Underwater operation robot capable of maintaining special-shaped space

Abstract

The invention belongs to the technical field of detection of internal dangerous parts of special-shaped space such as underwater dam foundation diversion tunnels and drilling platform underwater pipelines, and particularly relates to an underwater operation robot capable of maintaining the special-shaped space. Compared with the prior art, the underwater operation robot is mainly composed of an underwater robot parent body, a micro-robot and a micro-robot recycling device, the micro-robot mainly adopts a tensioning wheel pose follow-up combined mechanism, a supporting connecting rod and an extension spring are subjected to rigid-flexible coupling to define the pose follow-up relation of the axial pipe diameter, the micro-robot recycling device recycles the micro-robot by using a motor reel device, a six-degree-of-freedom mechanical arm is mainly provided with seven motors for driving joints to move, the device is combined with a special-shaped space structure detection robot through an underwater robot to form a child-mother type underwater structure detection robot, the defects of missing detection or incapability of detection and the like in a conventional underwater detection mode are overcome, the detection efficiency is improved, and meanwhile omnibearing detection of an underwater structure can also be realized.

Description

technical field [0001] The invention belongs to the technical field of detection of dangerous parts inside special-shaped spaces such as diversion tunnels of underwater dam foundations and underwater pipelines of drilling platforms, and specifically relates to an underwater operation robot that can be oriented to the maintenance of special-shaped spaces. Background technique [0002] At present, the detection and operation of underwater structures in ocean engineering and water conservancy projects mainly rely on divers to carry professional detection and operation equipment, which has problems such as short single operation time, low efficiency, and high risk. Underwater robots can overcome the above conditions It has the unique advantages of economy, high efficiency and safety, and can carry out long-term, large-scale, high-precision detection and operation underwater. However, conventional underwater operation robots can only carry out operation tools outside the underwate...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is that conventional underwater operation robots can only carry out non-contact detection on the outside of the underwater dangerous structure, and cannot detect the damaged parts inside the diversion tunnel of the dam foundation and the underwater pipeline of the drilling platform. In-depth detection, in order to solve the above problems, the present invention provides an underwater working robot that can be oriented to special-shaped space maintenance

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