CN112278206A - Underwater robot walking crawler based on magnetic attraction and negative pressure adsorption - Google Patents
Underwater robot walking crawler based on magnetic attraction and negative pressure adsorption Download PDFInfo
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- CN112278206A CN112278206A CN202011059949.0A CN202011059949A CN112278206A CN 112278206 A CN112278206 A CN 112278206A CN 202011059949 A CN202011059949 A CN 202011059949A CN 112278206 A CN112278206 A CN 112278206A
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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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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Abstract
The invention provides an underwater robot based on magnetic adsorption and negative pressure adsorption, which is not only applied to the operation of ship bodies and petroleum pipelines, but also can be used for detecting dams or nuclear facilities and carrying out all-round exploration and decontamination operation on wall surfaces.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to an underwater robot crawler with double adsorption functions of magnetic adsorption and negative pressure adsorption.
Background
The walking mode of the underwater intelligent robot mainly comprises a multi-foot mode, a wheel type mode and a crawler type mode, and the three modes are compared as follows:
1. the multi-foot type can easily cross a concave area on the wall surface, but the running stability is not good; move by repeated adsorption and shedding of a plurality of feet or frames; the walking is difficult to move, and the walking speed is slow due to the high gravity center of the multi-foot walking type. And has high requirements on the movement coordination and large water resistance.
2. The wheel type trolley is flexible and easy to control the movement direction. The wheel is provided with a plurality of wheels which are independently driven by the motor, the structure is simple, the moving speed is high, and the turning is easy. But also can adapt to the surface of the jacket polluted by different degrees of sea, can adapt to the curvature change of the surface and has obstacle crossing capability. The moving mode of the wheels has higher speed, the control mode is more flexible, and particularly, the steering is easy. However, since the contact area between the wheel and the wall surface is relatively small, it is difficult to maintain a specific adsorption force.
3. The crawler type crawler belt has a large contact surface to the wall surface, so that the crawler type crawler belt runs stably, is generally combined with a magnetic adsorption mode, has stronger adaptability and large contact area with the wall surface, is driven by a motor to form two track-free crawler belts, and realizes turning through the speed difference of the two crawler belts. The floor area is large, larger adsorption force is easy to generate, and the adaptability to the wall surface is strong; meanwhile, the crawler body has large volume and weight, is difficult to turn, is difficult to transit on the wall surface, and has poor maneuverability.
When the underwater robot runs underwater, the underwater robot needs to be adsorbed on the surface of an object, including the surface of a ship body, the edge of the ship body, the side wall of a wharf, the surface of an underwater petroleum pipeline, various underwater complex conditions such as rocks, sand, silt, seabed and the like. The underwater robot is classified into vacuum adsorption, magnetic adsorption and negative pressure adsorption according to adsorption functions.
The vacuum adsorption is realized by generating negative pressure in the inner cavity of the sucking disc or spraying compressed air from an ejector through a nozzle by a vacuum pump device to form vacuum around the sucking disc, so that the robot is adsorbed on the wall surface.
The typical magnetic adsorption case is a hull cleaning robot disclosed in the invention application with the application number of CN 201920889143.0, the robot adopts a crawler belt to walk, the crawler belt with permanent magnets can be adsorbed on a hull, in order to enhance the adsorption capacity, an electromagnet is further arranged at the bottom of the robot, and the robot is prevented from separating from the hull to be cleaned by generating stronger adsorption force through electrification. However, the magnetic adsorption robot is difficult to use for underwater facilities with less ferromagnetic materials.
The typical case of vacuum adsorption, application number CN 201911406038.8, discloses a method and a robot for cleaning surface attachments of underwater concave slots of piers, which adopts a way of arranging a vacuum negative pressure vortex pump on a chassis of the robot to provide the robot with the adsorption force for the underwater devices to be cleaned.
As mentioned above, the magnetic adsorption method is divided into a permanent magnet and an electromagnet, and the magnetic adsorption method requires that the wall surface is made of magnetic conductive material, has strong concave-convex response to the wall surface, does not have the problem of air leakage and has a simple structure. Magnetic attraction is preferred when the walls are of magnetically conductive material.
The negative pressure adsorption method is a new adsorption mode, it does not rely on suction but on the aviation technology, uses propeller or ducted fan to produce proper thrust, and forms negative pressure between underwater robot and creeping surface, and the rotation of propeller discharges water out of sealed cavity, so that the robot is stably and reliably adsorbed on the wall surface.
