A highly adaptable underwater wall-climbing scanning and inspection robot

Abstract

This invention discloses an underwater highly adaptable wall-climbing scanning and inspection robot, comprising: a motion mechanism, a scanning mechanism mounted on the motion mechanism, and an electronic compartment electrically connected to a host computer. The motion mechanism includes wheels that are attracted to the surface of an underwater magnetically conductive component by permanent magnets and electromagnets, and a drive unit that drives the wheels to move on the surface of the underwater magnetically conductive component and can transmit real-time position information. The scanning mechanism includes an ultrasonic probe assembly for inspecting the underwater magnetically conductive component, a pressing follower unit that tightly adheres the ultrasonic probe assembly to the surface of the underwater magnetically conductive component, and an adjustment unit that assembles and adjusts the lateral distance of the pressing follower unit. The electronic compartment is electrically connected to the drive unit, the ultrasonic probe assembly, and the adjustment unit. This invention solves the problems of existing underwater robots having high control requirements, poor stability, and difficulty in achieving high-reliability and high-efficiency inspection of large underwater components.

Description

Technical Field

[0001] This invention belongs to the field of underwater robots, specifically relating to an underwater highly adaptable wall-climbing scanning and inspection robot. Background Technology

[0002] In offshore oil and gas resource development, pipelines are a major component of the offshore oil and gas development and production system, the primary form of oil and gas transportation, and the lifeline of offshore oil and gas field development. Effective inspection of offshore oil and gas pipelines is a necessary measure to safeguard this lifeline. Due to the complex marine environment, as production time increases, in addition to being affected by internal defects such as cracks, pipelines may also be affected by environmental conditions such as waves, currents, tides, corrosion, and earthquakes, as well as human factors such as ship anchoring, towing, and impacts, leading to problems such as corrosion, mechanical damage, and fatigue cracks, resulting in the failure of underwater steel structures. Problems with underwater steel structures will affect the production and transportation of marine resources, and will also have a serious impact on the marine environment, damaging seawater quality and harming marine life.

[0003] Currently, one of the main methods for inspecting large underwater steel structures is to use underwater robots. However, underwater robots have high control requirements and poor stability, making it difficult to achieve high-reliability and high-efficiency inspection of large underwater components. Summary of the Invention

[0004] To address the shortcomings of the existing technology, this invention provides an underwater highly adaptable wall-climbing and scanning inspection robot. The robot adheres to the surface of an underwater steel structure by using magnetic wheels. The robot rotates and presses against the following scanning mechanism to achieve uniform pressing operation on different underwater steel structure walls. Furthermore, the robot uses an electronic compartment to interact with the motion mechanism, the scanning mechanism, and the host computer to achieve real-time control of the robot.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] Firstly, we provide underwater highly adaptable wall-climbing scanning and inspection robots, including:

[0007] The motion mechanism includes a wheel that is attached to the surface of an underwater magnetically conductive component by a permanent magnet and an electromagnet, and a drive unit that drives the wheel to move on the surface of the underwater magnetically conductive component and is capable of transmitting real-time position information.

[0008] The scanning mechanism installed on the motion mechanism includes an ultrasonic probe assembly for detecting the underwater magnetic conductive component, a pressing follower unit for tightly attaching the ultrasonic probe assembly to the surface of the underwater magnetic conductive component, and an adjustment unit for assembling and adjusting the lateral distance of the pressing follower unit.

[0009] The electronic compartment, which is electrically connected to the host computer, is also electrically connected to the drive unit, the ultrasonic probe assembly, and the dispensing unit.

[0010] The electronic compartment integrates the position information fed back by the drive unit with the detection ultrasound signal information fed back by the ultrasound probe assembly into scanning result information and transmits the scanning result information to the host computer in real time; and

[0011] When the ultrasonic probe assembly detects a potential defect in the underwater magnetic conductive component, the host computer sends control commands to the ultrasonic probe assembly and the drive unit through the electronic compartment, causing the motion mechanism containing the ultrasonic probe assembly and the drive unit to work together to perform an S-shaped surface scan of the potentially defective area of ​​the underwater magnetic conductive component, so as to obtain a three-dimensional image of the scan results.

