A robot for replacing an underwater sensor

Abstract

The application belongs to the technical field of underwater robots, and particularly relates to a robot for underwater sensor replacement. The robot comprises a body, a mechanical arm feeding unit; the body is a circular arc body, and the arc top of the body is provided with a groove; one end of the mechanical arm is rotationally connected to one end of the groove, and the other end is connected with a sleeve assembly; the sleeve assembly is used for dismounting and mounting sensors; the feeding unit is arranged inside the body; the feeding unit comprises a first material bin, a second material bin and a feeding mechanism; the first material bin and the second material bin are separately arranged on the two sides of the sleeve assembly; the feeding mechanism is used for taking down the old sensor from the sleeve assembly and sending it into the second material bin, and sending the new sensor from the first material bin into the sleeve assembly. The robot of the application is more accurate in positioning in water, the posture control during the robot and sensor docking process is simpler, and the docking process is more stable.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, and in particular relates to a robot for replacing underwater sensors. Background Technology

[0002] Marine engineering facilities generally have long service lives. For example, offshore oil platforms and offshore wind power platforms are typically designed for over 20 years, while some steel-piled wharves are designed for at least 50 years, and some even require 100 years. Marine engineering safety facilities are generally required to have the same service life as the main marine facility to ensure the normal operation of the marine equipment. Some facilities lacking underwater safety monitoring devices need to undergo underwater special inspections every 3 years. For platforms that have exceeded their service life, underwater special inspections may even be conducted annually to assess the safety of the underwater structure.

[0003] Monitoring sensors for underwater structures of marine engineering facilities commonly include corrosion sensors and water environment sensors. Marine engineering facilities are generally prefabricated on land, with multiple corrosion potential and current sensors installed at different locations on the underwater structure before being deployed as a whole into the sea. Due to harsh marine environments, biofouling, and oxidation-reduction reactions of sensor materials, the service life of underwater corrosion sensors cannot be guaranteed. Consequently, due to sensor failure, the corrosion monitoring system cannot effectively cover the service life of the marine engineering facility.

[0004] Currently, corrosion monitoring of the underwater sections of jacket structures on offshore oil platforms is primarily achieved through pre-installed monitoring systems. These systems monitor potential and current values ​​at different depths by installing potential and current probes on the underwater sections of the jacket structure to determine whether the jacket structure is properly protected. In practical engineering, to prevent unexpected sensor failure, multiple sensors are deployed at key nodes as backups to extend the monitoring lifespan as much as possible. Even with these measures, it is difficult to completely avoid the problem of missing monitoring data at key nodes. Replacing sensors requires extensive diving operations, which are both technically challenging and costly. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention provides a robot for replacing underwater sensors, which solves the problem that the monitoring sensors in the prior art cannot effectively cover the service life of marine engineering facilities, and that replacing sensors requires a large number of diving operations, which are difficult and costly.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a robot for replacing underwater sensors, including a body, a robotic arm, and a feeding unit;

[0007] The body is an arc shape, and the top of the arc is provided with a groove;

[0008] One end of the robotic arm is rotatably connected to one end of the groove, and the other end is connected to a sleeve assembly; the sleeve assembly is used for disassembling and installing sensors; the feeding unit is disposed inside the machine body; the feeding unit includes a first material bin, a second material bin, and a feeding mechanism; the first material bin and the second material bin are respectively disposed on both sides of the sleeve assembly; the feeding mechanism is used to remove the old sensor from the sleeve assembly and feed it into the second material bin, and to feed the new sensor from the first material bin into the sleeve assembly.

[0009] Preferably, the sleeve assembly includes a housing, a second motor, and multiple sleeve components, which are circumferentially distributed within the housing. The end of each sleeve component is connected to the second motor. The outer ends of the sleeves and the sleeve components form a docking end, which docks with the sensor.

[0010] Preferably, the sleeve includes a sleeve rod and a connecting rod. One end of the sleeve rod has a cylindrical hole, and one end of the connecting rod has a cylindrical protruding shaft that mates with the cylindrical hole. The cylindrical hole of the sleeve rod is provided with a torque adjustment mechanism that penetrates the side wall of the cylindrical hole and contacts the side of the cylindrical protruding shaft.

