Electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot and system

Abstract

The invention relates to an electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot which comprises a crawler traveling module, a robot frame and an electric drive propeller module, the crawler traveling module is flexibly connected to the two sides of the robot frame through an adjustable connecting rod, and the electric drive propeller module comprises a horizontal propeller and a vertical propeller. An operation tool module and a mechanical arm module matched with the operation tool module are installed on the front side of the robot frame, and a hydraulic system module used for driving the crawler belt advancing module to move is installed on the rear side of the robot frame. According to the underwater robot, foreign matter attached to the surface of an underwater structure is cleaned, polished, subjected to defect detection and repaired through the carried different operation tool modules and the carried manipulator module, existing manual underwater cleaning operation can be replaced, therefore, the cleaning efficiency is greatly improved, an excellent hydrodynamic structure and electro-hydraulic dual-driving force are adopted, and the underwater robot can be used for cleaning the surface of the underwater structure. And the robot can play a role in intervention operation of various underwater production systems.

Description

technical field [0001] The invention relates to the technical field of underwater operation robots, in particular to an electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot and a system. Background technique [0002] my country's offshore oil and gas resources development, offshore wind power, bridges and other large-scale marine engineering structures are in full swing, and the life-service safety issues such as damage detection and repair of large-scale marine engineering structures are facing huge challenges. Under the action of waves, long-term uninterrupted turbulence, severe weather such as typhoons, and heavy-load production and operation conditions on the deck, the underwater structure is prone to defects such as weld cracks due to fatigue. The current mainstream flaw detection monitoring mainly uses the underwater ultrasonic testing method to detect the corrosion of the hull and steel structure offshore platforms. When the European ...

AI Technical Summary

Problems solved by technology

This flaw detection method takes a long time and costs a lot of money. More importantly, the waterline of marine structures is full of marine organisms, which cannot be inspected in real time by divers alone. Such structural defects seriously threaten the platform itself and relevant production personnel. safety

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