In summary, the prior art has the following disadvantages:
the intelligent underwater robot is not only applied to the operation of ship bodies and petroleum pipelines, but also needs to be adapted to wall surfaces made of various materials, possibly detects dams or nuclear facilities, and can carry out omnibearing investigation and decontamination operation on the wall surfaces, so that a method of a magnetic adsorption method or a negative pressure adsorption method cannot be simply used.
Disclosure of Invention
In order to solve the technical problem, the invention provides a method for combining magnetic adsorption and negative pressure adsorption for an underwater robot in the scheme, the method adopts magnetic adsorption when the surface of a magnetic conductive material such as a ship body surface works, and adopts a negative pressure adsorption method for improving the adsorption force when the surface of a non-magnetic surface works or an adhesion operation surface is uneven.
The invention provides an underwater robot walking crawler based on magnetic attraction and negative pressure adsorption, which comprises an underwater intelligent robot platform, wherein two sides of the robot platform are respectively provided with a crawler chain consisting of a plurality of chain links, each crawler material is wound on a driving chain wheel and a driven chain wheel, the driving chain wheel and the driven chain wheels are respectively arranged at the front end and the rear end of the side surface of the intelligent robot platform, an output shaft of a direct-current servo motor is decelerated by a planetary gear box to drive the driving chain wheels, the teeth of the chain wheels and the crawler chain links drive the crawler to rotate so as to drive the underwater intelligent robot platform to move, and the underwater intelligent robot platform is turned by adopting a differential device of a left crawler and a right crawler; the method is characterized in that: an electromagnetic adsorption unit is arranged on an outer wing plate of a track chain of the underwater intelligent robot platform, and a magnetic block is arranged on each chain link on each track to form magnetic force for adsorbing the robot to a ferromagnetic working surface; the underwater intelligent robot platform is also provided with a negative pressure adsorption mechanism, the negative pressure adsorption mechanism comprises 4 top propellers and lower sealing strips of the underwater robot sealed electronic cabin, and the rotation of the top propellers generates a negative pressure area to enable the robot to be attached to the surface of the working face.
Furthermore, an electromagnetic adsorption unit is arranged on an outer wing plate of a crawler chain of the underwater intelligent robot platform and is an electromagnet or a permanent magnet.
Furthermore, the outer wing plate of the track chain is provided with a permanent magnet made of rare earth permanent magnet material neodymium iron boron N45, and the permanent magnet is of a B-shaped magnetic circuit.
Furthermore, the permanent magnet B magnetic path consists of 2 permanent magnet blocks, a yoke, a magnetism isolating copper block and a support plate. The 2 permanent magnets are arranged on the surface of the rectangular yoke iron and separated by a magnetism isolating copper block, wherein the S pole of one permanent magnet and the N pole of the other permanent magnet face the surface of the ship body. The supporting plate is used for preventing the relative position change of the B-shaped magnetic circuit and is used as a connecting device of the magnetic adsorption unit and the track chain; a layer of chloroprene rubber is packaged outside the magnetic circuit, and the packaged B-shaped magnetic circuit is fixed on the track chain through the supporting plate and the connecting lug plates on the chain.
Further, the underwater robot further comprises a negative pressure adsorption system, the negative pressure adsorption system comprises a cavity, a motor drives a rotating propeller in the cavity, and a sealing strip is arranged at a water flow inlet of the cavity.
Furthermore, the screw propeller is composed of top propellers of the underwater robot sealed electronic cabin, and the number of the top propellers is 4.
The underwater robot walking crawler adopting the magnetic attraction and negative pressure adsorption provided by the invention has the advantages that in the walking process of the underwater robot, the underwater robot is embedded on the chain through the electromagnetic block to form the magnetic crawler to walk on the surface of a ship. The crawler belt has large contact surface, flexible movement, load increase and convenient carrying of the working tool, realizes steering through differential of the left and right crawler belts, and is simple to operate. The intelligent underwater robot is additionally provided with a negative pressure adsorption system, is not only applied to the operation of ship bodies and petroleum pipelines, but also can be applied to the operation of equipment without magnetic adsorption conditions, such as dams or nuclear facilities and the like, and greatly expands the use application.