[0011] Preferably, the other end of the connecting rod is provided with a telescopic mechanism; the telescopic mechanism includes a limiting groove, a second elastic element and a limiting block, the limiting groove is disposed in the connecting rod, and the second elastic element is located in the limiting groove; the telescopic mechanism is connected to a lead screw shaft, one end of the lead screw shaft is provided with a limiting block, after the limiting block cooperates with the limiting groove, the other end of the lead screw shaft is connected to a second motor to drive the connecting rod to rotate.

[0012] Preferably, the feeding mechanism includes a transmission belt, a third motor, a clamping seat, and a sliding platform. The sliding platform is connected to the transmission belt and moves back and forth between the first material bin, the groove of the machine body, and the second material bin under the power of the third motor.

[0013] The clamping seat is mounted on the sliding shaft of the sliding platform and moves along the sliding shaft under the drive of the sliding motor. The clamping seat has a circular clamping area, and the end of the sensor is inserted into the clamping area and locked in place.

[0014] The first material bin includes a thrust plate, a third elastic element, and a door panel;

[0015] The first material bin is cylindrical, with a diameter consistent with the outer diameter of the sensor, and multiple sensors are placed sequentially inside the first material bin;

[0016] The thrust plate is slidably installed inside the first material bin and is connected to the tail of the first material bin via the third elastic element;

[0017] The door panel is located at the opening of the first material bin. When the clamping seat moves to the opening of the first material bin, it will push the door panel open laterally and align it with the opening of the first material bin. The third elastic member will push the sensor into the clamping seat.

[0018] Preferably, the robot for replacing underwater sensors of the present invention further includes a power unit; multiple power units are located on both sides of the inner arc surface of the body, for providing power for the body to perform axial and circumferential movements;

[0019] The power unit includes a fourth motor, a magnetic ring, a friction ring, a power base, and a reversing cylinder;

[0020] The fourth motor is a hub motor, and the shaft of the fourth motor is rotatably mounted on the power base on both sides.

[0021] The reversing cylinder is arc-shaped, and the output shaft of the reversing cylinder is fixedly connected to the power base;

[0022] The top of the power base is rotatably connected to the machine body, and an elastic element is also provided between the power base and the machine body;

[0023] The magnetic coil is located on the outer layer of the fourth motor;

[0024] The friction ring is located on the outer layer of the magnetic ring.

[0025] Preferably, the robot for replacing underwater sensors according to the present invention further includes a buoyancy unit; the buoyancy unit is located inside the body and is used to adjust the buoyancy of the body;

[0026] The buoyancy unit includes a first valve, a second valve, a third valve, a buoyancy chamber, and a pressure vessel. The buoyancy chamber is connected to the outside through the first valve and the second valve. The buoyancy chamber and the pressure vessel are connected through the third valve. The first valve, the second valve, and the third valve are electrically controlled valves.

[0027] Preferably, the robotic arm includes a telescopic base and a rotating base. One end of the rotating base is connected to the machine body, and one end of the telescopic base is rotatably connected to the other end of the rotating base via a first motor. The sleeve assembly is connected to the other end of the telescopic base via a telescopic electric cylinder.

[0028] Preferably, the inner arc surface of the machine body is further provided with an anchoring unit, which includes an electrically controlled magnet and a fourth elastic element. The outer side of the electrically controlled magnet is arc-shaped, and the inner side is connected to the machine body through the fourth elastic element.

[0029] The robot for replacing underwater sensors provided by this invention has at least the following advantages: Addressing the current situation where underwater sensors have short lifespans, and replacement and maintenance require extensive diving operations, resulting in high construction difficulty and costs, the robot for replacing underwater sensors provided by this invention includes a body, a robotic arm, a feeding unit, a power unit, and a buoyancy unit. It can dive along the support structure of an offshore platform to replace sensors, replacing the original manual operation method and significantly reducing the maintenance cost of the offshore platform monitoring system. Furthermore, the method of diving along the support structure is more advantageous than traditional underwater diving methods, allowing for more precise positioning of the robot in the water, simpler attitude control during robot-sensor docking, and a smoother docking process. Attached Figure Description

[0030] Figure 1 This diagram illustrates the working state of the robot used in this invention for replacing underwater sensors.

[0031] Figure 2 This diagram illustrates the working state of the robot used in this invention for replacing underwater sensors.

[0032] Figure 3 The diagram shown is an axonometric view of the robot used for replacing underwater sensors according to the present invention.

[0033] Figure 4 The diagram shown is a bottom view of the robot used for replacing underwater sensors according to the present invention.

