An underwater robot for repairing water pipelines and a method for optimizing its structural dimensions

Abstract

The present invention discloses an underwater robot for the maintenance of water conveyance pipelines and a method for optimizing its structural dimensions. The underwater robot includes an underwater robot main body module, a rear support telescopic module, and a front support telescopic module. The robot main body module includes a fairing, a vertical propulsion cabin, a front horizontal propulsion cabin, a manipulator cabin, a hydraulic cylinder cabin, a rear horizontal propulsion cabin, an electronic cabin module, and a tail fin module. The front support telescopic module and the rear support telescopic module are respectively installed on the underwater robot main body module by three identical legs. In the motion mode, the manipulator and the front and rear horizontal propulsion cabins are all retracted inside the underwater robot main body, and it can quickly move to the fault location and can also check the internal state of the pipeline in a relatively fast state. When a fault point is found, the front and rear support telescopic modules at both ends of the underwater robot main body module are deployed to fix the underwater robot to the inner wall of the pipeline, and the manipulator installed on the rear support telescopic module is opened from the folded state and starts to perform operations.

Description

Technical Field

[0001] The present invention relates to the field of underwater robots, and particularly to an underwater robot for repairing water conveyance pipelines. Background Art

[0002] With the rapid development of current industry and towns, pipelines are widely used in water supply and other systems and widely laid due to their convenient transportation. During use, pipelines are easily slightly damaged under the influence of external forces, environment and other factors, and corrosion, breakage and other situations occur during long-term use. In order to avoid economic losses caused by these situations, pipelines need to be regularly inspected. Manual inspection has a large workload and low efficiency, while underwater robots, as robots working underwater, can carry sensors such as cameras, robotic arms and sonars and enter the pipeline for inspection operations.

[0003] A Chinese patent with the patent number CN111306401A and the name of "A Rotatable Sailing-Type Autonomous Underwater Robot for Water Conveyance Pipeline Detection" designs a rotatable sailing-type autonomous underwater robot, which realizes power-free navigation by the water flow pushing the underwater robot, significantly reducing energy consumption. However, this device uses the water flow as the power source to push the underwater robot for inspection in the pipeline, and cannot return to the fault point for detailed detection after missing the fault point. A Chinese patent with the patent number CN104613275A and the name of "An Underwater Robot Detection Device for Pipelines" designs an underwater robot for pipelines, which uses four surrounding push rods and cooperates with a camera to observe the inner wall of the pipeline in detail. However, this underwater robot for pipelines is only supported by four surrounding push rods at the front end and has poor resistance to the disturbance of turbulent flow. Summary of the Invention

[0004] Object of the Invention: Aiming at the above-mentioned shortcomings, the present invention provides an underwater robot for repairing water conveyance pipelines, which has two modes: a motion mode and a working mode. In the motion mode, the underwater robot of the present invention can move quickly and inspect the inner wall of the pipeline. In the working mode, the underwater robot of the present invention can be stably fixed in the pipeline, the working range of the robotic arm installed on the legs is increased, and the front and rear propulsion cabins can rotate the underwater robot circumferentially along the pipeline to further expand the working range. The present invention provides a method for optimizing the structural dimensions, which can maximize the force arm of the leg drive rod in the structural design of the underwater robot and provide a design basis for controlling the stroke of the hydraulic cylinder of the legs.

[0005] Technical Solution: To solve the above problems, the present invention adopts an underwater robot for repairing water conveyance pipelines, which is characterized by comprising a main body module, a rear support telescopic module and a front support telescopic module;

[0006] The rear support telescopic module includes a number of rear legs, rear leg drive rods, and rear sliding connection rings; a rear support fixing frame hinged to the rear ends of the rear legs is provided on the main body module, and one end of the rear leg drive rod is hinged to the rear leg; the other end of the rear leg drive rod is hinged to the rear sliding connection ring; there is a distance between the hinge point of the rear leg drive rod and the rear leg and the hinge point of the rear leg and the rear support fixing frame to form a lever structure;

[0007] The front support telescopic module includes a number of front legs, front leg drive rods, and front sliding connection rings; a front support fixing frame hinged to the rear ends of the front legs is provided on the main body module, and one end of the front leg drive rod is hinged to the front leg; the other end of the front leg drive rod is hinged to the front sliding connection ring; there is a distance between the hinge point of the front leg drive rod and the front leg and the hinge point of the front leg and the front support fixing frame to form a lever structure;

