CN108791771A - A kind of underwater climbing robot of suction type cascade - Google Patents
A kind of underwater climbing robot of suction type cascade Download PDFInfo
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- CN108791771A CN108791771A CN201810668534.XA CN201810668534A CN108791771A CN 108791771 A CN108791771 A CN 108791771A CN 201810668534 A CN201810668534 A CN 201810668534A CN 108791771 A CN108791771 A CN 108791771A
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- 230000009194 climbing Effects 0.000 title claims abstract description 73
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 42
- 238000007789 sealing Methods 0.000 claims description 29
- 238000004891 communication Methods 0.000 claims description 25
- 238000001179 sorption measurement Methods 0.000 claims description 24
- 238000012545 processing Methods 0.000 claims description 23
- 239000002002 slurry Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241001062009 Indigofera Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000717 retained effect Effects 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot field, especially a kind of suction type cascades underwater climbing robot.The present invention includes structural body, drive component, vortex sucker, instrument carrying interface, Subsea Control Systems, heaving pile, face control system and detecting instrument, it is provided with drive component, vortex sucker, instrument in structural body and carries interface and Subsea Control Systems, drive component, vortex sucker and instrument carry interface and are connect respectively with Subsea Control Systems, structural body, instrument carry interface, Subsea Control Systems are connect through heaving pile with water surface control system, and instrument carries interface and connect with detecting instrument.Structure of the invention is stable, safe and reliable, by being vortexed attached pressure, allows the robot to steadily be adsorbed in building body surface under water, and move freely on building body surface by drive component, steadily be observed to realize.
Description
Technical field
The present invention relates to robot field, especially a kind of suction type cascades underwater climbing robot.
Background technology
Dam, the bridge in China be experienced over more than 30 years Fast Construction phase, maintenance phase currently be had been enter into, for water
Lower building structure, there is a large amount of detection demand.Currently, the common detection means of submerged structure be by the way of artificial frogman into
Row detection, there is operation danger coefficient is big, it is costly, and data are not comprehensive the problems such as.Another kind often passes through observation type ROV
Underwater robot (i.e. remotely pilotless submersible) is detected, but ROV underwater robots are in suspended state in water, it is difficult to
Stable posture is kept, it can not effectively steadily gathered data can not even more be made especially in the environment of having certain flow rate
Industry, and in common bridge structure, can all there be certain flow.Therefore, for effective sight of dam, the submerged structure of bridge
It surveys, is a difficult point of current underwater detection field.Exactly because the limitation of technology, many submerged structures are at present does not have for a long time
The state for having detection, there are great security risks, therefore are badly in need of a kind of novel, effective underwater sensing devices of design to correlation
Submerged structure is reliably detected.
Invention content
Underwater climbing robot is cascaded the object of the present invention is to provide a kind of suction type, it is stable structure, safe and reliable,
By being vortexed attached pressure, allow the robot to steadily be adsorbed in building body surface under water, and by drive component in building body
Surface moves freely, and is steadily observed to realize.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of underwater climbing robot of suction type cascade, including structural body, drive component, vortex sucker, instrument carry
Interface, Subsea Control Systems, heaving pile, water surface control system and detecting instrument are provided with drive component, whirlpool in the structural body
Flow sucker, instrument carries interface and Subsea Control Systems, the driving component, vortex sucker and instrument carry interface respectively with water
Lower control system connection, the structural body, instrument carry interface, Subsea Control Systems and connect through heaving pile and water surface control system
It connects, the instrument carries interface and connect with detecting instrument.
Suction type above-mentioned cascades underwater climbing robot, and the Subsea Control Systems include master control borad, motor driver
And depth transducer, wherein motor driver and depth transducer are set on master control borad, the motor driver and depth pass
Sensor is connect with water surface control system, and the driving component and vortex sucker are respectively connected with motor driver, the master control borad
Also interface is carried with instrument to connect.
Suction type above-mentioned cascades underwater climbing robot, and the heaving pile includes power cable and the communications cable, the knot
Structure ontology is connect through power cable with water surface control system, and the Subsea Control Systems and instrument carry interface through the communications cable point
It is not connect with water surface control system.