[0034] Figure 5 The diagram shown is a top view of the robot used for replacing underwater sensors according to the present invention.

[0035] Figure 6 The diagram shown is an AA cross-sectional view of the robot used by the present invention for replacing underwater sensors.

[0036] Figure 7 The diagram shown is an AA-section axonometric view of the robot used for replacing underwater sensors according to the present invention.

[0037] Figure 8 The diagram shown is a BB cross-sectional view of the robot used for replacing underwater sensors according to the present invention.

[0038] Figure 9 The diagram shows a schematic of the robotic arm of the robot used for replacing underwater sensors according to the present invention.

[0039] Figure 10 The diagram shows a schematic of the robotic arm of the robot used for replacing underwater sensors according to the present invention.

[0040] Figure 11 The diagram shows a sleeve assembly of the robot for replacing underwater sensors according to the present invention.

[0041] Figure 12 The diagram shown is a cross-sectional schematic of the sleeve assembly of the robot used for replacing underwater sensors according to the present invention.

[0042] Figure 13 The diagram shows a cross-sectional view of the sleeve assembly of the robot used for replacing underwater sensors according to the present invention.

[0043] Figure 14 The diagram shows a sleeve component of the robot used for replacing underwater sensors according to the present invention.

[0044] Figure 15 The diagram shows a cross-sectional view of the sleeve component of the robot used for replacing underwater sensors according to the present invention.

[0045] Figure 16 The diagram shows a cross-sectional view of the sleeve component DD of the robot used for replacing underwater sensors according to the present invention.

[0046] Figure 17 The diagram shows the sliding platform and clamping seat of the robot used for replacing underwater sensors according to the present invention.

[0047] Figure 18 The diagram shows a gripper for the robot used to replace underwater sensors according to the present invention.

[0048] Figure 19 The diagram shows the first material bin of the robot used for replacing underwater sensors according to the present invention.

[0049] Figure 20 The diagram shows a schematic of the power unit of the robot used for replacing underwater sensors according to the present invention.

[0050] Figure 21 The diagram shows a top view of the power unit of the robot used for replacing underwater sensors according to the present invention.

[0051] The components include: body 10, groove 101, robotic arm 20, sleeve assembly 21, housing 211, second motor 212, second motor shaft 2121, sleeve 213, sleeve rod 2131, adjusting screw 21311, first elastic element 21312, contact element 21313, connecting rod 2132, limiting groove 21321, second elastic element 21322, lead screw shaft 2133, limiting block 21331, telescopic seat 22, telescopic electric cylinder 221, rotating seat 23, first motor 231, feeding unit 30, first material bin 31, thrust plate 311, third elastic element 312, and... Material bin 32, feeding mechanism 33, transmission belt 331, third motor 332, clamping seat 333, sliding platform 334, sliding shaft 3341, sliding motor 3342, clamping area 3343, ejection mechanism 3344, power unit 40, fourth motor 401, magnetic ring 402, friction ring 403, power seat 404, reversing cylinder 405, buoyancy unit 50, first valve 501, second valve 502, third valve 503, buoyancy chamber 504, pressure vessel 505, anchoring unit 60, electrically controlled magnet 601, fourth elastic element 602, steel pipe 70, sensor 80. Detailed Implementation

[0052] To facilitate understanding of this research, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. However, this research can be implemented in many different forms and is not limited to the embodiments described in this specification. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of this research.

[0053] During implementation, the underwater part of the monitoring system, including multiple sensors, is pre-installed on the main steel structure and then submerged in seawater when the main steel structure is installed in the ocean. The lifespan of the sensors is much shorter than that of the main steel structure. When the sensors malfunction, the monitoring of the main steel structure will also fail, posing a safety hazard to the main steel structure.

[0054] Traditional manual underwater sensor replacement is extremely costly. To reduce costs, it is often necessary to replace sensors periodically or after accumulating a certain number of faults. Even so, the cost is still difficult to control, and it can also lead to monitoring gaps in the monitoring system, rendering the system ineffective and creating safety hazards for the main structure.

[0055] like Figure 2 As shown, in the implementation of this invention, the sensor is pre-installed on the main structure via a bracket. In order to simplify the control process when the sleeve assembly on the robot arm docks with the sensor and improve the docking accuracy, the bracket can be pre-installed uniformly according to a specific angle and direction when the main steel structure is made on land. This simplifies the robot docking process, and the multiple screw holes of the sensor and the sleeve assembly are kept consistent during installation.

