robot can be lifted to drain through the lifting rings 810 before the operation starts, and the robot can be lifted from the water after the operation ends.
Referring to fig. 1 to 5, in some embodiments of the present application, the underwater structure cleaning and detecting robot can perform floating motion in water under the action of the common vector thrust of the vertical propeller 210 and the horizontal propeller 220, and when the robot is positioned at the monitoring point of the marine structure, the robot adjusts its posture, and the abutting piece 320 (i.e. the first roller 3211 and the second roller 3212) of the abutting mechanism 300 is abutted against the surface of the marine structure by the thrust.
As shown in fig. 6, when the curvature of the first surface 1 of the ocean structure is greater than the curvature of the second surface 2 of the ocean structure, and the robot moves from abutting against the first surface 1 of the ocean structure to abutting against the second surface 2 of the ocean structure, the adjacent swinging frames 312 are rotated (as indicated by the direction of the rotating arrow shown in fig. 6) at respective hinges, so that the adjacent swinging frames 312 are close to each other, and the included angle between the adjacent swinging frames 312 is adjusted, so that the first roller 3211 and the second roller 3212 abut against the second surface 2 of the ocean structure, and the robot can adapt to the ocean structure surfaces in different forms such as planes, curved surfaces, cylindrical surfaces and the like, thereby improving the flexibility of the robot and expanding the moving range thereof.
When the robot abuts against the surface of the marine structure, the camera 720 transmits a real-time image to the water surface system, an operator controls the cleaning device 400 to start, the second driving member 422 (i.e., the driving motor) drives the telescopic member 413 (i.e., the rack) to extend, at this time, the cleaning member 411 (i.e., the polishing disc) also extends and contacts with the surface of the marine structure, and the first driving member 412 (i.e., the rotating motor drives the cleaning member 411 (i.e., the polishing disc) to rotate so as to clean the surface of the marine structure.
After the surface of the marine structure is cleaned, the manipulator 520 of the detection mechanism 500 grips the relevant detection tool 510 to perform relevant detection on the marine structure.
After the cleaning and inspection operations are completed, the robot pushes the buoyant carrier 100 away from the marine structure by the vertical propeller 210 and the horizontal propeller 220 together, and floats under water to the next inspection point.
What has been described above is merely some embodiments of the present application. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the application.
Claims (10)
1. An underwater structure cleaning and detecting operation robot, comprising:
the floating carrier comprises a floating body and a main frame body, wherein the floating body provides buoyancy for the main frame body;
the propelling mechanism is arranged on the main frame body and is suitable for pushing the floating carrier to move in water;
the propping mechanism comprises a propping frame and a propping piece, the propping frame is hinged to the main frame body, the propping piece is rotatably connected to the propping frame, and the pushing mechanism enables the propping piece to prop against the marine structure by pushing the floating carrier;
the cleaning device comprises a cleaning mechanism and a fixing device, wherein the fixing device is fixed on the main frame body, and the cleaning mechanism is telescopically arranged on the fixing device.
2. The underwater structure cleaning and inspection operation robot of claim 1 wherein the tightening frame comprises a fixing frame and a swinging frame, the tightening member comprises rollers, the fixing frame is fixedly arranged on the main frame body, the swinging frame is hinged to the fixing frame, and the rollers are rotatably connected to the swinging frame.
3. The underwater structure cleaning and inspection operation robot of claim 2, wherein the swing frame comprises a first swing arm and a second swing arm which are arranged at a fixed angle with each other, the first swing arm and the second swing arm are both hinged to the fixed frame,
the roller comprises a first roller and a second roller, the first roller is rotationally connected with the first swing arm, and the second roller is rotationally connected with the second swing arm.
4. The underwater structure cleaning and inspection operation robot of claim 1 wherein the cleaning mechanism comprises a cleaning member, a first driving member and a telescopic member, wherein the telescopic member is in telescopic connection with the fixing device, the first driving member is arranged on the telescopic member, and the first driving member is in driving connection with the cleaning member and is suitable for driving the cleaning member to clean the marine structure.
5. The robot of claim 4, wherein the fixing device comprises a guide bracket and a second driving member, the guide bracket is fixed on the main frame body, the second driving member is arranged on the guide bracket, and the second driving member is in driving connection with the telescopic member and is suitable for driving the telescopic member to perform telescopic motion on the guide bracket.
6. The underwater structure cleaning and inspection work robot of claim 1, wherein the propulsion mechanism comprises a vertical propeller and a horizontal propeller, the vertical propeller is provided to the main frame body and adapted to push the main frame body to move in a vertical direction, and the horizontal propeller vector is provided to the main frame body and adapted to push the main frame body to move in a horizontal direction and adjust a posture.
7. The underwater structure cleaning and inspection work robot of any of claims 1-6, further comprising an inspection mechanism comprising an inspection tool, a manipulator, and a storage structure;
the storage structure is fixed on the main frame body and is suitable for storing the detection tool;
the manipulator is installed in the main frame body and is suitable for clamping the detection tool so as to detect the marine structure.
8. The underwater structure cleaning and inspection work robot of claim 7, further comprising a processing unit comprising a cabin, a power system, and a control system;
the cabin body is arranged on the main frame body and is provided with an empty cabin, and the power system and the control system are both arranged in the empty cabin;
the power system is electrically connected with the propulsion mechanism, the cleaning device and the detection mechanism to provide power;
the control system is electrically connected with the propulsion mechanism, the cleaning device and the detection mechanism and is suitable for controlling the propulsion action of the propulsion mechanism, the cleaning action of the cleaning device and the detection action of the detection mechanism.
9. The underwater structure cleaning and inspection work robot of claim 8, further comprising an auxiliary mechanism comprising a sound communication device and a camera, both mounted to the main frame body and electrically connected to the processing unit, the sound communication device adapted to position the robot, the camera adapted to feed back real-time images.
10. The underwater structure cleaning and inspection work robot of claim 9, further comprising a lifting mechanism comprising a lifting ring secured to the main frame body.
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| CN202311099077.4A CN116812116A (en) | 2023-08-30 | 2023-08-30 | Underwater structure cleaning and detecting operation robot |
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| CN202311099077.4A CN116812116A (en) | 2023-08-30 | 2023-08-30 | Underwater structure cleaning and detecting operation robot |
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