[0012] Secondly, underwater highly adaptable wall-climbing scanning and inspection robots include:

[0013] The motion mechanism includes a wheel that is attached to the surface of an underwater magnetically conductive component by a permanent magnet and an electromagnet, and a drive unit that drives the wheel to move on the surface of the underwater magnetically conductive component and is capable of transmitting real-time position information.

[0014] The scanning mechanism includes an ultrasonic probe assembly for detecting the underwater magnetic conductive component, a pressing follower unit for tightly attaching the ultrasonic probe assembly to the surface of the underwater magnetic conductive component, and an adjustment unit for assembling and adjusting the lateral distance of the pressing follower unit.

[0015] A variable angle base mechanism is provided, which mounts the scanning mechanism on the motion mechanism and is capable of adjusting the angle of the scanning mechanism relative to the motion mechanism.

[0016] The electronic compartment, which is electrically connected to the host computer, is also electrically connected to the drive unit, the ultrasonic probe assembly, and the dispensing unit.

[0017] The electronic compartment integrates the position information fed back by the drive unit with the detection ultrasound signal information fed back by the ultrasound probe assembly into scanning result information and transmits the scanning result information to the host computer in real time; and

[0018] When the ultrasonic probe assembly detects a potential defect in the underwater magnetic conductive component, the host computer sends control commands to the ultrasonic probe assembly and the drive unit through the electronic compartment, causing the motion mechanism containing the ultrasonic probe assembly and the drive unit to work together to perform an S-shaped surface scan of the potentially defective area of ​​the underwater magnetic conductive component, so as to obtain a three-dimensional image of the scan results.

[0019] In some embodiments, the number of wheels is four, arranged in a rectangular configuration, and each wheel includes:

[0020] The inner electromagnetic ring shaft is connected to the drive unit;

[0021] The outer hub is fitted onto the outer end of the inner electromagnetic ring shaft;

[0022] The inner hub is sleeved on the inner end of the inner electromagnetic ring shaft. The inner hub and the outer hub are arranged in parallel and share the same central axis with the inner electromagnetic ring shaft.

[0023] An outer permanent magnet ring is sleeved on the inner electromagnetic ring shaft and located between the outer hub and the inner hub;

[0024] An anti-slip rubber ring is disposed on the outer peripheral wall of the outer permanent magnet ring and protrudes radially relative to the outer hub and the inner hub; and

[0025] Both the inner and outer hubs are made of carbon steel and can form a closed magnetic circuit with the underwater magnetic guide component. The outer permanent magnet ring is made of permanent magnet, and the inner electromagnetic ring shaft is made of electromagnet and the magnetic force is adjusted by the current output by the drive unit.

[0026] In some embodiments, the driving unit includes:

[0027] A drive motor capable of providing real-time location information is electrically connected to the electronic compartment;

[0028] The first transmission unit connects the drive motor to the two wheels;

[0029] A first waterproof protection component is disposed on the periphery of the main body of the drive motor and the first transmission unit to form a waterproof area inside the main body of the drive motor and the first transmission unit.

[0030] In some embodiments, the first transmission unit includes:

[0031] A bevel gear is disposed at the output end of the drive motor;

[0032] Two pulleys located on the same side of the robot are respectively fitted onto the corresponding inner electromagnetic ring shafts, with one end of the inner electromagnetic ring shaft embedded in a bevel gear;

[0033] A timing belt connects the two pulleys to form a linkage structure.

[0034] In some embodiments, the dispensing unit includes:

[0035] Adjust the motor and connect it electrically to the electronic compartment;

[0036] The guide rail is horizontally mounted on the variable angle base mechanism;

[0037] The second transmission unit includes a motor adapter connected to the output end of the regulating motor, a combined gear disposed on the guide rail, a transmission belt connecting the motor adapter and the combined gear, a transmission belt clamping plate clamped on the transmission belt, a slider slidably disposed on the guide rail and fixedly connected to the transmission belt clamping plate, and a rotation trajectory limiting plate rotatably disposed on the slider and limiting the rotation trajectory of the clamping follower unit.