[0056] Please refer to this embodiment. Figures 1-5 The present invention provides a robot for replacing underwater sensors, comprising a body 10, a robotic arm 20, a feeding unit 30, a power unit 40, and a buoyancy unit 50.

[0057] The body 10 is an arc shape. During operation, it is connected to the steel pipe 70 in a wrapping manner. The top of the arc of the body 10 is provided with a groove 101. During the robot's descent, the robotic arm 20 can be stored in the groove 101 to prevent the robotic arm 20 from hitting the surrounding structure. It can also stabilize the robot's center of gravity and improve the stability of the robot during the descent.

[0058] Please see Figure 4 and Figure 8 An anchoring unit 60 is also provided in the middle of the inner arc surface of the body 10. The anchoring unit 60 includes an electrically controlled magnet 601 and a fourth elastic element 602. The outer side of the electrically controlled magnet 601 is arc-shaped, and the inner side is connected to the body 10 through the fourth elastic element 602. When the robot reaches a specific position, the electrically controlled magnet 601 can be activated, providing a stronger attraction force, anchoring the robot to a specific position on the steel pipe 70 like a ship's anchor, keeping the robot fixed and facilitating its operation.

[0059] Please see Figure 9 and Figure 10 The other end of the robotic arm 20 is provided with a sleeve assembly 21, which is used for disassembling and installing the sensor 80. The robotic arm 20 also includes a telescopic seat 22 and a rotating seat 23. One end of the rotating seat 23 is connected to the body 10, and the other end is rotatably connected to the first motor 231. The other end of the first motor 231 is connected to one end of the telescopic seat 22. The other end of the telescopic seat 22 is connected to the sleeve assembly 21 through a telescopic electric cylinder 221.

[0060] In this example, the robotic arm 20 has multiple degrees of freedom. For example, the robotic arm has two rotational degrees of freedom and one extensional degree of freedom. The robot body can also move along the axis and circumferential direction of the steel pipe, and the end of the robotic arm can also rotate around its own axis, thereby ensuring that the sleeve in the sleeve assembly can be aligned with the sensor mounting screw hole on the steel pipe.

[0061] Please see Figure 11 and Figure 12 The sleeve assembly 21 includes a housing 211, a second motor 212, and multiple sleeve components 213. The housing 211 is a hollow cavity structure with a central cylinder in its middle; four cylinders are evenly spaced around the outer periphery of the central cylinder. The four sleeve components 213 are circumferentially distributed within the four cylinders inside the housing 211 and can rotate and extend freely within the cylinders. The outer end of the housing 211 is a docking end, which docks with the sensor 80.

[0062] Please see Figure 13 and Figure 14 , Figure 13 The image shows a cross-section of the sleeve assembly 21. The sleeve assembly 213 includes a sleeve rod 2131, a connecting rod 2132, and a lead screw shaft 2133. One end of the sleeve rod 2131 has a cylindrical hole, and the other end has a sleeve with a shape matching the nut inside. One end of the connecting rod 2132 has a cylindrical protruding shaft that mates with the cylindrical hole; the other end of the connecting rod 2132 has a limiting groove 21321. One end of the lead screw shaft 2133 has a limiting block 21331 that mates with the limiting groove 21321. The nut of the lead screw shaft 2133 is connected to the output power shaft 2121 of the second motor 212. Driven by the second motor 212, the lead screw shaft 2133 drives the connecting rod 2132 to rotate and slide axially relative to the lead screw shaft 2133. Each sleeve component 213 has a torque adjustment mechanism and a telescopic mechanism, and their axial travel and circumferential rotation can be asynchronous.

[0063] In the above embodiment, the sleeve rod at the end of the sleeve member 213 uses a magnetic sleeve to prevent the nut from accidentally falling off. The cross-section of the limiting groove 21321 and the limiting block 21331 can be triangular or rectangular, but not circular, because in this embodiment, the function of this structure is to provide axial sliding function, while at the same time maintaining the power to transmit rotation, and a circular cross-section cannot achieve the above purpose.

[0064] Please see Figure 15 The telescopic mechanism includes a limiting groove 21321, a second elastic element 21322, and a limiting block 21331. The limiting groove 21321 is located at the other end of the connecting rod 2132, and the second elastic element 21322 is located inside the limiting groove 21321.