Drawings
Fig. 1 is a schematic diagram of an underwater intelligent robot platform adsorption moving crawler.
FIG. 2 is a side view of an underwater intelligent robot platform adsorption moving crawler structure.
FIG. 3 is a top view of an underwater intelligent robot platform adsorption moving crawler structure.
Fig. 4 is a schematic view of a magnetic circuit.
Fig. 5 is a caterpillar band b-shaped magnetic circuit adsorption structure.
Fig. 6 shows a structure of a crawler b-shaped magnetic circuit adsorption device.
FIG. 7 is a graph of adsorption force generated by the action of water flow in an adsorption system
The symbols in the figure illustrate:
1. an adsorption unit; 2. a tensioning mechanism; 3. a chain; 4. a drive shaft; 5. a driving wheel; 6. a support mechanism; 7. a driven shaft; 8. a driven wheel; 9. a crawler belt; 10. a motor and a speed reducer thereof; 11. a fixed block; 12. a left connecting plate and a right connecting plate; 13. neoprene adhesive; 14. a permanent magnet; 15. a magnetism isolating copper block; 16. a rectangular yoke; 17. the supporting plate 18 is an anti-collision fastening device; 19. a chain pin shaft; 20. a magnet fastening device.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
The invention provides an embodiment of a double-crawler structure as a crawler walking mechanism of an underwater robot.
1. Compared with a wheel type moving mode, the moving mode with double tracks is adopted, although the structure is more complex, the contact surface is large, the gravity center is low, the stability is realized, the load can be increased, and the carrying of the working tool is convenient. The magnetic blocks are inlaid on the chain to form the magnetic crawler belt, and the crawler belt can enable the weight of the crawler belt to be approximately in direct proportion to the quantity of the magnetic blocks inlaid on the crawler belt through reasonable design of a crawler belt structure, so that the adsorption force can be increased, the magnetic crawler belt can adapt to curvature changes of a ship body and other underwater operation surfaces, and can cross obstacles on the surface of the ship body such as welding seams.
2. The double-crawler type structure is formed by connecting a chain and a permanent magnet adsorption unit, a rear driving chain wheel driving mode is adopted, and a driving motor is a direct current servo motor. The turning is controlled by the differential speed of the left and right crawler belts, and a special steering mechanism is not needed, so that the structure of the robot body is simplified, and the control is easier.
3. The underwater cleaning robot has high requirement on the adsorption force, and a double-crawler type traveling mechanism is selectively installed. The double crawler belts have a complicated structure, but have a large contact surface, a low center of gravity, stability, increased load, and convenience in carrying the work tool. And meanwhile, the device can adapt to the curvature change of the ship body and other underwater operation surfaces, and can cross obstacles on the surface of the ship body.
In the process of walking of the underwater robot, the underwater robot is inlaid on the chain through the magnetic blocks to form the magnetic track to walk on the surface of a ship. Although the crawler belts are complex in structure, the contact surface of the crawler belts is large, the crawler belts are flexible to move, the load can be increased, the carrying of a working tool is facilitated, the steering is realized through the differential speed of the left and right crawler belts, and the adsorption moving crawler belts and the structural diagram of the underwater intelligent robot platform are shown in attached figures 1-3.
The adsorption function of the underwater intelligent robot platform is realized by magnetic adsorption units embedded on outer wing plates of a track chain, the number of links of the chain determines that each link on each track is provided with one magnetic block, and 47 pairs of magnetic block units packaged by chloroprene rubber are uniformly embedded on the periphery of each track. In the moving process of the tracks, it is guaranteed that 15-16 pairs of magnetic blocks on each track are in a good adsorption state with the surface of the ship body, and enough magnetic force is formed to adsorb the robot on the surface of the ship body and other operation surfaces. At the initial moment of movement, the magnetic blocks on the two tracks are adjusted to be in the same state, then the direct-current servo motor outputs driving torque, the driving torque is reduced through the planetary gear reducer and then drives the driving chain wheel to roll, the magnetic adsorption units on the surfaces of the tracks are further driven to be alternately adsorbed on the surfaces of the ship body, and the operation is repeated in cycles, so that the movement of the robot on the surfaces of the ship body is realized. The turning of the robot is realized through the speed difference of the left and right crawler belts.