Suction type above-mentioned cascades underwater climbing robot, and the water surface control system includes heaving pile draw off gear, data
Receiving processing system and power supply, the heaving pile draw off gear, data receiver processing system are connect with power supply, the structural body
It is connect with heaving pile draw off gear through power cable, the motor driver, depth transducer, instrument carry interface through the communications cable
It is connect with data receiver processing system, the master control borad connect with power supply through the communications cable and is powered to other modules on plate
Control.
Suction type above-mentioned cascades underwater climbing robot, and the Subsea Control Systems further include memory module, described to deposit
Storage module is set on master control borad, and the memory module is carried interface with instrument and connect.
Suction type above-mentioned cascades underwater climbing robot, and the Subsea Control Systems further include wireless transport module, institute
It states wireless transport module to be set on master control borad, the wireless transport module drives with data receiver processing system, motor respectively
Device is connected with memory module.
Suction type above-mentioned cascades underwater climbing robot, and the Subsea Control Systems further include accumulator, the electric power storage
Pond is connect with master control borad.
Suction type above-mentioned cascades underwater climbing robot, and the structural body includes sealing, enclosing portion and flexible skirt
Side, the enclosing portion are set to below sealing, and the flexible skirt is set to below enclosing portion, and the Subsea Control Systems are set
It is placed in sealing, the driving component and vortex sucker are set to below sealing, and drive component and vortex sucker periphery
It is surrounded with enclosing portion and flexible skirt.
Suction type above-mentioned cascades underwater climbing robot, and the driving component includes driving motor and crawler belt, the drive
Dynamic motor is fixed below sealing, and the driving motor is connected with motor driver, and the crawler belt drives through driving motor.
Suction type above-mentioned cascades underwater climbing robot, and the vortex sucker includes watertight motor, turbine slurry and flexibility
Adsorption plane, the watertight motor are fixed below sealing, and the watertight motor is connected with motor driver, the flexible absorption
Face is cylindrical shape, and the flexibility adsorption plane is fixed below watertight motor, and the turbine slurry is co-axially located in flexible adsorption plane
Between and connect with watertight motor.
Compared with prior art, the invention has the beneficial effects that：
1) present invention provides a kind of suction type and cascades underwater climbing robot, stable structure, safe and reliable, attached by being vortexed
Pressure, allows the robot to steadily be adsorbed in building body surface under water, and freely move on building body surface by drive component
It is dynamic, it is steadily observed to realize；
2) interface is carried by the way that instrument is arranged in the structural body of robot, so as to install different monitoring instruments
And sensor, to a tractor serves several purposes, saves testing cost to realize a robot acquisition testing difference information；
3) by integrating depth transducer in robot interior, to be controlled to the submerged depth of robot, to
The detection of respective depth is accurately carried out to submerged structure body；By integrating motor driver in robot interior, to control
The rotating speed of motor in drive component and vortex sucker, to realize the control of climbing robot creep speed and position of creeping；
4) by the way that structural body to be connect with power cable, to prevent climbing robot from being damaged caused by accidental release
Or lose；And can easily be withdrawn climbing robot by heaving pile draw off gear, and improve the receipts of climbing robot
Put efficiency and safety coefficient；By the way that motor driver, depth transducer, instrument are carried interface respectively through the communications cable and the water surface
Control system connects so that water surface control system can control Subsea Control Systems by the communications cable, and then controls and climb
The movement of wall robot, but also water surface control system can carry instrument the detecting instrument of interface connection, sensor detects
Data information carry out receive and analyzing processing；
5) by robot interior integrated memory modular, detecting instrument and sensing to be connected to instrument carrying interface
Device carries out information storage, convenient for later stage transferring and analyzing to data；By in robot interior integrated wireless transmission module, from
And the information in memory can be passed to data receiver processing system by wireless communication modes such as bluetooth, WIFI, to keep away
The single of data transmission is exempted from, in addition but also data receiver processing system can carry out long distance wireless control to climbing robot
System；By integrating accumulator in robot interior, the power supply to the various modules of robot interior is realized, to coordinate storage mould
Block, wireless transport module break away from the constraint of heaving pile, the movement of remote wireless control climbing robot, and carry out the collection of data
Storage and transmission；
6) by the way that Subsea Control Systems are set in this kind of sealing of water-stop electronic compartment, underwater control system is protected
Module in system and device, so that climbing robot is more durable；Wherein enclosing portion and flexible skirt are around setting
In drive component and vortex sucker surrounding, protection is formd to drive component and vortex sucker, reduces the interference of flow, wherein
Flexible skirt material softness also helps climbing robot and is adsorbed on building masonry wall, to being vortexed sucker negative-pressure adsorption building
Wall provides stable environment；
7) make climbing robot in building masonry wall by setting drive component to the form of driving motor and crawler belt
Creep more stablize, coordinate motor driver after climbing robot mobile effect it is more preferable；
8) by setting vortex sucker climbing robot is stablized to be adsorbed on the wall of building body, coordinate motor
The adsorption capacity of wall can be controlled preferably after driver, to preferably coordinate the effect of creeping of drive component.