[0065] Please see Figure 16 The image shows a cross-section of the torque adjustment mechanism, which includes an adjusting screw 21311, a first elastic element 21312, and a contact element 21313. The adjusting screw 21311, the first elastic element 21312, and the contact element 21313 are sequentially connected and pass through the sleeve rod 2131. The tail end of the adjusting screw 21311 faces outwards from the sleeve rod 2131, while the contact element 21313 faces inwards from the sleeve rod 2131 and has an arc surface. This arc surface contacts the cylindrical protruding shaft of the connecting rod 2132. The adjusting screw 21311 adjusts the compression of the first elastic element 21312, thereby adjusting the rotational resistance of the contact element 21313 to the connecting rod 2132. When the resistance exceeds the torque, slippage occurs between the sleeve rod 2131 and the connecting rod 2132.

[0066] In the above embodiment, when the sleeve assembly docks with the sensor, the robot first adjusts around the steel pipe circumferentially so that the center plane of the robotic arm coincides with the center plane of the sensor. Then, the robot adjusts the angle of the robotic arm so that the angle between the sleeve assembly 21 at the front end of the robotic arm and the steel pipe is equal to the angle set when the sensor bracket is pre-installed. Then, the robot moves along the axial direction of the steel pipe to approach the sensor. When the end face of the sleeve assembly is aligned with the end face of the sensor, the robot stops moving. At this time, the telescopic electric cylinder 221 starts to move, and the sleeve assembly 21 is inserted into the sensor and its mounting base.

[0067] During the docking process between the sleeve assembly and the sensor, the initial angle of some nuts used for sensor installation may differ from the initial angle of the sleeve at the end of sleeve component 213, causing the sleeve to fail to fit the nut accurately. The telescopic mechanism in this embodiment is designed to solve this problem. Under the action of the telescopic mechanism, each sleeve can have a different axial travel. After the sleeve assembly is docked with the sensor, if the direction of the corresponding nut is consistent with the direction of the sleeve, the sleeve will fit into the nut; if the direction of the corresponding nut is inconsistent with the direction of the sleeve, the sleeve can only rest against the top surface of the nut and cannot fit into the nut temporarily. This part of the travel is absorbed by the telescopic mechanism, thereby ensuring that even if some sleeves fail to fit successfully, it does not affect the docking between the sleeve assembly and the sensor.

[0068] Based on the above, even if there are sleeves that fail to fit successfully, at this time, as long as the second motor 212 is turned on, a pre-rotation is performed at a slow speed, and each sleeve component 213 rotates accordingly. During this process, when the sleeve at the end of the sleeve component 213 is aligned with the nut for installing the sensor, the corresponding sleeve will fit the nut. After a certain pre-rotation procedure, all sleeve components 213 will complete the fitting process.

[0069] Next, loosen the nuts and remove the sensor from the mounting bracket. The sleeve assembly has a central cylinder that matches the shape of the sensor. The interior of the central cylinder uses elastic material. During the docking process, the sensor is inserted into the central cylinder and clamped and protected by the elastic material. Even after loosening the nuts, the sensor will remain inside the sleeve assembly and will not fall out.

[0070] As mentioned above, the initial angles of some nuts used for installing sensors may differ. Therefore, the number of turns required for each nut during tightening and loosening may also vary. The torque adjustment mechanism in this embodiment is designed to address this issue. The underwater sensor installation and replacement process is automatically performed by the sleeve assembly on the robotic arm. Since it cannot perceive whether the nuts are tightened or not like a human, a torque setting is typically designed to ensure the sensor installation conforms to specifications. Under the action of the torque adjustment mechanism, once the nut reaches the set torque, even if the second motor 212 continues to rotate, the end of the sleeve 213 will not continue to rotate, preventing damage to the sensor.

[0071] Please see Figure 6 and Figure 7 The feeding unit 30 includes a first material bin 31, a second material bin 32, and a feeding mechanism 33. The feeding mechanism 33 is used to remove the old sensor 80 from the sleeve assembly 21 and feed it into the second material bin 32, and to feed the new sensor 80 from the first material bin 31 into the sleeve assembly 21.

[0072] Please see Figure 6 The feeding mechanism 33 includes a transmission belt 331, a third motor 332, a clamping seat 333 and a sliding platform 334. The sliding platform 334 is connected to the transmission belt 331 and moves back and forth between the first material bin 31, the groove 101 of the machine body 10 and the second material bin 32 under the power of the third motor 332.