[0038] The second waterproof protection component is disposed on the periphery of the main body of the drive motor and the second transmission unit to form a waterproof area inside the main body of the control motor and the second transmission unit.

[0039] In some embodiments, the clamping follower unit includes:

[0040] The slide rail has a vertically extending sliding section and its lower end is hinged to the lower end of the slider;

[0041] A slide block is slidably disposed on the sliding section of the slide rail;

[0042] A buffer spring connects the slide block to the slide rail.

[0043] In some embodiments, the ultrasound probe assembly includes:

[0044] Ultrasonic probe;

[0045] The gimbal includes a probe holder that rotatably engages with the ultrasonic probe, a connecting frame mounted on the slide and rotatably connected to one end of the probe holder, and a connecting spring disposed between the connecting frame and the probe holder.

[0046] In some embodiments, the variable angle base mechanism includes:

[0047] The base plate is mounted on the drive unit;

[0048] support;

[0049] Support profiles are used to mount the brackets on the base plate;

[0050] A pivot base plate is located at the bottom of the bracket;

[0051] A horizontal profile is provided on the left side of the bracket;

[0052] A pivot side plate is provided on the top right side surface of the transverse profile;

[0053] An angle reinforcement frame is disposed between the base plate of the rotating shaft and the side plate of the rotating shaft;

[0054] The handle includes a vertical profile and a vertical profile connecting the vertical profile to the bracket, the vertical profile being located above the bracket.

[0055] In some embodiments, the electronic compartment includes:

[0056] The main body of the electronic storage unit has a front port and a rear port;

[0057] A front cover, which can be detachably sealed to the front port of the electronic compartment body;

[0058] The rear cover is detachably sealed to the rear port of the electronic compartment body;

[0059] The loading rack is located inside the main body of the electronic compartment;

[0060] The control motherboard, which is electrically connected to the host computer, is mounted on the loading rack and located inside the electronic compartment body. The control motherboard is electrically connected to the ultrasonic probe assembly.

[0061] A motor speed controller is mounted on the loading frame and located inside the electronic compartment body. The motor speed controller is connected to the control motherboard and the drive unit.

[0062] The beneficial effects of this invention are: it can ensure that the ultrasonic probe assembly is closely attached to the surface of the underwater magnetic component to ensure stable detection, and it can perform positioning detection by combining the position information fed back by the drive unit, and perform more refined scanning of possible defect locations to obtain quantitative information on defects, and display the information in real time on the host computer for defect localization. This solves the problem that existing underwater robots have high control requirements, poor stability, and difficulty in achieving high reliability and high efficiency detection of large underwater components. Attached Figure Description

[0063] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0064] Figure 1 An isometric view of an underwater highly adaptable wall-climbing scanning and inspection robot provided as an exemplary embodiment;

[0065] Figure 2 A schematic diagram of the structure of a wheel provided for an exemplary embodiment;

[0066] Figure 3 A schematic diagram of the structure of the portion containing the driving unit, provided as an exemplary embodiment;

[0067] Figure 4 A schematic diagram of a variable angle base mechanism provided as an exemplary embodiment;

[0068] Figure 5 A schematic diagram of the structure of a scanning mechanism provided as an exemplary embodiment;

[0069] Figure 6 A structural diagram of the portion containing the ultrasonic probe assembly and the clamping follower unit, provided as an exemplary embodiment;

[0070] Figure 7 A schematic diagram of the external structure of an electronic compartment provided for an exemplary embodiment;

[0071] Figure 8 A schematic diagram of the internal structure of an electronic compartment provided for an exemplary embodiment. Detailed Implementation

[0072] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0073] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0074] like Figure 1 As shown, the underwater highly adaptable wall-climbing scanning and inspection robot includes: a motion mechanism, a scanning mechanism 6, a variable-angle base mechanism 7, and an electronic compartment 2.