Common driving methods for robots are: hydraulic drive, pneumatic drive, electric drive and mechanical drive. The electric drive mainly comprises a stepping motor, a direct current servo motor and an alternating current servo motor. The direct current servo motor is selected in consideration of the special operation environment of the underwater robot and the function of autonomous navigation of the underwater robot when no umbilical cable is connected in future. The direct current servo motor has a fully-closed structure and has the advantages of high reliability, small rotary inertia, good system rapidity, small weight and small volume under the same power and the like.
The direct current servo motor is a driving part with high rotating speed and low torque, and an output shaft of the motor is decelerated by a speed reducer to meet the requirements of the required rotating speed and torque. A planetary gear box is selected as a speed reducer. Chain transmission is a mechanical transmission which is widely applied. The factors of working environment, transmission performance, cost and the like are comprehensively considered, and chain transmission is selected. The transmission mechanism consists of a chain, a driving chain wheel and a driven chain wheel. The chain wheel is provided with double rows of teeth, and the motion and the power are transmitted by the meshing of the teeth of the chain wheel and the chain links. Compared with belt transmission, the chain transmission has no elastic sliding and slipping phenomena, so that the accurate average transmission ratio can be kept, and the transmission efficiency is higher.
To facilitate installation of the chain and adjustment of the degree of tensioning of the chain, the center-to-center distance is typically designed to be adjustable. If the center distance cannot be adjusted and no tensioning device is provided, the calculated center distance is reduced by 2-5 mm. This allows a small sag in the chain to maintain chain drive tension. When the chain sag is too large, the phenomena of poor meshing with a chain wheel, vibration of the chain and the like can be generated, the magnetic adsorption block is in poor contact with the surface of a ship body, and the moving function of the robot is influenced. In addition, the chain can be gradually extended due to abrasion in the using process, and the tightness degree of the chain also needs to be adjusted timely.
4.2 magnetic adsorption System solution
The magnetic adsorption needs to install a permanent magnet in a walking track of the underwater robot, and the selection of the magnetic adsorption unit and a magnetic circuit structure thereof is the key for determining the adsorption capacity. The magnetic circuit structure is generally composed of a permanent magnet material, a yoke and a magnetic isolation material.
The rare earth permanent magnet material neodymium iron boron is the best permanent magnet material at present, is very suitable for being applied to an open circuit state, a pressure occasion, a diamagnetic field or a dynamic environment, and has the characteristic of convenient processing, so that the permanent magnet is selected from a third generation rare earth permanent magnet material neodymium iron boron N45, and the surface is plated with chrome to prevent seawater corrosion. In the permanent magnetic circuit, a yoke iron is made of soft magnetic material with proper shape and size to reduce magnetic resistance and increase magnetic flux density. The yoke iron guides the permanent magnet to send out magnetic flux to the working air gap, so that the permanent magnet works in the optimal state. The soft magnetic material needs to have higher magnetic conductivity and smaller magnetic hysteresis, and eddy current loss and magnetic hysteresis loss are reduced, so that silicon steel is selected as a yoke material, and the surface is plated with chrome to prevent seawater corrosion. And a magnetic isolating material for isolating the permanent magnets is also needed in the magnetic circuit structure, and a copper block is selected as the magnetic isolating material.
There are generally 4 types of magnetic circuits, as shown in fig. 4. The blank part in the figure is a permanent magnet, the oblique line part is a yoke iron, and the network part is a magnetic isolating material. FIG. 4a shows the magnetic circuit as an open circuit, consisting of a permanent magnet and two yokes; FIG. 4b shows a magnetic circuit of type A, which is composed of a permanent magnet and two yokes; FIG. 4c shows a magnetic flux path of the T-shape, which is composed of two permanent magnets, two yokes and a piece of brass; fig. 4d shows a type b magnetic circuit, which consists of two permanent magnets, a yoke and a piece of brass.
The B-shaped magnetic circuit design adopted by the user has the following advantages by analysis and verification: firstly, the magnetic circuit structure is close to the adsorption body, and the generated adsorption force is larger; compared with a T-shaped magnetic circuit, the magnetic block has small contact area with the yoke iron, and the magnetic resistance of the magnetic circuit structure is small; and the magnetic circuit structure adopts two permanent magnets to generate the same magnetic adsorption force, so that the area of a single magnetic block is relatively reduced, the magnetic potential loss coefficient of the magnetic block is small, and the magnetic leakage is small.
