CN114852290A - 模块化水下桩基结构自适应清理及损伤检测机械臂 - Google Patents
模块化水下桩基结构自适应清理及损伤检测机械臂 Download PDFInfo
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- CN114852290A CN114852290A CN202210333491.6A CN202210333491A CN114852290A CN 114852290 A CN114852290 A CN 114852290A CN 202210333491 A CN202210333491 A CN 202210333491A CN 114852290 A CN114852290 A CN 114852290A
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- pile foundation
- cleaning
- arm frame
- foundation structure
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- 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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/023—Cleaning the external surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/10—Deep foundations
- E02D27/12—Pile foundations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
-
- 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
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
- B63B2059/082—Cleaning devices for hulls of underwater surfaces while afloat the devices being supported on arms or rods
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/08—Sinking workpieces into water or soil inasmuch as not provided for elsewhere
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/32—Foundations for special purposes
- E02D27/52—Submerged foundations, i.e. submerged in open water
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning In General (AREA)
Abstract
Description
Claims (7)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210333491.6A CN114852290B (zh) | 2022-03-31 | 2022-03-31 | 模块化水下桩基结构自适应清理及损伤检测机械臂 |
US17/818,304 US11666949B1 (en) | 2022-03-31 | 2022-08-08 | Modular mechanical arm for adaptive cleaning and damage detection of underwater pile foundation |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210333491.6A CN114852290B (zh) | 2022-03-31 | 2022-03-31 | 模块化水下桩基结构自适应清理及损伤检测机械臂 |
Publications (2)
Publication Number | Publication Date |
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CN114852290A true CN114852290A (zh) | 2022-08-05 |
CN114852290B CN114852290B (zh) | 2023-06-27 |
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CN202210333491.6A Active CN114852290B (zh) | 2022-03-31 | 2022-03-31 | 模块化水下桩基结构自适应清理及损伤检测机械臂 |
Country Status (2)
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US (1) | US11666949B1 (zh) |
CN (1) | CN114852290B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN118004356B (zh) * | 2024-03-25 | 2024-06-28 | 广东海洋大学 | 一种用于船舶围挡清理的特殊作业机械手 |
Citations (10)
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JP2009001411A (ja) * | 2007-06-25 | 2009-01-08 | Chugoku Electric Power Co Inc:The | 捕集袋 |
CN105751226A (zh) * | 2016-04-26 | 2016-07-13 | 哈尔滨工程大学 | 一种负压吸附与双机械手辅助夹持式水下钢结构清洗机器人 |
CN106514668A (zh) * | 2016-12-19 | 2017-03-22 | 华南理工大学 | 基于双机械手环抱桩柱的水下机器人定位*** |
CN108381542A (zh) * | 2018-04-04 | 2018-08-10 | 中国科学院自动化研究所 | 基于混合传动的水下机械臂 |
CN208117851U (zh) * | 2018-04-04 | 2018-11-20 | 中国科学院自动化研究所 | 基于混合传动的水下机械臂 |
CN209441584U (zh) * | 2018-11-13 | 2019-09-27 | 山东科技大学 | 一种多用途水下机器人 |
CN110899183A (zh) * | 2019-12-09 | 2020-03-24 | 国网智能科技股份有限公司 | 一种变电站绝缘子带电清扫机器人***及方法 |
CN111232078A (zh) * | 2020-02-13 | 2020-06-05 | 山东科技大学 | 一种吸附式可越障爬杆仿生机器人 |
CN212919414U (zh) * | 2020-08-06 | 2021-04-09 | 威海浦鲸智能设备有限公司 | 液下攀爬作业机器人 |
CN113211484A (zh) * | 2021-05-07 | 2021-08-06 | 南通大学 | 一种水下环抱装置 |