[0075] The motion mechanism, essentially a small vehicle, can be divided into a roughly symmetrical left motion mechanism 3 and a right motion mechanism 1. Specifically, the motion mechanism includes wheels 4 and a drive unit. The wheels 4 are attracted to the surface of an underwater magnetically conductive component (e.g., an underwater steel component, tubular in shape) via permanent magnets and electromagnets. The drive unit drives the wheels to move on the surface of the underwater magnetically conductive component, thereby causing the entire motion mechanism to move on the surface of the underwater magnetically conductive component. The drive unit can also transmit real-time position information. Using permanent magnets and electromagnets as important components of the wheels 4 can generate a larger and more stable attraction force than negative pressure attraction, overcoming the disadvantages of using only electromagnets, which may cause the vehicle to slip off the underwater magnetically conductive component due to failure, and the difficulty of picking up the vehicle using only permanent magnets. There are no safety hazards, the structure is simple and easy to design, and the distance between the permanent magnet and the material surface and the type of medium can be controlled according to actual needs. The magnetic force can be controlled by changing the current magnitude, and permanent magnets with specific shapes can be made according to actual needs, showing strong adaptability. Using magnetic wheels (the aforementioned magnetically driven wheels) for attraction has the advantages of flexible movement, fast speed, and convenient control. The motion mechanism can enable the robot to rotate in place and adjust its posture by controlling the differential speed of the wheels.

[0076] like Figure 2 As shown, in one embodiment, four wheels 4 are arranged in a rectangular shape and distributed on both sides of the vehicle. Each wheel 4 includes: an inner electromagnetic ring shaft 405 connected to the drive unit; an outer hub 401 sleeved on the outer end of the inner electromagnetic ring shaft 405; an inner hub 404 sleeved on the inner end of the inner electromagnetic ring shaft 405; the inner hub 404 and the outer hub 401 are arranged parallel to each other and share the same central axis as the inner electromagnetic ring shaft 405; and an outer permanent magnet ring 403 is sleeved on the inner electromagnetic ring shaft 405 and located on the outer hub. Between 401 and the inner hub 404, the outer permanent magnet ring 403 is made of permanent magnets. Both the inner hub 404 and the outer hub 401 are made of carbon steel and can form a closed magnetic circuit with the surface of the underwater magnetic conductive component, improving the adsorption capacity. The inner electromagnetic ring shaft 405 uses an electromagnet, and the magnetic force is adjusted by the current output by the drive unit. Specifically, the internal electromagnet can change the magnetic force by controlling the current, which can change the overall magnetic force of the magnetic wheel, making it easier for the underwater robotic arm to pick up the robot. The anti-slip rubber ring 402 is set on the outer peripheral wall of the outer permanent magnet ring 403 and protrudes radially relative to the outer hub 401 and the inner hub 404, improving the friction of the wheel 4.

[0077] like Figure 3As shown, in one embodiment, the drive unit includes a drive motor 801 capable of providing real-time position information. The drive motor 801 is electrically connected to the electronic compartment 2. A first transmission unit connects the drive motor 801 to two wheels 4, which are located on the same side of the vehicle. A first waterproof protection component 803 is disposed around the drive motor 801 and the main body of the first transmission unit to form a waterproof area inside the drive motor 801 and the main body of the first transmission unit. The first waterproof protection component 803 includes a waterproof shell and a sealing ring for shaft sealing. The drive motor 801 transmits power to the two wheels 4 through the first transmission unit. When the vehicle needs to turn, it can turn differentially through the left and right wheels 4 and transmit its real-time position information to the electronic compartment 2. Simultaneously, the electronic compartment 2 also controls the operation of the drive motor 801. In one embodiment, the drive motor 801 is a DJI m2006. In one embodiment, the first transmission unit includes a bevel gear 8021, which is mounted on the output end of the drive motor 801. Two pulleys 8022 located on the same side of the robot are respectively fitted onto corresponding inner electromagnetic ring shafts 405. One end of one inner electromagnetic ring shaft is embedded in the bevel gear 8021. A synchronous belt 8023 connects the two pulleys 8022 to form a linkage structure. The drive motor 801 drives the inner electromagnetic ring shaft 405 to rotate by driving the bevel gear 8021, and then the inner electromagnetic ring shaft 405 drives the two pulleys 8022 to rotate via the synchronous belt 8023, ultimately driving the wheel 4 to move. Using a dual-motor drive synchronous belt to drive the magnetic wheels on each side, the wheels on the same side rotate in the same direction and have the same speed, enabling stationary rotation and differential cornering, improving wall adaptability. The motor is parallel to the forward direction to save space. A set of spiral bevel gear transmissions is designed to redirect the motor torque and transmit it directly to the front wheel. At the same time, the front and rear wheel axles are connected by a synchronous belt to realize that the motor drives two magnetic wheels on one side.