[0008] A lead screw extending parallel to the axis of the main body module is provided outside the main body module. The rear sliding connection ring and the front sliding connection ring are located on the lead screw, and the lead screw, the rear sliding connection ring, and the front sliding connection ring together form a bidirectional lead screw structure. When the lead screw rotates, the rear sliding connection ring and the front sliding connection ring approach or move away from each other. When the rear sliding connection ring and the front sliding connection ring move away from each other, the rear leg drive rod and the front leg drive rod respectively open the rear legs and the front legs relative to the main body module.

[0009] Further, a front horizontal fixing frame is installed on the front leg, and a front horizontal thruster is provided in the front horizontal fixing frame; a rear horizontal fixing frame is installed on the rear leg, and a rear horizontal thruster is provided in the rear horizontal fixing frame; the main body module is provided with a front horizontal fixing compartment for receiving the front horizontal fixing frame and a rear horizontal fixing compartment for receiving the rear horizontal fixing frame; both the front horizontal fixing compartment and the rear horizontal fixing compartment are provided with grooves; when the front leg contracts relative to the main body module, the front horizontal fixing frame is received in the groove of the front horizontal fixing compartment; the rear horizontal fixing frame is received in the groove of the rear horizontal fixing compartment.

[0010] Further, the main body module is provided with a vertical propulsion compartment, which includes a vertical propulsion fixing compartment and a vertical thruster. There is a slot penetrating from top to bottom in the vertical propulsion fixing compartment, and the vertical thruster is fixed in the slot.

[0011] Further, the main body module is provided with a hydraulic cylinder compartment, which includes a hydraulic cylinder, a hydraulic rod, and a hydraulic fixing compartment. One bottom surface of the hydraulic cylinder is uniformly fixed on the connecting surface connected to the robotic arm compartment, and the number of hydraulic rods is the same as that of the hydraulic cylinders and are inserted into the hydraulic cylinders one by one.

[0012] Furthermore, an electronic cabin module is provided in the main body module. The electronic cabin module includes an electronic cabin, a rear support fixing frame, a sealing cover plate, a gear ring, and a driving gear. The electronic cabin is connected to the rear support fixing frame, the rear support fixing frame is connected to the sealing cover plate, and the gear ring and the driving gear are meshed with each other and installed on the sealing cover plate.

[0013] Furthermore, a front hydraulic leg rod, a front leg spring, and a front leg contact ball are provided on the front leg. The front hydraulic leg rod is installed in the front leg, and the hydraulic leg rod is connected to the front leg contact ball through the front leg spring;

[0014] A rear hydraulic leg rod, a rear leg spring, and a rear leg contact ball are provided on the rear leg. The rear hydraulic leg rod is installed in the rear leg, and the rear hydraulic leg rod is connected to the rear leg contact ball through the rear leg spring.

[0015] Furthermore, a robotic arm fixing member, a robotic arm, and a camera are installed on the robotic arm leg; the robotic arm fixing member and the camera are installed on the robotic arm leg, and the robotic arm is installed on the robotic arm fixing member; the main body module is provided with a robotic arm cabin, and the robotic arm cabin is provided with an opening. When the robotic arm leg contracts relative to the main body module, the robotic arm is received in the opening of the front horizontal fixed cabin.

[0016] Furthermore, the lead screw includes a left lead screw and a right lead screw; the left lead screw is installed on the left side of the main body module, and the right lead screw is installed on the right side of the main body module. Left and right gears are provided on the outer side of the gear ring. The left and right gears are meshed with the gear ring. One end of the left lead screw passes through the left gear, and the left lead screw sequentially passes through a rear sliding connection ring and a front sliding connection ring forward, and the other end is fixed to the front support fixing frame; one end of the right lead screw passes through the right gear, and the right lead screw sequentially passes through the rear sliding connection ring and the front sliding connection ring forward, and the other end is fixed to the front support fixing frame.