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US4502407A (en) * | 1982-04-12 | 1985-03-05 | Shell Oil Company | Method and apparatus for cleaning, viewing and documenting the condition of weldments on offshore platforms |
JP5591273B2 (ja) * | 2012-03-29 | 2014-09-17 | 三菱電機株式会社 | ワイヤロープ清掃治具 |
JP6861604B2 (ja) * | 2017-10-02 | 2021-04-21 | 株式会社オカムラ | 管理システム及び制御方法 |
CN110479653B (zh) * | 2019-07-22 | 2021-09-28 | 河海大学 | 一种自动清除海上桩基附着物的装置及清除方法 |
CN110626480B (zh) * | 2019-09-28 | 2021-07-23 | 深圳智加问道科技有限公司 | 一种水下巡检机器人 |
CN111389771B (zh) * | 2020-03-19 | 2022-03-18 | 哈尔滨工程大学 | 海洋钢桩清理机具 |
CN112357026A (zh) * | 2020-11-10 | 2021-02-12 | 倪融智 | 一种搭载多种功能模块的水下机器人及其生态*** |
CN112354912A (zh) * | 2020-11-25 | 2021-02-12 | 瑞安斌团电子科技有限公司 | 一种用于给海中停船桩除锈的设备 |
CN112354926A (zh) * | 2020-12-13 | 2021-02-12 | 黑龙江科技大学 | 一种海洋采油平台桩柱清洗装置 |
CN112627146A (zh) * | 2020-12-15 | 2021-04-09 | 上海瓯洋海洋工程有限公司 | 一种应用于液压升降***的桩腿导向装置及方法 |
US20240166316A1 (en) * | 2021-03-15 | 2024-05-23 | Franmarine Underwater Services Pty Ltd | A Cleaning Head For A Marine Cleaning System |
CN113148079A (zh) * | 2021-05-17 | 2021-07-23 | 中国科学院沈阳自动化研究所 | 一种水下作业自主航行机械臂 |
CN113522808B (zh) * | 2021-08-09 | 2022-04-15 | 自然资源部第二海洋研究所 | 一种海上平台桩柱清洁结构 |
CN113635342A (zh) * | 2021-08-16 | 2021-11-12 | 兰州大学 | 一种旋转式可更换机械臂和无人潜水器 |
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CN113663953B (zh) * | 2021-09-01 | 2022-06-24 | 自然资源部第二海洋研究所 | 一种海洋平台桩柱清理结构 |
-
2022
- 2022-03-31 CN CN202210333491.6A patent/CN114852290B/zh active Active
- 2022-08-08 US US17/818,304 patent/US11666949B1/en active Active
Patent Citations (10)
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JP2009001411A (ja) * | 2007-06-25 | 2009-01-08 | Chugoku Electric Power Co Inc:The | 捕集袋 |
CN105751226A (zh) * | 2016-04-26 | 2016-07-13 | 哈尔滨工程大学 | 一种负压吸附与双机械手辅助夹持式水下钢结构清洗机器人 |
CN106514668A (zh) * | 2016-12-19 | 2017-03-22 | 华南理工大学 | 基于双机械手环抱桩柱的水下机器人定位*** |
CN108381542A (zh) * | 2018-04-04 | 2018-08-10 | 中国科学院自动化研究所 | 基于混合传动的水下机械臂 |
CN208117851U (zh) * | 2018-04-04 | 2018-11-20 | 中国科学院自动化研究所 | 基于混合传动的水下机械臂 |
CN209441584U (zh) * | 2018-11-13 | 2019-09-27 | 山东科技大学 | 一种多用途水下机器人 |
CN110899183A (zh) * | 2019-12-09 | 2020-03-24 | 国网智能科技股份有限公司 | 一种变电站绝缘子带电清扫机器人***及方法 |
CN111232078A (zh) * | 2020-02-13 | 2020-06-05 | 山东科技大学 | 一种吸附式可越障爬杆仿生机器人 |
CN212919414U (zh) * | 2020-08-06 | 2021-04-09 | 威海浦鲸智能设备有限公司 | 液下攀爬作业机器人 |
CN113211484A (zh) * | 2021-05-07 | 2021-08-06 | 南通大学 | 一种水下环抱装置 |
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CN114852290B (zh) | 2023-06-27 |
US11666949B1 (en) | 2023-06-06 |
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Inventor after: Liu Airong Inventor after: Liang Jiaqiao Inventor after: Liu Guowei Inventor after: Fu Jiyang Inventor after: Chen Junda Inventor after: Chen Bingcong Inventor before: Liang Jiaqiao Inventor before: Liu Guowei Inventor before: Fu Jiyang Inventor before: Liu Airong Inventor before: Chen Junda Inventor before: Chen Bingcong |
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Application publication date: 20220805 Assignee: Guangzhou Guangjian Construction Engineering Testing Center Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2024980004403 Denomination of invention: Modular underwater pile foundation structure adaptive cleaning and damage detection robotic arm Granted publication date: 20230627 License type: Common License Record date: 20240415 |