[0078] like Figure 1 As shown, the variable angle base mechanism 7 sets the scanning mechanism 6 on the motion mechanism and can adjust the angle of the scanning mechanism 6 relative to the motion mechanism;

[0079] like Figure 4As shown, in one embodiment, the variable angle base mechanism 7 includes: a base plate 701, which is mounted on the drive unit; a support profile 702 is bolted to the base plate 701; a pivot base plate 703 is bolted to the bottom of the support 709; a transverse profile 704 is mounted on the left side of the support 709; and a pivot side plate 708 is mounted on the right top surface of the transverse profile 704; an angle reinforcement frame 705 is mounted between the pivot base plate 703 and the pivot side plate 708 to improve the rigidity of the entire frame structure. The angle reinforcement frame 705 can be connected to the pivot base plate 703 and the pivot side plate 708 by replacing the frame body with different angles, so as to realize different corresponding angles of the scanning mechanism 6 and the robot body, thereby enhancing the adaptability to different wall surfaces; the handle includes a vertical profile 707 and a vertical profile 706 connecting the vertical profile 707 to the support 709. The vertical profile 707 is located above the support 709, which facilitates the underwater robotic arm to grasp.

[0080] like Figure 5 As shown, the scanning mechanism 6 includes an ultrasonic probe assembly 604 for detecting underwater magnetically conductive components, a clamping follower unit 605 for tightly attaching the ultrasonic probe assembly 601 to the surface of the underwater magnetically conductive component, and an adjustment unit for assembling and adjusting the lateral distance of the clamping follower unit; the scanning mechanism detects the pipeline of the underground magnetically conductive component during the movement of the trolley, and maintains the clamping force of the ultrasonic probe assembly 604 during the movement of the trolley.

[0081] In one embodiment, the dispensing unit includes: a dispensing motor 610, which is electrically connected to the electronic compartment 2; a guide rail 606 is laterally disposed on the variable angle base mechanism 7; the second transmission unit includes a motor adapter 602, which is connected to the output end of the dispensing motor 610; a combined gear 607 is rotatably disposed on the guide rail 606; a transmission belt 608 connects the motor adapter 602 and the combined gear 607; a transmission belt clamping plate 609 clamps the transmission belt 608; and a slider... The slider 611 is slidably mounted on the guide rail 606 and fixedly connected to the transmission belt clamping plate 609 and the clamping follower unit 605; the rotation trajectory limiting plate 603 is fixedly mounted on the slider 611 and rotatably connected to the slide rail 6051 of the clamping follower unit 605 to limit the rotation trajectory of the clamping follower unit 605; the second waterproof protection component 601 is disposed around the main body of the distributing motor 610 and the second transmission unit to form a waterproof area inside the main body of the distributing motor and the second transmission unit. The distributing motor 610 drives the clamping follower unit 605 to move laterally through the second transmission unit. When inspecting pipes of different diameters, the angle between the plane of the rotation trajectory limiting plate 603 and the slide rail 6051 can be adjusted accordingly to ensure that the ultrasonic probe 6041 fixed on the clamping follower unit 605 is always perpendicular to the pipe surface of the underwater magnetic guide component where the detection point is located. In the direction perpendicular to the pipe surface of the underwater magnetic guide component, the gimbal of the ultrasonic probe 6041 can move freely up and down within the stroke of the clamping follower unit. The stroke can ensure the obstacle crossing requirements of the robot vehicle. In the plane parallel to the pipe surface, the gimbal of the ultrasonic probe 6041 can rotate freely around the forward direction and perpendicular to the forward direction to adapt to changes in the wall surface. For different wall surfaces, a motor rotation fixing mechanism 5 is configured between the adjusting motor 610 and the drive unit. The rotation of the entire scanning mechanism 6 can be achieved by replacing the reinforcing bracket and the motor rotation fixing mechanism 5, preventing the lack of clamping force due to insufficient spring stroke caused by the small pipe diameter.