[0073] Please see Figure 17 The clamping seat 333 is mounted on the sliding shaft 3341 of the sliding platform 334 and moves along the sliding shaft 3341 under the drive of the sliding motor 3342. The clamping seat 333 has a circular clamping area 3343 inside, and the inner surface of the clamping area 3343 is made of elastic material. The end of the sensor 80 is inserted into the clamping area 3343 and locked. The tail end of the clamping seat 333 is closed, and the closed surface plays a limiting role for the sensor 80. At the same time, the closed surface is provided with a retractable ejection mechanism 3344. The ejection mechanism 3344 can push the sensor out of the clamping seat 333, making it easy for the sensor 80 to detach from the clamping seat 333. When the sensor 80 enters the clamping seat 333, the ejection mechanism 3344 can retract, so that the sensor 80 is fixed in the clamping seat 333 by friction. The ejection mechanism 3344 can be a small electric push rod structure, a micro hydraulic cylinder structure using water pressure, or a small air bladder that expands by absorbing water to eject the sensor 80.

[0074] Please see Figure 18 The first material bin 31 includes a thrust plate 311, a third elastic element 312, and a door plate. The first material bin 31 is cylindrical, with a diameter matching the outer diameter of the sensor 80. Figure 9 As shown, multiple new sensors 80 are placed sequentially in the first material bin 31.

[0075] The thrust plate 311 is slidably installed inside the first material bin 31 and is connected to the tail of the first material bin 31 by the third elastic element 312.

[0076] The door panel is located at the opening of the first material bin 31. When the clamping seat 333 moves to the opening of the first material bin 31, it will push the door panel open to the side and align it with the opening of the first material bin 31. The third elastic member 312 pushes the sensor 80 into the clamping seat 333.

[0077] The hatch panel is located at the opening of the first material bin 31 and can only be opened by a lateral force perpendicular to the axis of the first material bin 31, not by an axial force of the first material bin 31. Initially, multiple sensors are sequentially placed inside the first material bin 31, and the third elastic element 312 provides an outward pushing force. However, this force is along the axis of the first material bin 31 and cannot open the hatch panel. When the clamping seat 333 moves to this position, it pushes the hatch panel aside laterally. The clamping seat 333 then moves further, and when it aligns with the axis of the sensor 80, the third elastic element 312 pushes the sensor into the clamping seat 333. Simultaneously, the clamping seat 333, driven by the sliding motor 3342, moves along the sliding shaft 3341 to actively clamp the clamping seat 333. Afterward, the clamping seat 333 moves laterally, and the hatch panel returns to its original position.

[0078] The gripper 333 moves to the groove position on the machine body and aligns with the sleeve assembly of the robotic arm. Then, driven by the sliding motor 3342, the gripper 333 moves along the sliding shaft 3341 to send the new sensor into the sleeve assembly. At this time, the ejection mechanism 3344 also moves accordingly, allowing the new sensor 80 to disengage from the gripper 333.

[0079] At the second material bin 32, the gripper 333 can also push the recycled old sensor into the second material bin 32 through a similar principle. Since the robot always operates along the steel pipe, the tail of the second material bin 32 is lower than the opening. After the sensor is detached from the gripper 333, it will automatically fall into the second material bin 32. The same principle applies as the first material bin 31. When the gripper 333 is removed, the end door panel of the second material bin 32 returns to its original position.

[0080] After the robotic arm removes the old sensor from the mounting bracket on the steel pipe, it returns entirely to the groove in the machine body, at which point the sensor 80 is located at the end of the groove. Once the axis of the gripper 333 is aligned with the sensor 80, the gripper 333 moves towards the sensor 80. After the gripper 333 fully engages the sensor 80, it moves in the opposite direction, at which point the sensor can be pulled out of the sleeve assembly. The sliding platform 334 then moves to the second material bin 32 to place the sensor, then moves to the first material bin 31 to retrieve the new sensor, and then moves back to the groove position in the machine body, maintaining the alignment of the gripper 333 with the axis of the sleeve assembly. The new sensor is then fed into the sleeve assembly, and the robotic arm performs the installation procedure.

[0081] See Figure 4Multiple power units 40 are located on both sides of the inner arc surface of the body 10, providing power to the body along the axial and circumferential directions of the steel pipe 70. The power units 40 also have an adsorption force, enabling them to adhere to the steel pipe 70. The power units 40 have a reversing function: when the power units 40 are along the axial direction of the steel pipe 70, the robot moves along the axial direction of the steel pipe; when the power units 40 are along the outer circumferential direction of the steel pipe 70, the robot moves along the circumferential direction of the steel pipe. The support frame steel pipe of the offshore platform is arranged vertically, allowing the robot to dive deep along the axial direction and rotate circumferentially, thereby avoiding other structures on the steel pipe, such as sensors and supports.