[0017] Advantages: Compared with the prior art, the significant advantage of the present invention is that through the extension and contraction of the front and rear support telescopic modules, it can move and perform maintenance operations in the pipeline. In the inspection mode, the robotic arm and the front and rear horizontal propulsion cabins are both retracted into the underwater robot body, enabling flexible attitude adjustment. Moreover, the overall shape is streamlined, allowing it to quickly move to the fault location and also enabling it to inspect the internal state of the pipeline in a relatively fast state. When a fault point is detected, it enters the working mode. The rotation of the driving gear drives the rotation of the gear ring, which in turn drives the left gear and left lead screw at both ends and the right gear and right lead screw to rotate simultaneously. Finally, it drives the front and rear sliding connection rings with opposite rotation directions to move relative to each other along the lead screw direction, and through the connecting rod, the front and rear support telescopic modules at both ends of the underwater robot body module are unfolded to fix the underwater robot to the inner wall of the pipeline. By respectively supporting the front and rear positions on the inner wall of the pipeline with the front and rear sets of support telescopic modules, the risk of shaking of the robot relative to the inner wall of the pipeline is reduced, making the relative fixation of the robot to the inner wall of the pipeline more stable. At the same time, the robotic arm installed on the rear support telescopic module is opened from the folded state and starts to perform operations. Moreover, the front and rear horizontal propulsion cabins installed on the front and rear support telescopic modules can adjust the circumferential position of the underwater robot in the pipeline, thereby expanding the maintenance range and facilitating the attitude adjustment of the underwater robot. The present invention also provides a method for optimizing the structural dimensions, which can maximize the force arm of the leg drive rod in the structural design of the underwater robot, facilitating the improvement of the anti-interference ability of the underwater robot during operation. Description of the Drawings

[0018] Figure 1 It is a structural diagram of the working state of the present invention patent;

[0019] Figure 2 It is a structural diagram of the moving state of the present invention patent;

[0020] Figure 3 It is a structural diagram of the underwater robot body module of the present invention patent;

[0021] Figure 4 It is an exploded view of the fairing and vertical propulsion cabin part of the present invention patent;

[0022] Figure 5 It is a cross-sectional view of the fairing and vertical propulsion cabin part of the present invention patent;

[0023] Figure 6 It is an exploded view of the front horizontal propulsion cabin part of the present invention patent;

[0024] Figure 7 It is a cross-sectional view of the front horizontal propulsion cabin part of the present invention patent;

[0025] Figure 8 It is an exploded view of the hydraulic cabin part of the present invention patent;

[0026] Figure 9 This is the main cross-sectional view of the hydraulic cabin part of the invention patent.

[0027] Figure 10 This is the cross-sectional view of the hydraulic cabin part of the invention patent.

[0028] Figure 11 This is the exploded view of the rear horizontal propulsion cabin part of the invention patent.

[0029] Figure 12 This is the exploded view of the electronic cabin module and the tail fin module of the invention patent.

[0030] Figure 13 This is the cross-sectional view of the electronic cabin module and the tail fin module of the invention patent.

[0031] Figure 14 This is the structural diagram of the front and rear support telescopic modules of the invention patent.

[0032] Figure 15 It is Figure 14 View A in

[0033] Figure 16 It is Figure 14 The exploded view of the rear leg in

[0034] Figure 17 This is the cross-sectional view of the rear leg of the invention patent.

[0035] Figure 18 This is the view of the manipulator retracted in the cabin of the invention patent.

[0036] Figure 19 This is the view of the manipulator out of the cabin of the invention patent.

[0037] Figure 20 This is the exploded view of the manipulator leg of the invention patent.

[0038] Figure 21 This is the front view of the front leg of the invention patent.

[0039] Figure 22 This is the schematic diagram of the mechanism of the invention patent.

[0040] Figure 23 This is the schematic diagram of the hydraulic system of the invention patent.

[0041] Figure 24 These are the two modes of inspection and work of the invention patent in the pipeline.

[0042] Figure 25 This is the cross-sectional view of the working mode of the invention patent in the pipeline. Detailed implementation method

[0043] Such as Figure 1 And Figure 2As shown in the figure, an underwater robot for the maintenance of water conveyance pipelines in this embodiment includes a main body module 1, a rear support telescopic module 2, and a front support telescopic module 3.

[0044] As Figure 3 shown in the figure, the main body module 1 of the underwater robot includes a fairing 4, a vertical propulsion cabin 5, a front horizontal propulsion cabin 6, a manipulator cabin 7, a hydraulic cylinder cabin 8, a rear horizontal propulsion cabin 9, an electronic cabin module 10, and a tail fin module 11 that are axially connected in sequence from front to back.

