CN209080129U - A kind of cleaning and detection robot for underwater facility circular tube structure - Google Patents
A kind of cleaning and detection robot for underwater facility circular tube structure Download PDFInfo
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- CN209080129U CN209080129U CN201821690796.8U CN201821690796U CN209080129U CN 209080129 U CN209080129 U CN 209080129U CN 201821690796 U CN201821690796 U CN 201821690796U CN 209080129 U CN209080129 U CN 209080129U
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Abstract
The utility model discloses a kind of cleanings for underwater facility circular tube structure and detection robot, including chassis, propeller propulsion system, gravity center adjusting mechanism, cleaning system, manipulator, light way system and operation detection instrument；Chassis is located at the lower section of robot, for providing stable operating platform support and driving robot crawling exercises；Propeller propulsion system is fixed on the top on chassis, for driving robot suspended motion；Gravity center adjusting mechanism is used to adjust the position of centre of gravity of robot；Cleaning system is fixed on the lower front on chassis, for carrying out underwater cleaning；Manipulator is fixed on the front upper on robot chassis, for grabbing operation detection instrument；Light way system is for providing illumination, camera shooting and external communication function.The utility model has cleaning and detection function simultaneously, and operating flexibility is affected by environment small, and activity duration window is big, and operating cost is moderate, can provide stable detection platform for marine underwater facility detection, improve detection accuracy.
Description
Technical field
The utility model belongs to robotic technology field, is related to underwater robot, and in particular to one kind for setting under water
Apply cleaning and the detection robot of circular tube structure.
Background technique
With people it is horizontal for ocean development be gradually increased and using technology continuous development, at sea built more
Carry out more underwater facilities, especially more and more oil platform jackets.Facility waterborne is in b.s.l. throughout the year, because
This is easy to adhere to a large amount of marine growth, and the secretion of these marine growths can corrode the steel construction of underwater facility, increase structure
Stress weakens the load-carrying ability of underwater facility structure.It is required simultaneously according to Offshore Units operation safety guarantee and classification society is strong
System requires, some underwater facility structures necessary periodic detection, including appearance, crackle, thickness measure, potentiometric detection etc..Therefore right
More and more important in the structure cleaning and detection of marine underwater facility, the cost of maintenance is also higher and higher.
For now, less than the cleaning of the marine underwater facility structure of 50 meters of depths and the detection operation overwhelming majority by diving under water
Member completes, and is greater than the cleaning of the marine underwater facility structure of 50 meters of depths and detects operation and generally controlled by job class undersea long
Robot (ROV) completes.
Diver's operation is a kind of high risk operation, and the ocean current, whirlpool and underwater visual in underwater facility structure are poor
The features such as to underwater operation bring very big security risk.It is superimposed with giant operation again, further increases underwater operation
Personnel hazard's property；In addition diver due to the physical reason activity duration it is limited, working efficiency is low；And diver is more than 50
Meter Shui Shen or less basically can not operation.
The large-scale lash ship branch that traditional job class undersea long control robot (ROV) needs to have dynamic positioning ability
It holds, equipment and operating cost are high, and influence of the hovering operation of ROV vulnerable to external environment, and control difficulty is big, and operating efficiency is low.
Utility model content
Main problem existing in the prior art includes: that (1) operating risk is big；(2) affected by environment big, activity duration window
Mouth is limited；(3) operating efficiency is low；(4) operating cost is high.
For the above-mentioned problems in the prior art, the utility model provides a kind of for underwater facility circular tube structure
Cleaning and detection robot, while there is cleaning and detection function, operating flexibility is affected by environment small, activity duration window
Greatly, operating cost is moderate, can provide stable detection platform for marine underwater facility detection, improve detection accuracy.