[0082] See Figure 19 and Figure 20 The power unit 40 includes a fourth motor 401, a magnetic ring 402, a friction ring 403, a power seat 404, and a reversing cylinder 405; the fourth motor 401 is a hub motor, and the shaft of the fourth motor 401 is rotatably mounted on the power seat 404.

[0083] The reversing cylinder 405 is arc-shaped. The output shaft of the reversing cylinder 405 is fixedly connected to the power base 404. There is a pipe interface at the end of the reversing cylinder 405. When the reversing cylinder 405 is filled with liquid or gas, the output shaft of the reversing cylinder 405 will drive the power base 404 to rotate, thereby controlling the movement direction of the entire machine. Specifically, a small water pump can be carried in the machine body, using seawater as the hydraulic medium. Alternatively, the machine body can carry an independent hydraulic source system to provide the hydraulic source, which is then connected to a hydraulic valve and then to the pipe interface of the reversing cylinder 405. By adjusting the amount of liquid or gas pumped into the reversing cylinder 405, the rotation angle of the power base 404 can be adjusted, thereby controlling the movement direction of the robot.

[0084] The top of the power seat 404 is rotatably connected to the body 10, and an elastic element is provided between the power seat 404 and the body 10 for buffering and vibration reduction.

[0085] The magnetic ring 402 is located on the outer layer of the fourth motor 401. The magnetic ring 402 is made of magnetic material and can be adsorbed onto the steel pipe 70. The friction ring 403 is located on the outer layer of the magnetic ring 402 and is used to increase the friction. The magnetic ring and the friction ring can increase the robot's adsorption force on the steel pipe and obtain better power performance.

[0086] The buoyancy unit 50 is located inside the body 10 and is used to adjust the buoyancy of the body 10. During the descent, the buoyancy of the robot will change continuously. Even if the power unit 40 provides the same power to the robot, the robot's motion posture may change differently, which will increase the difficulty of control and affect the accuracy of the robot's docking with the sensors. The buoyancy unit adjusts the robot's own buoyancy to keep the robot in balance under the forces underwater and keep it stationary when there is no active power. This can save energy consumption when the robot moves and also maintain its own stability.

[0087] Please see Figure 21 The buoyancy unit 50 includes a first valve 501, a second valve 502, a third valve 503, a buoyancy chamber 504, and a pressure vessel 505. The buoyancy chamber 504 is connected to the outside through the first valve 501 and the second valve 502. The buoyancy chamber 504 and the pressure vessel 505 are connected through the third valve 503. The first valve 501, the second valve 502, and the third valve 503 are electrically controlled valves.

[0088] In the above embodiments, compressed gas needs to be pre-filled into the pressure vessel 505 before the robot dives.

[0089] At the beginning of the descent, the first valve 501, the second valve 502, and the third valve 503 are all closed. During the descent, when it is necessary to reduce the buoyancy, the second valve 502 and the first valve 501 can be opened at the same time. Seawater will enter the buoyancy chamber 504 and expel the air. When the appropriate buoyancy is adjusted, the second valve 502 and the first valve 501 are closed at the same time to maintain the state. When readjustment is needed, the above process is repeated.

[0090] When increased buoyancy is needed, the third valve 503 is opened, and depending on the robot's posture, the lower valve of the first valve 501 and the second valve 502 is opened, while the other valve is closed. Gas enters the buoyancy chamber 504, discharging the water. After adjusting to the appropriate buoyancy, all valves are closed to maintain the desired state. The above process is repeated when readjustment is required. Furthermore, the third valve 503 can be a one-way valve, allowing gas to exit but preventing it from entering the pressure vessel 505.