The underwater robot can frequently collide with a ship body when the permanent magnet and the surface of the ship body are repeatedly attracted and separated in the moving process, and the N45 permanent magnet is poor in toughness and easy to crack, so that a magnetic circuit structure must be protected. The neoprene blocks are packaged on the surfaces of the two sides of the magnetic circuit device, so that the collision between the magnetic circuit structure and the ship body can be buffered, and the rubber layer can increase the sliding friction coefficient when the crawler moves, so that the slipping phenomenon is prevented. The permanent magnet is made of a third-generation rare earth permanent magnet material neodymium iron boron N45, and the type of a B-shaped magnetic circuit is selected, so that the performance of the permanent magnet can be exerted to the maximum, the leakage flux is reduced, and the reliable adsorption of the magnetic block on the surface of the ship body is ensured. Fig. 5 is a view of the structure of the b-type magnetic circuit. The B-type magnetic path consists of 2 permanent magnet blocks b, a yoke g and a magnetism isolating copper block c. The 2 permanent magnets are arranged on the surface of the rectangular yoke iron and are separated by a magnetism isolating copper block, wherein the S pole of one permanent magnet and the N pole of the other permanent magnet face the surface of the ship body. The rectangular yoke iron has the function of improving the magnetic conductivity, namely reducing the leakage magnetic flux to increase the magnetic force lines formed by the permanent magnet passing through the surface of the ship body, so that the permanent magnet can generate larger adsorption force with the surface of the ship body. The support plate d is used for preventing the magnetic circuit in the B type from generating relative position change and is also used as a connecting device of the magnetic adsorption unit and the track chain. The outer surface of the magnetic adsorption unit is covered with a chloroprene rubber protective layer a, and the packaged B-shaped magnetic circuit is fixed on a connecting lug plate f corresponding to the outer surface of the crawler through a supporting plate and a fastening device e.
The underwater robot can frequently collide with a ship body when the permanent magnet and the surface of the ship body are repeatedly attracted and separated in the moving process, and the N45 permanent magnet is poor in toughness and easy to crack, so that a magnetic circuit structure must be protected. A layer of neoprene is packaged outside the magnetic circuit, and the packaged B-shaped magnetic circuit is fixed on the track chain through the support plate and the connecting lug plate on the chain. The neoprene can buffer the collision between the magnetic circuit structure and the ship body, and the rubber layer can increase the sliding friction coefficient when the crawler moves, so that the slipping phenomenon is prevented.
4.3 negative pressure adsorption System scheme
The adsorption mechanism is a main functional part of the underwater intelligent robot and is a precondition for the robot to attach to the surface of a working surface to normally work. The negative pressure adsorption is realized by that a negative pressure area is generated by the rotation of a propeller to enable the robot to be attached to the surface of a working surface, and the negative pressure adsorption is mainly completed by 4 top propellers in a sealed electronic cabin of the underwater robot.
The main function of the adsorption system is to create a pressure difference between the inside and the outside, thereby generating sufficient adsorption force to achieve a stable motion condition. The propeller rotates in the adsorption mechanism to make water inside the cavity flow out, and the lower sealing strip slows down the speed of water flow entering the cavity to form a throttling mechanism to reduce the amount of water entering the cavity. Under the working state, the propeller absorbs water to enable the external pressure of the sealed barrel to be higher than the internal pressure. Under the action of the difference between the internal pressure and the external pressure, in order to balance the inflow water quantity and the outflow water quantity, the water flow enters from the outlet to reach the balance. The outlet and the inlet are filled with water, and the water is discharged out of the sealed barrel through the outlet, thereby achieving reasonable and efficient adsorption effect.
The adsorption force is influenced by the rotating speed of the propeller, the distance between the sealing strip and the wall surface of the jacket and other factors. The rotating speed of the propeller can generate thrust and provide a part of adsorption force, and the internal water flow is discharged out of the cavity, and the higher the rotating speed is, the larger the discharged flow is, the smaller the internal pressure is, and the larger the provided adsorption force is. As shown in fig. 7.
Although the embodiments of the present invention have been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made herein without departing from the spirit and scope of the embodiments of the present invention.