For this purpose, the utility model uses following technical scheme:
A kind of cleaning and detection robot for underwater facility circular tube structure, including chassis system, propeller promote system
System, gravity center adjusting mechanism, cleaning system, manipulator, light way system and operation detection instrument；The chassis system is located at robot
Lower section, for providing stable operating platform support and driving robot crawling exercises；The propeller propulsion system is fixed
On the top of chassis system, for driving robot suspended motion；The gravity center adjusting mechanism is located at the lower section of chassis system, uses
In the position of centre of gravity for adjusting robot；The cleaning system is fixed on the lower front of chassis system, for carrying out underwater cleaning；
The manipulator is fixed on the front upper of robot chassis system, has multiple freedom degrees, for grabbing operation detection instrument,
Complete the detection and operation to underwater facility；The smooth way system is for providing illumination, camera shooting and external communication function.
Preferably, the chassis system is equipped with chassis girder, the lower section of chassis girder be equipped with preceding main driving sorption wheel, after
Main driving sorption wheel and left swing arm driving sorption wheel, right swing arm drive sorption wheel；Preceding main driving sorption wheel, rear main driving sorption wheel
The underwater facility structure of magnetizer material can be adsorbed, while driving force being provided；The left swing arm driving sorption wheel is connected to a left side
The end of swing arm driving sorption wheel swing arm, left swing arm driving sorption wheel, right swing arm driving sorption wheel are according to underwater facility structure
Diameter changes the pivot angle of swing arm, does the movement that similar arm is encircled, and adsorbs magnetizer material by the sorption wheel of swing arm end
Underwater facility structure, while driving force being provided；The middle position of chassis girder is equipped with lifting mushroom head, is used for lifting machine people.
Preferably, the preceding main driving sorption wheel, rear main driving sorption wheel and left swing arm driving sorption wheel, right swing arm driving
Sorption wheel in sorption wheel includes the structure of permanent magnet or electromagnet.
Preferably, the propeller propulsion system includes that the horizontal propeller of 4 horizontal vector arrangements and 4 are arranged vertically
Vertical spin paddle, horizontal propeller provides before and after Robot Y-axis and the linear motion of X-axis or so and rotates about the z axis
Movement, vertical spin paddle provide the movement that Robot Z axis moves along a straight line up and down and rotates around Y axis and X-axis.
Preferably, the horizontal propeller of 4 horizontal vectors arrangement and the Y-axis and X-axis of robot distinguish angle at 45 °
Arrangement；The Z axis of 4 vertically arranged vertical spin paddles and robot is arranged at 5 ° of angles respectively.
Preferably, the propeller of the propeller propulsion system is coated in the first buoyant mass, and first buoyant mass is solid
It is scheduled on chassis system.
Preferably, the gravity center adjusting mechanism is articulated in the lower section of chassis girder, including submersible machine, lead screw, nut machine
Structure, the second buoyant mass, sliding rail and support；The second buoyant mass is fixed on the nut body, the submersible machine is for driving silk
Thick stick and nut body are moved along sliding rail and support, to adjust the position of centre of gravity of robot.
Preferably, the cleaning system has 2 grades of cylindrical racks and gear drive structure, respectively by two submersible machines
Driving；First order motor output shaft, which has first order cylindrical gear and is installed on, is fixed on the first of chassis system lower front
On grade pedestal, installation is there are four first order roller on first order pedestal, and both sides are fixed on four the to first order cylinder rack gear up and down
On level-one roller, and left and right is done by first order cylin-drical tooth wheel drive first order cylinder rack gear and is moved repeatedly；Second level pedestal is used
Fixing bolt is fixed on first order cylinder rack gear middle position, and there are four second level roller, the second level for installation on the pedestal of the second level
Motor output shaft is with second level cylindrical gear and is installed on the pedestal of the second level, and second level cylinder rack gear is fixed on both sides up and down
In on four second level rollers, and left and right is done by second level cylin-drical tooth wheel drive second level cylinder rack gear and is moved repeatedly；Second
There are two reciprocal cleaning sprayer, the reciprocal cleaning sprayer is swung by reciprocal cleaning sprayer for the both-side ends installation of grade cylinder rack gear
Driving motor driving.
Preferably, the manipulator is equipped with multiple rotary joints, has a 6+1 freedom degree, and the end of manipulator is equipped with the
Two low-light video cameras, the cleaning sprayer with recoil force compensating and gripper；The gripper can grab operation detection instrument, completion pair
The detection and operation of underwater facility.