[0082] like Figure 6As shown, in one embodiment, the clamping follower unit 605 includes: a slide rail 6051, a slide block 6052, and a buffer spring 6053. The slide rail 6051 has a vertically extending sliding section, and its lower end is hinged to the lower end of the slider 611. The slide block 602 is slidably disposed on the sliding section of the slide rail 6051, and the buffer spring 6053 connects the slide block 6052 to the slide rail 6051. During operation, the clamping follower unit 605 slides on the slide rail 6051, while the buffer spring 6053 provides cushioning for their movement. The clamping follower unit 605, through the combination of the slide block 6052, the buffer spring 6053, and the slide rail 6051, ensures that the ultrasonic probe 6041 is tightly fitted onto the test piece. Using a flexible clamping follower unit ensures that the ultrasonic probe 6041 can scan pipes of different diameters, while also ensuring that the parameters of the detection process are adjustable, such as the clamping force of the ultrasonic probe 6041 and the range of motion of each degree of freedom. While meeting process requirements, the ultrasonic probe 6041 is ensured to fit tightly against the wall surface, achieving seamless water coupling without an air gap in the underwater environment. The scanning mechanism allows the probe to perform scanning movements within a certain width range along the vehicle body.

[0083] like Figure 6 As shown, in one embodiment, the ultrasonic probe assembly 604 includes an ultrasonic probe 6041 and a pan-tilt unit. The pan-tilt unit includes a probe holder 60421, a connecting frame 60422, and a connecting spring 60423. The probe holder 60421 is rotatably engaged with the ultrasonic probe 6041. The connecting frame 60422 is mounted on a slide 602 and rotatably connected to one end of the probe holder 60421. The connecting spring 60423 is disposed between the connecting frame 60422 and the probe holder 60421. This pan-tilt unit drives the ultrasonic probe 6041 to rotate at multiple angles, improving the tightness between the ultrasonic probe 6041 and the underground magnetic conductive component.

[0084] like Figure 1 As shown, the electronic compartment 2 is electrically connected to the host computer, and the electronic compartment 2 is also electrically connected to the drive unit, the ultrasonic probe assembly 604, and the adjustment unit.

[0085] like Figure 7 and Figure 8As shown, in one embodiment, the electronic compartment 2 includes: an electronic compartment body 202 having a front port and a rear port, a front cover 201 detachably sealing the front port of the electronic compartment body 202, a rear cover 203 detachably sealing the rear port of the electronic compartment body 202, and a loading rack 206 disposed within the electronic compartment body 202; a control motherboard 204 (e.g., a Zynq motherboard) electrically connected to a host computer is disposed on the loading rack 206 and located within the electronic compartment body 202, and the control motherboard 204 is electrically connected to the ultrasonic probe assembly 604; a motor speed controller 205 (e.g., a brushless motor speed controller) is disposed on the loading rack 206 and located within the electronic compartment body 202, and the motor speed controller 205 is connected to the control motherboard 204 and the drive unit.

[0086] The electronic compartment 2 integrates the position information fed back by the drive unit with the detection ultrasonic signal information fed back by the ultrasonic probe assembly 604 into scanning result information and transmits the scanning result information to the host computer in real time;

[0087] When the ultrasonic probe assembly 604 detects a possible defect in the underwater magnetic conductive component, the host computer sends control commands to the ultrasonic probe assembly 604 and the drive unit through the electronic compartment 2, causing the motion mechanism containing the ultrasonic probe assembly 604 and the drive unit to work together to perform an S-shaped surface scan of the possible defect area of ​​the underwater magnetic conductive component, so as to obtain a three-dimensional image of the scan results.