Description of the drawings
Fig. 1 is the connection relationship diagram of the present invention；
Fig. 2 is the structural schematic diagram of the present invention；
Fig. 3 is also the structural schematic diagram of the present invention.
The meaning of reference numeral：1- structural bodies, 2- drive components, 3- are vortexed sucker, and 4- instruments carry interface, and 5- is underwater
Control system, 6- heaving piles, 7- water surface control systems, 8- master control borads, 9- motor drivers, 10- depth transducers, 11- power lines
Cable, the 12- communications cables, 13- heaving pile draw off gears, 14- data receiver processing systems, 15- power supplys, 16- memory modules, 17- without
Line transmission module, 18- accumulators, 19- sealings, 20- enclosings portion, 21- flexible skirts, 22- driving motors, 23- crawler belts, 24-
Watertight motor, 25- turbines slurry, 26- flexibility adsorption planes, 27- detecting instruments.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Specific implementation mode
The embodiment of the present invention 1：A kind of underwater climbing robot of suction type cascade, is constituted as shown in Figure 1-Figure 3, including knot
Structure ontology 1, drive component 2, vortex sucker 3, instrument carry interface 4, Subsea Control Systems 5, heaving pile 6,7 and of water surface control system
Detecting instrument 27 is provided with drive component 2, vortex sucker 3, instrument in the structural body 1 and carries interface 4 and underwater control system
System 5, the driving component 2, vortex sucker 3 and instrument carry interface 4 and are connect respectively with Subsea Control Systems 5, the structure sheet
Body 1, instrument carry interface 4, Subsea Control Systems 5 are connect through heaving pile 6 with water surface control system 7, and the instrument carries interface 4
It is connect with detecting instrument 27, the detecting instrument 27 can be various instruments and sensor, can be carried out to submerged structure body various
Detection.
The Subsea Control Systems 5 include master control borad 8, motor driver 9 and depth transducer 10, wherein motor driver
9 and depth transducer 10 be set on master control borad 8, the motor driver 9 and depth transducer 10 with water surface control system 7
Connection, the driving component 2 and vortex sucker 3 are respectively connected with motor driver 9, and the master control borad 8 also carries interface 4 with instrument
Connection.
The heaving pile 6 includes power cable 11 and the communications cable 12, and the structural body 1 is through power cable 11 and water surface control
System 7 processed connects, and the Subsea Control Systems 5 and instrument carry interface 4 and connect respectively with water surface control system 7 through the communications cable 12
It connects.
The water surface control system 7 includes heaving pile draw off gear 13, data receiver processing system 14 and power supply 15, the system
Cable draw off gear 13, data receiver processing system 14 are connect with power supply 15, and the structural body 1 is through power cable 11 and heaving pile
Draw off gear 13 connects, and the motor driver 9, depth transducer 10, instrument carry interface 4 and connect with data through the communications cable 12
It receives processing system 14 to connect, the master control borad 8 connect with power supply 15 through the communications cable 12 and is powered other modules on plate
Control, by being internally integrated depth transducer 10 in climbing robot, to be slapped to the submerged depth of climbing robot
Control, to accurately carry out the detection of respective depth to submerged structure body.