Preferably, the smooth way system includes being fixed on robot bottom for observing the underwater high-definition camera of washing and cleaning operation
Machine, underwater lamp and backsight Underwater Camera, the Underwater Camera for being fixed on robot protect-ing frame structure front, robot tail portion
The obstacle avoidance sonar at one low-light video camera and top；The operation detection instrument includes Underwater Electric Potential instrument, underwater crackle detecting instrument,
They are placed on the meshed operation of robot chassis system front band and detection instrument basket.
Compared with prior art, the utility model has the beneficial effects that
(1) robot for cleaning and detecting dedicated for marine underwater facility, while there is cleaning and detection function.
(2) cleaning sprayer moves back and forth that range is big, and operating flexibility, can carry out hovering operation and absorption is creeped operation.
(3) affected by environment small, activity duration window is big.
(4) can flexible positioning, have multiple freedom degree locomitivities.
(5) stable detection platform is provided for marine underwater facility detection, improves detection accuracy.
(6) robot manipulating task moderate cost.
Detailed description of the invention
Fig. 1 is a kind of cleaning for underwater facility circular tube structure provided by the utility model and the base for detecting robot
This structure composition schematic diagram.
Fig. 2 is a kind of cleaning for underwater facility circular tube structure provided by the utility model and the master for detecting robot
View.
Fig. 3 is a kind of cleaning for underwater facility circular tube structure provided by the utility model and the left side for detecting robot
View.
Fig. 4 is a kind of bowing for cleaning and detection robot for underwater facility circular tube structure provided by the utility model
View.
Fig. 5 is a kind of facing upward for cleaning and detection robot for underwater facility circular tube structure provided by the utility model
View.
Fig. 6 is a kind of the quick-fried of cleaning and detection robot for underwater facility circular tube structure provided by the utility model
Fried view.
Fig. 7 is weight in a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model
The main view of heart regulating mechanism.
Fig. 8 is weight in a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model
The top view of heart regulating mechanism.
Fig. 9 is weight in a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model
The three dimensional structure diagram of heart regulating mechanism.
Figure 10 is in a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model
The main view of cleaning system.
Figure 11 is in a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model
The top view of cleaning system.
Figure 12 is in a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model
The left view of cleaning system.
Figure 13 is in a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model
The three dimensional structure diagram of cleaning system.
Figure 14 is in a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model
The three dimensional structure diagram of manipulator.
Figure 15 is that a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model is inhaled
It is attached to the main view for schematic diagram of creeping on the magnetic conductivity column that diameter is 600mm.
Figure 16 is that a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model is inhaled
It is attached to the left view for schematic diagram of creeping on the magnetic conductivity column that diameter is 600mm.
Figure 17 is that a kind of cleaning and detection robot for underwater facility circular tube structure provided by the utility model is inhaled
It is attached to the top view for schematic diagram of creeping on the magnetic conductivity column that diameter is 600mm.
Description of symbols: I, cleaning system；II, light way system；III, chassis system；IV, manipulator；V, propeller pushes away
Into system；VI, gravity center adjusting mechanism；1, chassis girder；2, backsight Underwater Camera；3, rear main driving sorption wheel；4, horizontal spiral shell
Revolve paddle；5, left swing arm driving sorption wheel；6, left swing arm driving sorption wheel swing arm；7, vertical spin paddle；8, right swing arm driving absorption
Wheel；9, preceding main driving sorption wheel；10, underwater crackle detecting instrument；11, underwater lamp；12, underwater high-definition camera；13, underwater camera
Machine；14, obstacle avoidance sonar；15, mushroom head is lifted by crane；16, the first buoyant mass；17, protect-ing frame structure；18, Underwater Electric Potential instrument；19, first
Low-light video camera；20, submersible machine；21, lead screw；22, nut body；23, the second buoyant mass；24, sliding rail and support；25,
Level-one cylinder rack gear；26, first order roller；27, first order pedestal；28, first order cylindrical gear；29, second level Cylinder Gear
Item；30, reciprocal cleaning sprayer；31, reciprocal to clean wobble drive motor of meeting and discussing；32, second level roller；33, the second level is cylindrical
Gear；34, second level pedestal；35, fixing bolt；36, rotary joint；37, the second low-light video camera；38, band recoil force compensating
Cleaning sprayer；39, handgrip.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described in detail the utility model, specific embodiment therein and says
It is bright to be only used to explain the utility model, but be not intended to limit the scope of the present invention.