[0045] As Figure 4 and Figure 5 shown in the figure, the vertical propulsion cabin 5 includes a vertical propulsion fixed cabin 14 and a vertical thruster 15. Screws pass through the threaded mounting holes on the fairing 4, the front support fixed frame 12, the front flange 13, and the vertical propulsion fixed cabin 14 in sequence, and are fixed into a whole by cooperating with nuts. Four countersunk holes are opened on the vertical propulsion fixed cabin 14, and the vertical thruster 15 is fixed in the vertical propulsion fixed cabin 14 by cooperating with the four countersunk holes and screws.

[0046] As Figure 6 and Figure 7 shown in the figure, the front horizontal propulsion cabin 6 includes a front horizontal propulsion fixed cabin 16, a front horizontal fixed frame 17, and a front horizontal thruster 18. The front horizontal thruster 18 is fixedly installed in the front horizontal fixed frame 17 by screws. The front horizontal propulsion fixed cabin 16 is provided with a groove for receiving the front horizontal fixed frame 17. The manipulator cabin 7 is provided with a slot for receiving the manipulator 46, and the manipulator cabin 7 and the front horizontal propulsion fixed cabin 16 are fixed by bolts and nuts.

[0047] As Figures 8 to 10 shown in the figure, the hydraulic cylinder cabin 8 includes a hydraulic cylinder 19, a hydraulic rod 20, and a hydraulic fixed cabin 21. The hydraulic cylinder 19 is composed of a plurality of cylinders with the same diameter. One bottom surface of the cylinder is uniformly fixed on a circular plate surface and is installed in the chute of the hydraulic fixed cabin 21, and the other bottom surface is open and is fitted with the hydraulic rod 20. The number of hydraulic rods 20 is the same as that of the hydraulic cylinders 19. One end is fixed in the hydraulic fixed cabin 21, and the other end is a circle with a diameter the same as the inner diameter of the cylinder in the hydraulic cylinder 19, and the circular position just fits with the cylinder in the hydraulic cylinder 19. Both ends of the hydraulic cabin 8 are fixedly connected to the manipulator cabin 7 and the rear horizontal propulsion cabin 9 by bolts and nuts.

[0048] As Figure 11 shown in the figure, the rear horizontal propulsion cabin 9 includes a rear horizontal propulsion fixed cabin 22, a rear horizontal fixed frame 23, and a rear horizontal thruster 24. The rear horizontal thruster 24 is fixedly installed in the rear horizontal fixed frame 23 by screws. The rear horizontal propulsion fixed cabin 9 is provided with a groove for receiving the rear horizontal fixed frame 23.

[0049] As Figure 12 and Figure 13As shown in the figure, the electronic cabin module 10 includes an electronic cabin 25, a rear support fixing frame 26, a sealing cover plate 27, and a gear ring 28. The electronic cabin 25 is connected to the rear support fixing frame 26, and the rear support fixing frame 26 is fixedly connected to the sealing cover plate 27. The driving gear 33 is installed on the sealing cover plate 27 through a shaft, and the gear ring 28 meshes with the driving gear 33 and is installed on the sealing cover plate 27. The tail fin module 11 includes a thruster 34 and a thruster fixing frame 35. The thruster fixing frame 35 is fixedly connected to the sealing cover plate 27 by screws, and four identical thrusters 34 are installed on the surface of the thruster fixing frame 35.

[0050] As Figures 14 to 16 shown, the rear support telescopic module 2 includes three rear legs 41, a rear leg drive rod 40, and a rear sliding connection ring 39. The rear end of the rear leg 41 is hinged to the rear support fixing frame 26, and one end of the rear leg drive rod 40 is hinged to the rear leg 41. The other end of the rear leg drive rod 40 is hinged to the rear sliding connection ring 39; there is a distance between the hinge point of the rear leg drive rod 40 and the rear leg 41 and the hinge point of the rear leg 41 and the rear support fixing frame 26 to form a lever structure. The rear sliding connection ring 39 is arranged around the main body module 1.