The structural body 1 includes sealing 19, enclosing portion 20 and flexible skirt 21, and the enclosing portion 20 can be watertight
Electronic compartment is sealed, the enclosing portion 20 is set to 19 lower section of sealing, and the flexible skirt 21 is set to 20 lower section of enclosing portion, described
Subsea Control Systems 5 are set in sealing 19, and the driving component 2 and vortex sucker 3 are set to 19 lower section of sealing, and drive
Dynamic component 2 and 3 periphery of vortex sucker are surrounded with enclosing portion 20 and flexible skirt 21；By the way that Subsea Control Systems 5 are arranged
In this kind of sealing 19 of water-stop electronic compartment, the module and device in Subsea Control Systems 5 are protected, so that climbing wall
Robot is more durable；Wherein enclosing portion 20 and flexible skirt 21 are circumferentially positioned at drive component 2 and vortex sucker 3 four
Week protection is formd to drive component 2 and vortex sucker 3, reduces the interference of flow, to vortex 3 negative-pressure adsorption of sucker building
Object wall provides stable environment.
The driving component 2 includes driving motor 22 and crawler belt 23, and the driving motor 22 is fixed on 19 lower section of sealing,
The driving motor 22 is waterproof machine, and the driving motor 22 is connected with motor driver 9, and the crawler belt 23 is through driving motor
22 drivings, motor driver 9 can effectively control the rotating speed of driving motor 22 in drive component 2, to control climbing robot
Creep speed, wherein crawler belt 23 are a kind of optional mode of drive component 2, and crawler belt 23 can be replaced with including idler wheel, universal
The component of the achievable climbing robot movement such as wheel, roller.
The vortex sucker 3 includes watertight motor 24, turbine slurry 25 and flexible adsorption plane 26, and the watertight motor 24 is anti-
Hydroelectric machine, the watertight motor 24 are fixed on 19 lower section of sealing, and the watertight motor 24 is connected with motor driver 9, described
Flexible adsorption plane 26 is cylindrical shape, and the flexibility adsorption plane 26 is fixed on 24 lower section of watertight motor, and the turbine slurry 25 is coaxially set
It sets among flexible adsorption plane 26 and is connect with watertight motor 24, motor driver 9 can be controlled effectively and be driven in drive component 2
The rotating speed of motor 22, to control adsorption effect of the climbing robot to submerged structure body.
Embodiment 2：A kind of underwater climbing robot of suction type cascade, is constituted as shown in Figure 1-Figure 3, including structural body 1,
Drive component 2, vortex sucker 3, instrument carry interface 4, Subsea Control Systems 5, heaving pile 6, water surface control system 7 and detecting instrument
27, it is provided with drive component 2, vortex sucker 3, instrument in the structural body 1 and carries interface 4 and Subsea Control Systems 5, it is described
Drive component 2, vortex sucker 3 and instrument carry interface 4 and are connect respectively with Subsea Control Systems 5, the structural body 1, instrument
Carry interface 4, Subsea Control Systems 5 are connect through heaving pile 6 with water surface control system 7, the instrument carrying interface 4 and detector
Device 27 connects, and the detecting instrument 27 can be various instruments and sensor, can carry out various detections to submerged structure body.
The Subsea Control Systems 5 include master control borad 8, motor driver 9 and depth transducer 10, wherein motor driver
9 and depth transducer 10 be set on master control borad 8, the motor driver 9 and depth transducer 10 with water surface control system 7
Connection, the driving component 2 and vortex sucker 3 are respectively connected with motor driver 9, and the master control borad 8 also carries interface 4 with instrument
Connection.
The heaving pile 6 includes power cable 11 and the communications cable 12, and the structural body 1 is through power cable 11 and water surface control
System 7 processed connects, and the Subsea Control Systems 5 and instrument carry interface 4 and connect respectively with water surface control system 7 through the communications cable 12
It connects, the communications cable 12 carries interface 4 with Subsea Control Systems 5 and instrument and is detachably connected by interface.