As shown in Figure 1, the utility model discloses a kind of cleaning for underwater facility circular tube structure and detection robot,
Including chassis system III, propeller propulsion system V, gravity center adjusting mechanism VI, cleaning system I, manipulator IV, light way system II
With operation detection instrument；The chassis system III is located at the lower section of robot, for providing stable operating platform support and driving
Mobile robot crawling exercises；The propeller propulsion system V is fixed on the top of chassis system III, for driving robot outstanding
Transportation by driving is dynamic；The gravity center adjusting mechanism VI is located at the lower section of chassis system III, for adjusting the position of centre of gravity of robot；It is described clear
The lower front that system I is fixed on chassis system III is washed, for carrying out underwater cleaning；The manipulator IV is fixed on robot bottom
The front upper of disc system III has multiple freedom degrees, for grabbing operation detection instrument, complete detection to underwater facility and
Operation；The smooth way system II is for providing illumination, camera shooting and external communication function.
Specifically, as shown in Fig. 2-Fig. 3, the chassis system III is equipped with chassis girder 1, and the lower section of chassis girder 1 is set
There are preceding main driving sorption wheel 9, rear main driving sorption wheel 3 and left swing arm driving sorption wheel 5, right swing arm driving sorption wheel 8；Preceding main drive
Dynamic sorption wheel 9, rear main driving sorption wheel 3 can adsorb the underwater facility structure of magnetizer material, while provide driving force；It is described
Left swing arm driving sorption wheel 5 is connected to the end of left swing arm driving sorption wheel swing arm 6, and left swing arm driving sorption wheel 5, right swing arm drive
Dynamic sorption wheel 8 changes the pivot angle of swing arm according to the diameter of underwater facility structure, does the movement that similar arm is encircled, passes through swing arm end
The underwater facility structure of the sorption wheel absorption magnetizer material at end, while driving force being provided；The middle position of chassis girder 1 is equipped with
Mushroom head 15 is lifted by crane, lifting machine people is used for.
Specifically, the preceding main driving sorption wheel 9, rear main driving sorption wheel 3 and left swing arm driving sorption wheel 5, right swing arm
Sorption wheel in driving sorption wheel 8 includes the structure of permanent magnet or electromagnet.
Specifically, as shown in Figure 4-Figure 6, the propeller propulsion system V includes the horizontal spiral shell of 4 horizontal vectors arrangement
The vertically arranged vertical spin paddle 7 of paddle 4 and 4 is revolved, horizontal propeller 4 provides the straight of Robot Y axis front and back and X-axis or so
The movement that line is moved and rotated about the z axis, vertical spin paddle 7 provide Robot Z axis and move along a straight line up and down and around Y-axis and X
The movement of axis rotation.
Specifically, the horizontal propeller 4 of 4 horizontal vectors arrangement and the Y-axis and X-axis of robot distinguish angle at 45 °
Arrangement；The Z axis of 4 vertically arranged vertical spin paddles 7 and robot is arranged at 5 ° of angles respectively.
Specifically, the propeller of the propeller propulsion system V is coated in the first buoyant mass 16, first buoyancy
Block 16 is fixed on chassis system III.
Specifically, as shown in figs. 7 to 9, the gravity center adjusting mechanism VI is articulated in the lower section of chassis girder 1, including underwater
Motor 20, lead screw 21, nut body 22, the second buoyant mass 23, sliding rail and support 24；It is floating that second is fixed on the nut body 22
Power block 23, the submersible machine 20 is for driving lead screw 21 and nut body 22 to move along sliding rail and support 24, to adjust machine
The position of centre of gravity of device people.