Claims (5)
1. An underwater robot walking crawler based on magnetic attraction and negative pressure adsorption comprises an underwater intelligent robot platform, wherein crawler chains consisting of a plurality of chain links are respectively installed on two sides of the robot platform, each crawler is wound on a driving chain wheel and a driven chain wheel, the driving chain wheel and the driven chain wheels are respectively arranged at the front end and the rear end of the side surface of the intelligent robot platform, an output shaft of a direct-current servo motor is decelerated through a planetary gear box to drive the driving chain wheels, the teeth of the chain wheels and the crawler chain links drive the crawler to rotate so as to drive the underwater intelligent robot platform to move, and turning of the underwater intelligent robot platform is completed by adopting a differential device of a left crawler and a right crawler; the method is characterized in that: an electromagnetic adsorption unit is arranged on an outer wing plate of a track chain of the underwater intelligent robot platform, and a magnetic block is arranged on each chain link on each track to form magnetic force to adsorb the robot to a ferromagnetic working surface;
the underwater intelligent robot platform is also provided with a negative pressure adsorption mechanism, the negative pressure adsorption mechanism comprises 4 top propellers and lower sealing strips of the underwater robot sealed electronic cabin, and the rotation of the top propellers generates a negative pressure area to enable the robot to be attached to the surface of the working face.
2. The underwater robot walking crawler based on magnetic attraction and negative pressure adsorption of claim 1, characterized in that: an electromagnetic adsorption unit is arranged on an outer wing plate of a crawler chain of the underwater intelligent robot platform and is an electromagnet or a permanent magnet.
3. The underwater robot walking crawler based on magnetic attraction and negative pressure adsorption as claimed in claim 2, characterized in that: the outer wing plate of the track chain is provided with a permanent magnet made of rare earth permanent magnet material neodymium iron boron N45 to form a B-type magnetic circuit.
4. The underwater robot walking crawler based on magnetic attraction and negative pressure adsorption as claimed in claim 3, characterized in that: the permanent magnet B magnetic path consists of 2 permanent magnet blocks, a yoke, a magnetism isolating copper block and a support plate; 2 permanent magnets are arranged on the surface of the rectangular yoke iron and are separated by a magnetism isolating copper block, wherein the S pole of one permanent magnet and the N pole of the other permanent magnet face the surface of the ship body; the supporting plate is used for preventing the relative position change of the B-shaped magnetic circuit and is used as a connecting device of the magnetic adsorption unit and the track chain; a layer of chloroprene rubber is packaged on the outer surface of the magnetic circuit, and the packaged B-shaped magnetic circuit is fixed on the track chain through the supporting plate and the connecting lug plates on the chain.
5. The underwater robot walking crawler based on magnetic attraction and negative pressure adsorption as claimed in claim 2, characterized in that: the number of the links of the track chain is more than or equal to 47, so that each track is provided with more than or equal to 15 magnetic blocks which are adsorbed with the working surface in the moving process of the track.
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| CN113428250A (en) * | 2021-07-28 | 2021-09-24 | 中国水产科学研究院渔业机械仪器研究所 | Underwater cleaning robot for cultivation bulkhead |
| CN113636046A (en) * | 2021-08-09 | 2021-11-12 | 哈尔滨工程大学 | Pneumatically-driven underwater opening and closing adsorption robot |
| CN114167236A (en) * | 2021-11-30 | 2022-03-11 | 大唐东北电力试验研究院有限公司 | Multi-shape-adaptive external partial discharge detection device and detection method |
| CN114962852A (en) * | 2022-04-12 | 2022-08-30 | 广东工贸职业技术学院 | Transmission structure and underwater driving device |
| GR1010446B (en) * | 2022-03-09 | 2023-04-26 | Αινοουχαου Αε, | Amphibious articulated magnetic tracked vehicle |
| CN117048730A (en) * | 2023-10-11 | 2023-11-14 | 中国核工业二四建设有限公司 | Crawler-type wall climbing welding robot |
| CN117961384A (en) * | 2024-03-29 | 2024-05-03 | 中国核工业二四建设有限公司 | Crawler-type nuclear power station containment wall climbing welding robot with hollow structure |
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| CN114167236A (en) * | 2021-11-30 | 2022-03-11 | 大唐东北电力试验研究院有限公司 | Multi-shape-adaptive external partial discharge detection device and detection method |
| GR1010446B (en) * | 2022-03-09 | 2023-04-26 | Αινοουχαου Αε, | Amphibious articulated magnetic tracked vehicle |
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