[0051] As Figure 14 、 Figure 15 and Figure 21 shown, the front support telescopic module 3 includes three front legs 38, a front leg drive rod 49, and a front sliding connection ring 48. The rear end of the front leg 38 is hinged to the front support fixing frame 12, and one end of the front leg drive rod 49 is hinged to the front leg 38. The other end of the front leg drive rod 49 is hinged to the front sliding connection ring 48. There is a distance between the hinge point of the front leg drive rod 49 and the front leg 38 and the hinge point of the front leg 38 and the front support fixing frame 12 to form a lever structure. The front sliding connection ring 48 is arranged around the main body module 1.

[0052] As Figure 16 、 Figure 17 and Figure 21 shown, the rear leg 41 is provided with a rear hydraulic leg rod 42, a rear leg spring 43, and a rear leg contact ball 44. The rear hydraulic leg rod 42 is installed inside the rear leg 41, and the rear hydraulic leg rod 42 is connected to the rear leg contact ball 44 through the rear leg spring 43. The front leg 38 is also installed with the above structure. Specifically, the front leg 38 is provided with a front hydraulic leg rod 50, a front leg spring 51, and a front leg contact ball 52. The front hydraulic leg rod 50 is installed inside the front leg 38, and the hydraulic leg rod 50 is connected to the front leg contact ball 52 through the front leg spring 51.

[0053] A rear horizontal fixing frame 23 is installed on the front outrigger 38, and a rear horizontal thruster 24 is provided in the rear horizontal fixing frame 23. A front horizontal fixing frame 17 is installed on the rear outrigger 41, and a front horizontal thruster 18 is provided in the front horizontal fixing frame 17. When the front outrigger 38 contracts relative to the main body module 1, the front horizontal fixing frame 17 is received in the groove of the front horizontal fixing compartment 16; the rear horizontal fixing frame 23 is received in the groove of the rear horizontal fixing compartment 22.

[0054] On the outside of the main body module 1, there are a left lead screw 29 and a right lead screw 31 extending parallel to the axis of the main body module 1. The left lead screw 29 is installed on the left side of the main body module 1, and the right lead screw 31 is installed on the right side of the main body module 1. On the outside of the gear ring 28, there are a left gear 30 and a right gear 32. The left gear 30 and the right gear 32 are engaged with the gear ring 28. One end of the left lead screw 29 passes through the left gear 30, and the left lead screw 29 sequentially passes through the rear sliding connection ring 39 and the front sliding connection ring 48 forward, and the other end is fixed on the front support fixing frame 12. One end of the right lead screw 31 passes through the right gear 32, and the right lead screw 31 sequentially passes through the rear sliding connection ring 39 and the front sliding connection ring 48 forward, and the other end is fixed on the front support fixing frame 12. The left lead screw 29, the right lead screw 31, the rear sliding connection ring 39, and the front sliding connection ring 48 together form a bidirectional lead screw structure. When the lead screw rotates, the rear sliding connection ring 39 and the front sliding connection ring 48 approach or move away from each other. When the rear sliding connection ring 39 and the front sliding connection ring 48 move away from each other, the rear outrigger drive rod 40 and the front outrigger drive rod 49 respectively open the rear outrigger and the front outrigger relative to the main body module 1.

[0055] As Figures 18 to 21 shown, a robotic arm fixing member 45, a robotic arm 46, and a camera 47 are installed on the robotic arm outrigger 37. The robotic arm fixing member 45 and the camera 47 are installed on the robotic arm outrigger 37, and the robotic arm 46 is installed on the robotic arm fixing member 45; when the robotic arm outrigger 37 contracts relative to the main body module 1, the robotic arm 46 is received in the slot of the robotic arm compartment 7.

[0056] When the underwater robot is in the inspection mode, the rear support telescopic module 2 and the front support telescopic module 3 are in the contracted state, the robotic arm outrigger 37 contracts, the robotic arm 46 is folded and contracted and placed in the opening of the robotic arm compartment 7. Similarly, the front horizontal fixing frame 17 and the rear horizontal fixing frame 23 contract in the front horizontal propulsion fixing compartment 16 and the rear horizontal propulsion fixing compartment 22. When a fault point is found, the underwater robot enters the working mode, the rear support telescopic module 2 and the front support telescopic module 3 expand, the rear thruster outrigger 36, the robotic arm outrigger 37, and the front thruster outrigger 38 open, the rear thruster outrigger 36 drives the front horizontal fixing frame 17 to open; the opening of the front thruster outrigger 38 drives the rear horizontal fixing frame 23 to open; the robotic arm 46 is taken out of the robotic arm compartment 7 by the robotic arm outrigger 37, and then the robotic arm 46 unfolds for operation.