[0091] In summary, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0092] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A robot for replacing underwater sensors, characterized in that: It includes a machine body, a robotic arm, and a feeding unit; the machine body is an arc shape, and the top of the arc shape is provided with a groove. One end of the robotic arm is rotatably connected to one end of the groove, and the other end is connected to a sleeve assembly; the sleeve assembly is used for removing and installing sensors; the feeding unit is disposed inside the machine body; the feeding unit includes a first material bin, a second material bin, and a feeding mechanism; the first material bin and the second material bin are respectively disposed on both sides of the sleeve assembly; the feeding mechanism is used to remove the old sensor from the sleeve assembly and feed it into the second material bin, and to feed the new sensor from the first material bin into the sleeve assembly; The sleeve assembly includes a housing, a second motor, and multiple sleeve components. The multiple sleeve components are circumferentially distributed within the housing, and the end of each sleeve component is connected to the second motor. The outer ends of the housing and the sleeve components form a docking end, which docks with the sensor. The sleeve components can rotate and move axially within the housing. The sleeve includes a sleeve rod and a connecting rod. One end of the sleeve rod has a cylindrical hole, and one end of the connecting rod has a cylindrical protruding shaft that mates with the cylindrical hole. The cylindrical hole of the sleeve rod is provided with a torque adjustment mechanism that penetrates the side wall of the cylindrical hole and contacts the side of the cylindrical protruding shaft.

2. The robot for replacing underwater sensors according to claim 1, characterized in that: The other end of the connecting rod is provided with a telescopic mechanism; the telescopic mechanism includes a limiting groove, a second elastic element and a limiting block, the limiting groove is disposed in the connecting rod and the second elastic element is located in the limiting groove; the telescopic mechanism is connected to a lead screw shaft, one end of the lead screw shaft is provided with a limiting block, the limiting block cooperates with the limiting groove; the other end of the lead screw shaft is connected to a second motor to drive the connecting rod to rotate.

3. The robot for replacing underwater sensors according to claim 1, characterized in that: The feeding mechanism includes a transmission belt, a third motor, a clamping seat, and a sliding platform. The sliding platform is connected to the transmission belt and moves back and forth between the first material bin, the groove of the machine body, and the second material bin under the power of the third motor. The clamping seat is mounted on the sliding shaft of the sliding platform and moves along the sliding shaft under the drive of the sliding motor. The clamping seat has a circular clamping area, and the end of the sensor is inserted into the clamping area and locked in place.

4. The robot for replacing underwater sensors according to claim 3, characterized in that: The first material bin includes a thrust plate, a third elastic element, and a door plate; the first material bin is cylindrical; the thrust plate is slidably installed inside the first material bin and connected to the tail of the first material bin through the third elastic element; The door panel is located at the opening of the first material bin. When the clamping seat moves to the opening of the first material bin, it pushes the door panel open laterally and aligns it with the opening of the first material bin. The third elastic element pushes the sensor into the clamping seat.

5. The robot for replacing underwater sensors according to claim 1, characterized in that: It also includes a power unit; multiple power units are located on both sides of the inner arc surface of the body, used to provide power for the body to perform axial and circumferential movements; The power unit includes a fourth motor, a magnetic ring, a friction ring, a power base, and a reversing cylinder; The fourth motor is a hub motor, and the shaft of the fourth motor is rotatably mounted on the power base on both sides. The reversing cylinder is arc-shaped, and the output shaft of the reversing cylinder is fixedly connected to the power base; The top of the power base is rotatably connected to the machine body, and an elastic element is also provided between the power base and the machine body; The magnetic coil is located on the outer layer of the fourth motor; The friction ring is located on the outer layer of the magnetic ring.

6. The robot for replacing underwater sensors according to claim 1, characterized in that: It also includes a buoyancy unit; the buoyancy unit is located inside the body and is used to adjust the buoyancy of the body; The buoyancy unit includes a first valve, a second valve, a third valve, a buoyancy chamber, and a pressure vessel. The buoyancy chamber is connected to the outside through the first valve and the second valve. The buoyancy chamber and the pressure vessel are connected through the third valve. The first valve, the second valve, and the third valve are electrically controlled valves.

7. The robot for replacing underwater sensors according to claim 1, characterized in that: The robotic arm includes a telescopic base and a rotating base. One end of the rotating base is connected to the machine body, and one end of the telescopic base is rotatably connected to the other end of the rotating base via a first motor. The sleeve assembly is connected to the other end of the telescopic base via a telescopic electric cylinder.

8. A robot for replacing underwater sensors as described in claim 1, characterized in that, An anchoring unit is also provided in the middle of the arc surface inside the machine body. The anchoring unit includes an electrically controlled magnet and a fourth elastic element. The outer side of the electrically controlled magnet is arc-shaped, and the inner side is connected to the machine body through the fourth elastic element.

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