The water surface control system 7 includes heaving pile draw off gear 13, data receiver processing system 14 and power supply 15, the system
Cable draw off gear 13, data receiver processing system 14 are connect with power supply 15, and the structural body 1 is through power cable 11 and heaving pile
Draw off gear 13 connects, and the power cable 11 is detachably connected with structural body 1, the motor driver 9, depth transducer
10, instrument carries interface 4 and is connect with data receiver processing system 14 through the communications cable 12, and the master control borad 8 is through the communications cable 12
It is connect with power supply 15 and control, the communications cable 12 and motor driver 9, depth sensing is powered to other modules on plate
Device 10, instrument carry interface 4, master control borad 8 is detachably connected by interface, by being internally integrated depth sensing in climbing robot
Device 10, to be controlled to the submerged depth of climbing robot, to accurately carry out respective depth to submerged structure body
Detection.
The Subsea Control Systems 5 further include memory module 16, and the memory module 16 is set on master control borad 8, described
Memory module 16 is carried interface 4 with instrument and is connect, and is deposited into row information to carry the detecting instrument 27 that interface 4 connects to instrument
Storage, convenient for later stage transferring and analyzing to data.
The Subsea Control Systems 5 further include wireless transport module 17, and the wireless transport module 17 includes at least WIFI
At least one of module and bluetooth module, the wireless transport module 17 are set on master control borad 8, the wireless transport module
17 connect with data receiver processing system 14, motor driver 9 and memory module 16 respectively, and line transmission module avoids data biography
Defeated is single, in addition but also data receiver processing system 14 can carry out remote wireless control to climbing robot, is using
When wireless mode, heaving pile 6 can be removed, can also be retained to promote the underwater safety coefficient of climbing robot.
The Subsea Control Systems 5 further include accumulator 18, and the accumulator 18 is connect with master control borad 8, to realization pair
The power supply of various modules breaks away from the pact of heaving pile 6 to coordinate memory module 16, wireless transport module 17 inside climbing robot
Beam, the movement of remote wireless control climbing robot, and carry out the collection storage of data and transmit.
The structural body 1 includes sealing 19, enclosing portion 20 and flexible skirt 21, and the enclosing portion 20 can be watertight
Electronic compartment is sealed, the enclosing portion 20 is set to 19 lower section of sealing, and the flexible skirt 21 is set to 20 lower section of enclosing portion, described
Subsea Control Systems 5 are set in sealing 19, and the driving component 2 and vortex sucker 3 are set to 19 lower section of sealing, and drive
Dynamic component 2 and 3 periphery of vortex sucker are surrounded with enclosing portion 20 and flexible skirt 21；By the way that Subsea Control Systems 5 are arranged
In this kind of sealing 19 of water-stop electronic compartment, the module and device in Subsea Control Systems 5 are protected, so that climbing wall
Robot is more durable；Wherein enclosing portion 20 and flexible skirt 21 are circumferentially positioned at drive component 2 and vortex sucker 3 four
Week protection is formd to drive component 2 and vortex sucker 3, reduces the interference of flow, to vortex 3 negative-pressure adsorption of sucker building
Object wall provides stable environment.
The driving component 2 includes driving motor 22 and crawler belt 23, and the driving motor 22 is fixed on 19 lower section of sealing,
The driving motor 22 is waterproof machine, and the driving motor 22 is connected with motor driver 9, and the crawler belt 23 is through driving motor
22 drivings, motor driver 9 can effectively control the rotating speed of driving motor 22 in drive component 2, to control climbing robot
Creep speed, wherein crawler belt 23 are a kind of optional mode of drive component 2, and crawler belt 23 can be replaced with including idler wheel, roller
Etc. the component of achievable climbing robot movement.
The vortex sucker 3 includes watertight motor 24, turbine slurry 25 and flexible adsorption plane 26, and the watertight motor 24 is anti-
Hydroelectric machine, the watertight motor 24 are fixed on 19 lower section of sealing, and the watertight motor 24 is connected with motor driver 9, described
Flexible adsorption plane 26 is cylindrical shape, and the flexibility adsorption plane 26 is fixed on 24 lower section of watertight motor, and the turbine slurry 25 is coaxially set
It sets among flexible adsorption plane 26 and is connect with watertight motor 24, motor driver 9 can be controlled effectively and be driven in drive component 2
The rotating speed of motor 22, to control adsorption effect of the climbing robot to submerged structure body.