[0088] This robot can ensure that the ultrasonic probe assembly 604 is tightly attached to the surface of the underwater magnetic component to ensure stable detection. It can also perform positioning detection by combining the position information fed back by the drive unit, and perform more refined scanning of possible defect locations to obtain quantitative information on defects. The information is then displayed in real time on the host computer for defect localization. This solves the problems of existing underwater robots having high control requirements, poor stability, and difficulty in achieving high-reliability and high-efficiency detection of large underwater components.

[0089] In one embodiment, an underwater highly adaptable wall-climbing scanning and inspection robot is provided, comprising: a motion mechanism, a scanning mechanism, and an electronic compartment.

[0090] The motion mechanism includes wheels that are attached to the surface of an underwater magnetically conductive component by permanent magnets and electromagnets, and a drive unit that drives the wheels to move on the surface of the underwater magnetically conductive component and can transmit real-time position information.

[0091] The scanning mechanism is mounted on the motion mechanism. The scanning mechanism includes an ultrasonic probe assembly for detecting underwater magnetic components, a clamping follower unit for tightly attaching the ultrasonic probe assembly to the surface of the underwater magnetic components, and an adjustment unit for assembling and adjusting the lateral distance of the clamping follower unit.

[0092] The electronic compartment is electrically connected to the host computer, and is also electrically connected to the drive unit, ultrasonic probe assembly, and adjustment unit.

[0093] The electronic chamber integrates the position information fed back by the drive unit with the detection ultrasound signal information fed back by the ultrasound probe assembly into scanning result information and transmits the scanning result information to the host computer in real time; and

[0094] When the ultrasonic probe assembly detects a potential defect in the underwater magnetic conductive component, the host computer sends control commands to the ultrasonic probe assembly and drive unit through the electronic compartment. This causes the motion mechanism containing the ultrasonic probe assembly and drive unit to work together to perform an S-shaped surface scan of the potentially defective area of ​​the underwater magnetic conductive component, thereby obtaining a three-dimensional image of the scan results.

[0095] The above description is merely a preferred embodiment of one or more embodiments of this specification and is not intended to limit the scope of one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this specification should be included within the scope of protection of one or more embodiments of this specification.

Claims

1. An underwater highly adaptable wall-climbing scanning and inspection robot, characterized in that, include: The motion mechanism includes a wheel that is attached to the surface of an underwater magnetically conductive component by a permanent magnet and an electromagnet, and a drive unit that drives the wheel to move on the surface of the underwater magnetically conductive component and is capable of transmitting real-time position information. The scanning mechanism includes an ultrasonic probe assembly for detecting the underwater magnetic conductive component, a pressing follower unit for tightly attaching the ultrasonic probe assembly to the surface of the underwater magnetic conductive component, and an adjustment unit for assembling and adjusting the lateral distance of the pressing follower unit. A variable angle base mechanism is provided, which mounts the scanning mechanism on the motion mechanism and is capable of adjusting the angle of the scanning mechanism relative to the motion mechanism. The electronic compartment, which is electrically connected to the host computer, is also electrically connected to the drive unit, the ultrasonic probe assembly, and the dispensing unit. The electronic compartment integrates the position information fed back by the drive unit with the detection ultrasound signal information fed back by the ultrasound probe assembly into scanning result information and transmits the scanning result information to the host computer in real time. as well as When the ultrasonic probe assembly detects a possible defect in the underwater magnetic conductive component, the host computer sends control commands to the ultrasonic probe assembly and the drive unit through the electronic compartment, causing the motion mechanism of the ultrasonic probe assembly and the drive unit to work together to perform an S-shaped surface scan of the potentially defective area of ​​the underwater magnetic conductive component, so as to obtain a three-dimensional image of the scan results. The allocation unit includes: Adjust the motor and connect it electrically to the electronic compartment; The guide rail is horizontally mounted on the variable angle base mechanism; The second transmission unit includes a motor adapter connected to the output end of the regulating motor, a combined gear disposed on the guide rail, a transmission belt connecting the motor adapter and the combined gear, a transmission belt clamping plate clamped on the transmission belt, a slider slidably disposed on the guide rail and fixedly connected to the transmission belt clamping plate, and a rotation trajectory limiting plate rotatably disposed on the slider and limiting the rotation trajectory of the clamping follower unit. The second waterproof protection component is disposed on the periphery of the main body of the regulating motor and the second transmission unit to form a waterproof area inside the main body of the regulating motor and the second transmission unit.