Specifically, as shown in Figure 10-Figure 13, the cleaning system I has 2 grades of cylindrical racks and gear drive structure,
It is driven respectively by two submersible machines；First order motor output shaft has first order cylindrical gear 28 and is installed on and is fixed on
On the first order pedestal 27 of III lower front of chassis system, first order roller 26 there are four installations on first order pedestal 27, first
About 25 both sides of grade cylinder rack gear are fixed on four first order rollers 26, and by the driving of first order cylindrical gear 28 first
Grade cylinder rack gear 25 does left and right and moves repeatedly；The fixing bolt 35 of second level pedestal 34 is fixed among first order cylinder rack gear 25
Position, there are four second level rollers 32, second level motor output shaft to have second level cylin-drical tooth for installation on second level pedestal 34
Wheel 33 is simultaneously installed on second level pedestal 34, and cylinder rack gear about 29 both sides in the second level are fixed on four second level rollers 32,
And it drives second level cylinder rack gear 29 to do left and right by second level cylindrical gear 33 and moves repeatedly；The two of second level cylinder rack gear 29
There are two reciprocal cleaning sprayers 30 for the installation of side end, and the reciprocal cleaning sprayer 30 is by reciprocal cleaning sprayer wobble drive motor 31
Driving.
Specifically, as shown in figure 14, the manipulator IV is equipped with multiple rotary joints 36, has 6+1 freedom degree, mechanical
The end of hand IV is equipped with the second low-light video camera 37, the cleaning sprayer 38 with recoil force compensating and gripper 39；The gripper 39 can
To grab operation detection instrument, detection and operation to underwater facility are completed.
Specifically, the smooth way system II includes being fixed on robot bottom to take the photograph for observing the underwater high definition of washing and cleaning operation
Camera 12, underwater lamp 11 and backsight Underwater Camera 2, Underwater Camera 13, the machine for being fixed on 17 front of robot protect-ing frame structure
First low-light video camera 19 of device people tail portion and the obstacle avoidance sonar 14 at top；The operation detection instrument includes Underwater Electric Potential instrument
18, underwater crackle detecting instrument 10, they are placed on the meshed operation of III front band of robot chassis system and detection instrument basket
On.
When gravity center adjusting mechanism is in intermediate, the center of gravity of robot and centre of buoyancy are located at robot center of gravity for above-mentioned robot
On the vertical line at regulating mechanism center, centre of buoyancy is slightly above center of gravity.Robot can adjust robot by gravity center adjusting mechanism
Centre of buoyancy, can allow robot holding is horizontal, upright or handstand posture, increase the shape that holds position of robot operation under water
State improves the operating efficiency of robot to reduce the control requirement of robot.
Robot chassis system has the swing arm similar to arm, and the sorption wheel of swing arm end has driving force.Chassis system
The spray head for the cleaning system that there is lower front of uniting 2 grades of cylindrical racks and gear to drive can along the circumferential direction left and right it is reciprocal clear
Angle is washed greater than 90 °, cleaning sprayer can swing up and down adjusting cleaning direction.
There is various floating to move and hold position for robot.Robot can be adsorbed on the underwater facility knot of magnetizer material
Structure, and doing can crawling exercises and reciprocal cleaning.
It is vertical that above-mentioned cleaning and detection robot for underwater facility circular tube structure is adsorbed on the magnetic conductivity that diameter is 600mm
The schematic diagram creeped on column is as shown in Figure 15-Figure 17.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modification, equivalent replacement and improvement etc., should be included in this reality within the spirit and spirit of utility model
Within novel protection scope.
Claims (10)
1. a kind of cleaning and detection robot for underwater facility circular tube structure, including chassis system (III), propeller promote
System (V), gravity center adjusting mechanism (VI), cleaning system (I), manipulator (IV), light way system (II) and operation detection instrument,
It is characterized by: the chassis system (III) is located at the lower section of robot, for providing stable operating platform support and driving
Robot crawling movement；The propeller propulsion system (V) is fixed on the top of chassis system (III), for driving robot
Suspended motion；The gravity center adjusting mechanism (VI) is located at the lower section of chassis system (III), for adjusting the position of centre of gravity of robot；
The cleaning system (I) is fixed on the lower front of chassis system (III), for carrying out underwater cleaning；The manipulator (IV) is solid
Due to the front upper of robot chassis system (III), there are multiple freedom degrees, for grabbing operation detection instrument, complete to water
The detection and operation of lower facility；The smooth way system (II) is for providing illumination, camera shooting and external communication function.
