An adaptive multi-legged underwater robot for offshore oil development

Abstract

An adaptive multi-legged underwater robot is developed for offshore oil, mainly to solve the problem that most underwater robots currently have limited space for underwater operations. It is characterized in that: the device is composed of ROV body and multi-legged mechanism; the multi-legged mechanism has 6 legs, each leg has 5 degrees of freedom, there are 2 joints between the base joint and the body, and the joint between the thigh and the base joint 1, 1 at the connection between the calf and the thigh, and 1 at the connection between the foot and the calf; the sole of the foot is a suction cup structure, and the suction cup can be rotated 90 degrees for wheel rolling, and it can be used for different working conditions through the conversion of the wheel and foot. The device can rely on the propeller to suspend. It can rely on multiple legs to walk on the seabed when the road is uneven or encounter complicated pipelines. When the road is flat, it can rely on wheels to roll on the seabed. When detecting the jacket, it can rely on the suction cup to absorb pipe strings of different sizes Therefore, the stability of work and the adaptability to the environment are improved, and the motion performance and work efficiency of the underwater robot are improved.

Description

Technical field: [0001] The invention relates to an underwater robot used in offshore oil development. Background technique: [0002] There are abundant biological resources and mineral resources in the ocean. With the depletion of land resources, the development and utilization of marine resources will play an increasingly important role in promoting human development and social progress. As the development of marine resources such as oil and natural gas extends from offshore to deep sea, cabled underwater robots are increasingly becoming an important tool for the development of marine resources because of their safety, high efficiency, large operating depth, and ability to work for a long time underwater. However, problems have also been exposed during the application process. Since most ROVs rely on the drive of the propeller, they are often powerless when encountering the impact of violent waves and strong undercurrents, and it is difficult to work normally, and the plac...

AI Technical Summary

Problems solved by technology

However, problems have also been exposed during the application process. Since most ROVs rely on the drive of the propeller, they are often powerless when encountering the impact of violent waves and strong undercurrents, and it is difficult to work normally, and the places where they can carry out underwater operations are also subject to certain restrictions. Restricted, most are suspended in water

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