The operation principle of the present invention：The present invention is by carrying structural body 1, drive component 2, vortex sucker 3, instrument
The components such as interface 4, Subsea Control Systems 5, heaving pile 6, water surface control system 7 and detecting instrument 27 are organic, and to be assembled into a kind of structure steady
Fixed, safe and reliable suction type cascades underwater climbing robot, to by being vortexed attached pressure, enable climbing robot under water
It is steadily adsorbed in building body surface, and is moved freely on building body surface by drive component 2, is steadily seen to realize
It surveys.This climbing robot is to be controlled motor driver 9 by water surface control system 7, and then control 24 He of watertight motor
The rotation of driving motor 22, to control absorption or movement of the climbing robot to submerged structure walling, wherein watertight electricity
Machine 24 drives 25 rotation of turbine slurry to coordinate flexible adsorption plane 26 to form certain negative pressure, to be adsorbed on submerged structure body
On wall, wherein driving motor 22 drives crawler belt 23 that climbing robot is moved freely on building body surface, waits for wall-climbing device
People is moved to after certain depth or specific position and carries the detecting instrument 27 of the connection of interface 4 to the progress of submerged structure body by instrument
Detection；Wherein water surface control system 7 is divided into wired and wireless two kinds of control models to the control of motor driver 9, wherein wired
Pattern is controlled motor driver 9 by the communications cable 12, and wireless mode is by the indigo plant in wireless transport module 17
Tooth or WIFI control motor driver 9；When using wireless mode, heaving pile 6 can be removed, wherein accumulator 18 can rise
To the effect to the power supply of other modular units as power supply 15；By being internally integrated depth transducer in climbing robot
10, to be controlled to the submerged depth of climbing robot, to accurately carry out the inspection of respective depth to submerged structure body
It surveys；By the way that structural body 1 to be connect with power cable 11, to prevent climbing robot from damaging or losing caused by accidental release
It loses；And can easily be withdrawn climbing robot by heaving pile draw off gear 13, and improve the folding and unfolding of climbing robot
Efficiency and safety coefficient；By by motor driver 9, depth transducer 10, instrument carry interface 4 respectively through the communications cable 12 with
Water surface control system 7 connects so that and water surface control system 7 can control Subsea Control Systems 5 by the communications cable 12, into
And the movement of climbing robot is controlled, but also water surface control system 7 can carry the detecting instrument 27 that interface 4 connects to instrument
The data information of detection carries out reception and analyzing processing；By being internally integrated memory module 16 in climbing robot, to instrument
Device carries the detecting instrument 27 that interface 4 connects and carries out information storage, convenient for later stage transferring and analyzing to data；By climbing wall
Robot interior integrated wireless transmission module 17, so as to which the information in memory is wirelessly transferred mould by bluetooth, WIFI etc.
Formula passes to data receiver processing system 14, so as to avoid the single of data transmission, in addition but also data receiver processing system
System 14 can carry out remote wireless control to climbing robot；By being internally integrated accumulator 18, realization pair in climbing robot
The power supply of various modules breaks away from the pact of heaving pile 6 to coordinate memory module 16, wireless transport module 17 inside climbing robot
Beam, the movement of remote wireless control climbing robot, and carry out the collection storage of data and transmit；By by Subsea Control Systems
5 are set in this kind of sealing 19 of water-stop electronic compartment, the module and device in Subsea Control Systems 5 are protected, to make
It is more durable to obtain climbing robot；Wherein enclosing portion 20 and flexible skirt 21 are circumferentially positioned at drive component 2 and vortex is inhaled
3 surrounding of disk forms protection to drive component 2 and vortex sucker 3, reduces the interference of flow, to being vortexed 3 negative-pressure adsorption of sucker
Building masonry wall provides stable environment.
Claims (10)
1. a kind of suction type cascades underwater climbing robot, which is characterized in that including structural body (1), drive component (2), whirlpool
Flow sucker (3), instrument carries interface (4), Subsea Control Systems (5), heaving pile (6), water surface control system (7) detecting instrument
(27), it is provided with drive component (2), vortex sucker (3), instrument on the structural body (1) and carries interface (4) and underwater control
System (5), the driving component (2), vortex sucker (3) and instrument carry interface (4) and connect respectively with Subsea Control Systems (5)
It connects, the structural body (1), instrument carry interface (4), Subsea Control Systems (5) through heaving pile (6) and water surface control system
(7) it connects, the instrument carries interface (4) and connect with detecting instrument (27).