[0057] The unfolding process of the rear support telescopic module 2 and the front support telescopic module 3 is as follows: The rotation of the driving gear 33 drives the rotation of the gear ring 28. Through the gear ring 28, the left gears 30 and the left lead screws 29 at both ends and the right gears 32 and the right lead screws 31 rotate simultaneously. Finally, it drives the rear sliding connection ring 39 and the front sliding connection ring 48 with opposite helix directions to move relative to each other along the axial direction, and drives the front support telescopic module 3 and the rear support telescopic module 2 at both ends of the underwater robot main body module 1 to unfold through the rear leg driving rod 40 and the front leg driving rod 49, fixing the water conveyance pipeline robot to the inner wall of the pipeline.

[0058] The preferred embodiment of the structural dimensions of the underwater robot is as follows:

[0059] The moving distance of the rear sliding connection ring 39 is denoted as a, the length of the rear leg driving rod 40 is denoted as L, and the distance between the fulcrum of the rear leg 41 and the connection point of the rear leg driving rod 40 is denoted as R.

[0060] As Figure 24 shown, the state when the rear leg 41 is fully retracted is as Figure 24 (a) shown, the state after the rear sliding connection ring 39 moves a distance a is as Figure 24 (b), and the state after the rear sliding connection ring 39 moves to the limit distance a is as Figure 24 (c) shown. At this time, the rear leg driving rod 40 is perpendicular to the axis of the underwater robot main body module 1. During the movement of the rear sliding connection ring 39, the rear leg driving rod 40 is a two-force member, and the acting force F it bears is along the direction of the rod. The external disturbing moment it can resist is M = Fh, where h is the force arm of the leg driving rod. It can be seen that when the external disturbing moment M remains unchanged, the larger the force arm h of the leg driving rod, the smaller the force F borne by the rear leg driving rod 40. When the force F borne by the rear leg driving rod 40 remains unchanged, the larger the force arm h of the leg driving rod, the larger the external disturbing moment M it can resist. Therefore, increasing h is beneficial to improving the anti-interference ability of the underwater robot during operation.

[0061] According to Figure 24 (c), there is a relational expression:

[0062] According to the Pythagorean theorem, R 2 +(L + R - a) 2 = L 2 ,

[0063] According to the triangle area calculation formula, R(L + R - a) = Lh,

[0064] Combining the above two formulas, there is

[0065]

[0066] Solve for the relationship of the leg drive rod lever arm \(h\) with respect to \(L\) and \(R\):

[0067]

[0068] The leg drive rod lever arm \(h\) satisfies the following relational expression, where \(A\) is the distance of the farthest position of the rear sliding connection ring:

[0069]

[0070] Then, under the condition of \(L + R - A = 0\), find the extreme value problem and construct the Lagrangian function:

[0071]

[0072] Take the partial derivatives with respect to \(L\) and \(R\) respectively:

[0073]

[0074] When , there is

[0075]

[0076] Solve to get:

[0077]

[0078] Also, according to \(R(L + R - a)=Lh\), then there is

[0079]

[0080] Figure 25 As shown, when entering the working mode, the front support telescopic module 3 and the rear support telescopic module 2 start to expand, and are driven to open by relying on the front sliding connection ring 48 and the rear sliding connection ring 39. Among them, during the movement of the rear sliding connection ring 39, the hydraulic cylinder 19 is driven to extend the rear hydraulic leg rod 42. When the rear sliding connection ring 39 moves to the limit position, the rear hydraulic leg rod 42 also moves to the limit position. The distance between the two limit positions of the hydraulic cylinder 19 is \(b1\), and the distance between the two limit positions of the rear hydraulic leg rod 42 is \(b2\). The cross-sectional area of a single hydraulic cylinder and the hydraulic rod cross-sectional area of the hydraulic cabin 8 are denoted as \(s\) 舱缸 and \(s\) 舱杆 、The cross-sectional area of the hydraulic cylinder and the hydraulic rod cross-sectional area of the rear leg 41 are denoted as \(s\) 腿缸 and \(s\) 腿杆 .

