The invention relates to a magnetic type pile leg cleaning and detecting underwater robot and a control method. The device comprises an underwater robot body, a magnetic adsorption type crawler belt, an operation chassis, a reciprocating type moving spray gun cleaning unit and a wall thickness detection mechanism. The underwater robot body serves as an underwater power source of the whole robot; the reciprocating type moving spray gun cleaning unit comprises a reciprocating lead screw mechanism, a high-pressure spray gun, a chain wheel and a supporting frame. And the magnetic adsorption type tracks are arranged on the left side and the right side, each magnetic adsorption type track comprises a driving wheel, a magnetic adsorption unit, a track telescopic rod and a track telescopic rod connecting piece and can adapt to the pipe diameter of the pile leg, so that the robot is stably adsorbed to the pile leg, and the reciprocating type moving spray gun cleaning unit and the wall thickness detection mechanism smoothly complete cleaning and detection work. According to the technical scheme, the robot can crawl on the pile legs, reciprocating cleaning and wall thickness detection are conducted on the surfaces of the pile legs, and therefore cleaning and detection integration of the pile legs with different pipe diameters of the offshore operation platform is achieved.

    本公开涉及一种磁吸式桩腿清洗检测水下机器人及控制方法。所述装置包括水下机器人本体、磁吸附式履带、作业底盘、往复式移动喷枪清洗单元以及壁厚检测机构;水下机器人本体作为整个机器人的水下动力来源;往复式移动喷枪清洗单元包括往复丝杠机构、高压喷枪、链轮以及支撑架;磁吸附式履带,设置为左右两边,包括主动轮、磁吸附单元、履带伸缩杆以及履带伸缩杆连接件,能够自适应桩腿管径,使机器人稳定吸附到桩腿上,以便于往复式移动喷枪清洗单元与壁厚检测机构顺利完成清洗与检测工作。本公开给出的技术方案能够实现机器人在桩腿上爬行,对桩腿表面进行往复清洗和壁厚检测,从而实现对海上作业平台不同管径桩腿的清洗检测一体化。


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    Title :

    Magnetic suction type pile leg cleaning and detecting underwater robot and control method


    Additional title:

    磁吸式桩腿清洗检测水下机器人及控制方法


    Contributors:
    WANG BAOJIN (author) / REN FUSHEN (author) / ZHU JIAXIANG (author) / LIU JUN (author) / CHEN SULI (author) / HU QING (author)

    Publication date :

    2024-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B08B Reinigen allgemein , CLEANING IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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