2. a kind of cleaning and detection robot, feature for underwater facility circular tube structure according to claim 1 exists
Be equipped with chassis girder (1) in: the chassis system (III), the lower section of chassis girder (1) be equipped with preceding main driving sorption wheel (9),
Main driving sorption wheel (3) and left swing arm driving sorption wheel (5), right swing arm driving sorption wheel (8) afterwards；Preceding main driving sorption wheel (9),
Main driving sorption wheel (3) can adsorb the underwater facility structure of magnetizer material afterwards, while provide driving force；The left swing arm drives
Dynamic sorption wheel (5) are connected to the end of left swing arm driving sorption wheel swing arm (6), left swing arm driving sorption wheel (5), right swing arm driving
Sorption wheel (8) changes the pivot angle of swing arm according to the diameter of underwater facility structure, does the movement that similar arm is encircled, passes through swing arm end
The underwater facility structure of the sorption wheel absorption magnetizer material at end, while driving force being provided；The interposition of chassis girder (1) installs
There are lifting mushroom head (15), is used for lifting machine people.
3. a kind of cleaning and detection robot, feature for underwater facility circular tube structure according to claim 2 exists
In: the preceding main driving sorption wheel (9), rear main driving sorption wheel (3) and left swing arm driving sorption wheel (5), right swing arm driving are inhaled
Sorption wheel in wheel (8) includes the structure of permanent magnet or electromagnet.
4. a kind of cleaning and detection robot, feature for underwater facility circular tube structure according to claim 1 exists
In: the propeller propulsion system (V) includes that the horizontal propeller (4) that 4 horizontal vectors are arranged and 4 are vertically arranged vertical
Straight propeller (7), horizontal propeller (4) provide the linear motion of Robot Y-axis front and back and X-axis or so and rotate about the z axis
Movement, vertical spin paddle (7) provides the movement that Robot Z axis moves along a straight line up and down and rotates around Y-axis and X-axis.
5. a kind of cleaning and detection robot, feature for underwater facility circular tube structure according to claim 4 exists
In: the horizontal propeller (4) of 4 horizontal vectors arrangement and the Y-axis and X-axis of robot are distinguished angle at 45 ° and are arranged；Described 4
The Z axis of a vertically arranged vertical spin paddle (7) and robot is arranged at 5 ° of angles respectively.
6. a kind of cleaning and detection robot, feature for underwater facility circular tube structure according to claim 4 exists
In: the propeller of the propeller propulsion system (V) is coated in the first buoyant mass (16), and first buoyant mass (16) is solid
It is scheduled on chassis system (III).
7. a kind of cleaning and detection robot, feature for underwater facility circular tube structure according to claim 2 exists
In: the gravity center adjusting mechanism (VI) is articulated in the lower section of chassis girder (1), including submersible machine (20), lead screw (21), nut
Mechanism (22), the second buoyant mass (23), sliding rail and support (24)；The second buoyant mass (23) are fixed on the nut body (22),
The submersible machine (20) is for driving lead screw (21) and nut body (22) mobile along sliding rail and support (24), to adjust machine
The position of centre of gravity of device people.
8. a kind of cleaning and detection robot, feature for underwater facility circular tube structure according to claim 1 exists
In: the cleaning system (I) has 2 grades of cylindrical racks and gear drive structure, is driven respectively by two submersible machines；First
Grade motor output shaft, which has first order cylindrical gear (28) and is installed on, is fixed on the first of chassis system (III) lower front
On grade pedestal (27), there are four first order roller (26) for installation on first order pedestal (27), and first order cylinder rack gear (25) is up and down
Both sides are fixed on four first order rollers (26), and drive first order cylinder rack gear (25) by first order cylindrical gear (28)
Left and right is done to move repeatedly；Second level pedestal (34) is fixed on first order cylinder rack gear (25) middle position with fixing bolt (35),
There are four second level roller (32), second level motor output shaft to have second level cylindrical gear for installation on second level pedestal (34)
(33) it and is installed on second level pedestal (34), four second level rollers are fixed on both sides to second level cylinder rack gear (29) up and down
(32) on, and left and right is done by second level cylindrical gear (33) driving second level cylinder rack gear (29) and is moved repeatedly；Second level circle
There are two reciprocal cleaning sprayer (30) for the both-side ends installation of column rack gear (29), and the reciprocal cleaning sprayer (30) is by back and forth cleaning
Spray head wobble drive motor (31) driving.