[0081] Thus, the hydraulic system needs to satisfy the following relationship, where \(a = b1\):

[0082]

Claims

1. An underwater robot for the maintenance of water pipelines, characterized in that, It includes a main body module (1), a rear support telescopic module (2) and a front support telescopic module (3); The rear support telescopic module (2) includes a plurality of rear legs (41), a rear leg drive rod (40) and a rear sliding connection ring (39); a rear support fixing frame (26) hinged to the rear end of the rear leg (41) is provided on the main body module, and one end of the rear leg drive rod (40) is hinged to the rear leg (41); the other end of the rear leg drive rod (40) is hinged to the rear sliding connection ring (39); there is a distance between the hinged joint of the rear leg drive rod (40) and the rear leg (41) and the hinged joint of the rear leg (41) and the rear support fixing frame (26) to form a lever structure; The front support telescopic module (3) includes a plurality of front legs (38), a front leg drive rod (49) and a front sliding connection ring (48); a front support fixing frame (12) hinged to the rear end of the front leg (38) is provided on the main body module, and one end of the front leg drive rod (49) is hinged to the front leg (38); the other end of the front leg drive rod (49) is hinged to the front sliding connection ring (48); there is a distance between the hinged joint of the front leg drive rod (49) and the front leg (38) and the hinged joint of the front leg (38) and the front support fixing frame (12) to form a lever structure; A lead screw extending parallel to the axis of the main body module (1) is provided on the outside of the main body module (1), the rear sliding connection ring (39) and the front sliding connection ring (48) are located on the lead screw, and the lead screw, the rear sliding connection ring (39) and the front sliding connection ring (48) together form a bidirectional lead screw structure. When the lead screw rotates, the rear sliding connection ring (39) and the front sliding connection ring (48) approach or move away from each other. When the rear sliding connection ring (39) and the front sliding connection ring (48) move away from each other, the rear leg drive rod (40) and the front leg drive rod (49) respectively open the rear legs and the front legs relative to the main body module (1); The main body module (1) is provided with a vertical propulsion cabin (5), and the vertical propulsion cabin (5) includes a vertical propulsion fixed cabin (14) and a vertical thruster (15). There is a slot penetrating from top to bottom in the vertical propulsion fixed cabin (14), and the vertical thruster (15) is fixed in the slot.

2. The underwater robot according to claim 1, characterized in that, A front horizontal fixing frame (17) is installed on the front leg (38), and a front horizontal thruster (18) is provided in the front horizontal fixing frame (17); a rear horizontal fixing frame (23) is installed on the rear leg (41), and a rear horizontal thruster (24) is provided in the rear horizontal fixing frame (23); the main body module (1) is provided with a front horizontal fixing cabin (16) for accommodating the front horizontal fixing frame (17) and a rear horizontal fixing cabin (22) for accommodating the rear horizontal fixing frame (23); both the front horizontal fixing cabin (16) and the rear horizontal fixing cabin (22) are provided with grooves; when the front leg (38) contracts relative to the main body module (1), the front horizontal fixing frame (17) is accommodated in the groove of the front horizontal fixing cabin (16); the rear horizontal fixing frame (23) is accommodated in the groove of the rear horizontal fixing cabin (22).

3. The underwater robot according to claim 2, wherein The main body module (1) is provided with a hydraulic cylinder compartment (8), and the hydraulic cylinder compartment (8) includes a hydraulic cylinder (19), a hydraulic rod (20) and a hydraulic fixing compartment (21). One bottom surface of the hydraulic cylinder (19) is uniformly fixed on the connecting surface with the robotic arm compartment (7), and the number of hydraulic rods (20) is the same as that of the hydraulic cylinders (19) and they are inserted into the hydraulic cylinders (19) in one-to-one correspondence.

4. The underwater robot according to claim 3, characterized in that, The main body module (1) is provided with an electronic compartment module (10), and the electronic compartment module (10) includes an electronic compartment (25), a rear support fixing frame (26), a sealing cover plate (27), a gear ring (28) and a driving gear (33). The electronic compartment (25) is connected to the rear support fixing frame (26), the rear support fixing frame (26) is connected to the sealing cover plate (27), and the gear ring (28) meshes with the driving gear (33) and is installed on the sealing cover plate (27).