2. suction type according to claim 1 cascades underwater climbing robot, which is characterized in that the Subsea Control Systems
(5) include master control borad (8), motor driver (9) and depth transducer (10), wherein motor driver (9) and depth transducer
(10) it is set on master control borad (8), the motor driver (9) and depth transducer (10) connect with water surface control system (7)
It connects, the driving component (2) and vortex sucker (3) are respectively connected with motor driver (9), and the master control borad (8) is also taken with instrument
Interface (4) is carried to connect.
3. suction type according to claim 2 cascades underwater climbing robot, which is characterized in that the heaving pile (6) includes
Power cable (11) and the communications cable (12), the structural body (1) connect through power cable (11) and water surface control system (7)
It connects, the Subsea Control Systems (5), instrument carry interface (4) and connect respectively through the communications cable (12) and water surface control system (7)
It connects.
4. suction type according to claim 3 cascades underwater climbing robot, which is characterized in that the water surface control system
(7) include heaving pile draw off gear (13), data receiver processing system (14) and power supply (15), the heaving pile draw off gear (13),
Data receiver processing system (14) is connect with power supply (15), and the structural body (1) is through power cable (11) and heaving pile folding and unfolding
Device (13) connect, the motor driver (9), depth transducer (10), instrument carry interface (4) through the communications cable (12) with
Data receiver processing system (14) connect, the master control borad (8) connect with power supply (15) through the communications cable (12) and on plate its
His module is powered control.
5. suction type according to claim 4 cascades underwater climbing robot, which is characterized in that the Subsea Control Systems
(5) further include memory module (16), the memory module (16) is set on master control borad (8), the memory module (16) and instrument
Device carries interface (4) and connects.
6. suction type according to claim 5 cascades underwater climbing robot, which is characterized in that the Subsea Control Systems
(5) further include wireless transport module (17), the wireless transport module (17) is set on master control borad (8), the wireless transmission
Module (17) is connect with data receiver processing system (14), motor driver (9) and memory module (16) respectively.
7. suction type according to claim 6 cascades underwater climbing robot, which is characterized in that the Subsea Control Systems
(5) further include accumulator (18), the accumulator (18) connect with master control borad (8).
8. the suction type according to claim 4 or 7 cascades underwater climbing robot, which is characterized in that the structural body
(1) include sealing (19), enclosing portion (20) and flexible skirt (21), the enclosing portion (20) is set under sealing (19)
Side, the flexible skirt (21) are set to below enclosing portion (20), and the Subsea Control Systems (5) are set to sealing (19)
In, the driving component (2) and vortex sucker (3) are set to below sealing (19), and drive component (2) and vortex sucker
(3) periphery is surrounded with enclosing portion (20) and flexible skirt (21).
9. suction type according to claim 8 cascades underwater climbing robot, which is characterized in that the driving component (2)
Including driving motor (22) and crawler belt (23), the driving motor (22) is fixed below sealing (19), the driving motor
(22) it is connected with motor driver (9), the crawler belt (23) drives through driving motor (22).
10. suction type according to claim 9 cascades underwater climbing robot, which is characterized in that the vortex sucker (3)
It is fixed on sealing (19) including watertight motor (24), turbine slurry (25) and flexible adsorption plane (26), the watertight motor (24)
Lower section, the watertight motor (24) are connected with motor driver (9), and the flexibility adsorption plane (26) is cylindrical shape, the flexibility
Adsorption plane (26) is fixed below watertight motor (24), and it is intermediate simultaneously that the turbine slurry (25) is co-axially located at flexible adsorption plane (26)
It is connect with watertight motor (24).
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| CN113401304A (en) * | 2021-05-11 | 2021-09-17 | 飞马滨(青岛)智能科技有限公司 | System for underwater cleaning ship body and operation method |
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Application publication date: 20181113 |