9. a kind of cleaning and detection robot, feature for underwater facility circular tube structure according to claim 1 exists
Multiple rotary joints (36) are equipped in: the manipulator (IV), there is 6+1 freedom degree, the end of manipulator (IV) is equipped with the
Two low-light video cameras (37), the cleaning sprayer (38) with recoil force compensating and gripper (39)；The gripper (39) can grab work
Industry detection instrument completes detection and operation to underwater facility.
10. a kind of cleaning and detection machine for underwater facility circular tube structure according to any one of claim 1 to 9
People, it is characterised in that: the smooth way system (II) includes being fixed on robot bottom for observing the underwater high definition of washing and cleaning operation
Video camera (12), underwater lamp (11) and backsight Underwater Camera (2) are fixed on taking the photograph under water for robot protect-ing frame structure (17) front
The obstacle avoidance sonar (14) of camera (13), the first low-light video camera (19) of robot tail portion and top；The operation detects work
Tool includes Underwater Electric Potential instrument (18), underwater crackle detecting instrument (10), they are placed on robot chassis system (III) front and have
In the operation and detection instrument basket of mesh.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821690796.8U CN209080129U (en) | 2018-10-18 | 2018-10-18 | A kind of cleaning and detection robot for underwater facility circular tube structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821690796.8U CN209080129U (en) | 2018-10-18 | 2018-10-18 | A kind of cleaning and detection robot for underwater facility circular tube structure |
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| CN209080129U true CN209080129U (en) | 2019-07-09 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229310A (en) * | 2018-10-18 | 2019-01-18 | 上海海洋大学 | A kind of underwater outer round tube cleaning and detect robot |
| CN110562413A (en) * | 2019-08-05 | 2019-12-13 | 中国计量大学 | Hydrofoil surface attachment multi freedom cutting device |
| CN110588918A (en) * | 2019-08-05 | 2019-12-20 | 中国计量大学 | Hydrofoil structure surface attachment clearing device |
| CN114148491A (en) * | 2021-10-13 | 2022-03-08 | 武汉理工大学 | Self-adaptive visual imaging and sensing positioning multifunctional underwater patrol robot |
| CN114620206A (en) * | 2022-03-16 | 2022-06-14 | 北京千尧新能源科技开发有限公司 | Underwater remote control robot for cutting submarine optical cable |
| CN114834615A (en) * | 2022-06-13 | 2022-08-02 | 清华大学深圳国际研究生院 | Non-contact type pipeline detection underwater robot and method |
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2018
- 2018-10-18 CN CN201821690796.8U patent/CN209080129U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229310A (en) * | 2018-10-18 | 2019-01-18 | 上海海洋大学 | A kind of underwater outer round tube cleaning and detect robot |
| CN110562413A (en) * | 2019-08-05 | 2019-12-13 | 中国计量大学 | Hydrofoil surface attachment multi freedom cutting device |
| CN110588918A (en) * | 2019-08-05 | 2019-12-20 | 中国计量大学 | Hydrofoil structure surface attachment clearing device |
| CN114148491A (en) * | 2021-10-13 | 2022-03-08 | 武汉理工大学 | Self-adaptive visual imaging and sensing positioning multifunctional underwater patrol robot |
| CN114620206A (en) * | 2022-03-16 | 2022-06-14 | 北京千尧新能源科技开发有限公司 | Underwater remote control robot for cutting submarine optical cable |
| CN114834615A (en) * | 2022-06-13 | 2022-08-02 | 清华大学深圳国际研究生院 | Non-contact type pipeline detection underwater robot and method |
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