5. The underwater robot according to claim 4, characterized in that, The front leg (38) is provided with a front hydraulic leg rod (50), a front leg spring (51) and a front leg contact ball (52). The front hydraulic leg rod (50) is installed in the front leg (38), and the hydraulic leg rod (50) is connected to the front leg contact ball (52) through the front leg spring (51); The rear leg (41) is provided with a rear hydraulic leg rod (42), a rear leg spring (43) and a rear leg contact ball (44). The rear hydraulic leg rod (42) is installed in the rear leg (41), and the rear hydraulic leg rod (42) is connected to the rear leg contact ball (44) through the rear leg spring (43).

6. The underwater robot according to claim 5, characterized in that, A robotic arm fixing member (45), a robotic arm (46) and a camera (47) are installed on the robotic arm leg (37); the robotic arm fixing member (45) and the camera (47) are installed on the robotic arm leg (37), and the robotic arm (46) is installed on the robotic arm fixing member (45); the main body module (1) is provided with a robotic arm compartment (7), and the robotic arm compartment (7) is provided with an opening. When the robotic arm leg (37) contracts relative to the main body module (1), the robotic arm (46) is received in the opening of the robotic arm compartment (7).

7. The underwater robot according to claim 6, characterized in that, The lead screw includes a left lead screw (29) and a right lead screw (31); the left lead screw (29) is installed on the left side of the main body module (1), and the right lead screw (31) is installed on the right side of the main body module (1). The outer side of the gear ring (28) is provided with a left gear (30) and a right gear (32), the left gear (30) and the right gear (32) mesh with the gear ring (28), one end of the left lead screw (29) passes through the left gear (30), the left lead screw (29) sequentially passes through the rear sliding connection ring (39) and the front sliding connection ring (48) forward, and the other end is fixed on the front support fixing frame (12); one end of the right lead screw (31) passes through the right gear (32), the right lead screw (31) sequentially passes through the rear sliding connection ring (39) and the front sliding connection ring (48) forward, and the other end is fixed on the front support fixing frame (12).

8. A method for the structural dimensions of an underwater robot according to any one of claims 1 to 7, characterized in that, Comprising the following steps: Step 1: Determine the total length of the underwater robot main body module (1) according to the overall design requirements L 总 ; Step 2: After determining the total length L 总 According to the length ratio of each section of the underwater robot body, the maximum length between the rear support fixing frame (26) and the rear sliding connection ring (39) is determined to be A ; Step 3, assign the length A to L and R , where the length of the rear outrigger drive rod (40) is L , and the distance between the fulcrum of the rear outrigger (41) and the connection point of the rear outrigger drive rod (40) is R , obtaining the relational expression ; In the fourth step, according to the Pythagorean theorem, and according to the triangle area calculation formula, where a is the maximum stroke of the rear sliding connection ring (39), and from this, the lever arm of the rear outrigger drive rod (40) is obtained h Regarding L and R the relationship between Based on this relationship, the Lagrangian function is constructed, and by solving the function, when the lever arm h of the rear outrigger drive rod (40) reaches the maximum value, at this time L and R and A the relationships are respectively and ; Step 5, according to L and R the distance of, the maximum stroke of the sliding connection ring (39) is solved by the Pythagorean theorem , a , , and determine the maximum stroke of the hydraulic cylinder (19) in the hydraulic cylinder compartment (8) b 1, b 1 = a ; Step 6, determine the maximum stroke of the rear hydraulic outrigger rod (42) according to the requirements b 2 ; Step 7, according to the maximum stroke of the hydraulic cylinder (19) b 1. The maximum stroke of the rear hydraulic outrigger rod (42) b 2 , and the volume formula, where the cross-sectional area of a single hydraulic cylinder and the cross-sectional area of the hydraulic rod in the hydraulic cylinder compartment (8) are counted as and , the cross-sectional area of the hydraulic cylinder and the cross-sectional area of the hydraulic rod of the rear outrigger (41) are counted as and , where the hydraulic system needs to satisfy the following relationship: The areas of the hydraulic cylinders (19) and hydraulic rods (20) in the hydraulic system are obtained according to this relational formula and ; when the hydraulic cylinder (19) reaches its maximum stroke b 1, the rear hydraulic outrigger rod (42) also reaches its maximum stroke synchronously b 2 .

Images