2. The underwater highly adaptable wall-climbing scanning and inspection robot according to claim 1, characterized in that, The wheels are four in a rectangular arrangement, and each wheel includes: The inner electromagnetic ring shaft is connected to the drive unit; The outer hub is fitted onto the outer end of the inner electromagnetic ring shaft; The inner hub is sleeved on the inner end of the inner electromagnetic ring shaft. The inner hub and the outer hub are arranged in parallel and share the same central axis with the inner electromagnetic ring shaft. An outer permanent magnet ring is sleeved on the inner electromagnetic ring shaft and located between the outer hub and the inner hub; An anti-slip rubber ring is disposed on the outer peripheral wall of the outer permanent magnet ring and protrudes radially relative to the outer hub and the inner hub; and Both the inner and outer hubs are made of carbon steel and can form a closed magnetic circuit with the underwater magnetic guide component. The outer permanent magnet ring is made of permanent magnet, and the inner electromagnetic ring shaft is made of electromagnet and the magnetic force is adjusted by the current output by the drive unit.

3. The underwater highly adaptable wall-climbing scanning and inspection robot according to claim 2, characterized in that, The driving unit includes: A drive motor capable of providing real-time location information is electrically connected to the electronic compartment; The first transmission unit connects the drive motor to the two wheels; A first waterproof protection component is disposed on the periphery of the main body of the drive motor and the first transmission unit to form a waterproof area inside the main body of the drive motor and the first transmission unit.

4. The underwater highly adaptable wall-climbing scanning and inspection robot according to claim 3, characterized in that, The first transmission unit includes: A bevel gear is disposed at the output end of the drive motor; Two pulleys located on the same side of the robot are respectively fitted onto the corresponding inner electromagnetic ring shafts, with one end of the inner electromagnetic ring shaft embedded in a bevel gear; A timing belt connects the two pulleys to form a linkage structure.

5. The underwater highly adaptable wall-climbing scanning and inspection robot according to claim 1, characterized in that, The clamping follow-up unit includes: The slide rail has a vertically extending sliding section and its lower end is hinged to the lower end of the slider; A slide block is slidably disposed on the sliding section of the slide rail; A buffer spring connects the slide block to the slide rail.

6. The underwater highly adaptable wall-climbing scanning and inspection robot according to claim 5, characterized in that, The ultrasonic probe assembly includes: Ultrasonic probe; The gimbal includes a probe holder that rotatably engages with the ultrasonic probe, a connecting frame mounted on the slide and rotatably connected to one end of the probe holder, and a connecting spring disposed between the connecting frame and the probe holder.

7. The underwater highly adaptable wall-climbing scanning and inspection robot according to claim 5, characterized in that, The variable angle base mechanism includes: The base plate is mounted on the drive unit; support; Support profiles are used to mount the brackets on the base plate; A pivot base plate is located at the bottom of the bracket; A horizontal profile is provided on the left side of the bracket; A pivot side plate is provided on the top right side surface of the transverse profile; An angle reinforcement frame is disposed between the base plate of the rotating shaft and the side plate of the rotating shaft; The handle includes a vertical profile and a vertical profile connecting the vertical profile to the bracket, the vertical profile being located above the bracket.

8. The underwater highly adaptable wall-climbing scanning and inspection robot according to claim 1, characterized in that, The electronic warehouse includes: The main body of the electronic storage unit has a front port and a rear port; A front cover, which can be detachably sealed to the front port of the electronic compartment body; The rear cover is detachably sealed to the rear port of the electronic compartment body; The loading rack is located inside the main body of the electronic compartment; The control motherboard, which is electrically connected to the host computer, is mounted on the loading rack and located inside the electronic compartment body. The control motherboard is electrically connected to the ultrasonic probe assembly. A motor speed controller is mounted on the loading frame and located inside the electronic compartment body. The motor speed controller is connected to the control motherboard and the drive unit.

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