Obstacle clearing method and offshore tunnel cleaning robot with obstacle clearing mechanism

Abstract

The present invention discloses an obstacle removal method, which is applicable to a marine tunnel cleaning robot having a track assembly and an obstacle removal mechanism, and the marine biological debris peeled off from the inner wall of the marine tunnel is accumulated on the walking path of the track assembly; when the marine tunnel cleaning robot moves forward, the marine biological debris located on the front side of the track assembly is transported to the rear side of the marine tunnel cleaning robot through the obstacle removal mechanism. A marine tunnel cleaning robot is also disclosed, which includes a frame, on which an upper mechanism and a pair of crawler chassis are mounted, and a conveying mechanism is also provided on the frame; the conveying mechanism includes a slurry pump and a conveying pipe, and the conveying pipe is connected to the output end of the slurry pump; the input end of the slurry pump is located on the front side of the frame, and the output end of the conveying pipe is located on the rear side of the frame. By providing the obstacle removal mechanism, the marine biological debris located on the walking path of the track assembly can be removed, thereby reducing the obstruction to the robot's movement caused by the accumulation of marine biological debris.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of tunnel cleaning equipment, and in particular to an obstacle removal method and an offshore tunnel cleaning robot with an obstacle removal mechanism. Background Art

[0002] Coastal nuclear power plants usually introduce offshore seawater as cooling water by building cold water intake tunnels. As seawater is introduced into the power plant from the cold water intake tunnel, a large number of marine organisms such as shellfish and barnacles will adhere to the tunnel wall over time, resulting in a reduction in the tunnel flow area and water delivery capacity. Therefore, it is necessary to clean the marine organisms attached to the cold water intake tunnel wall.

[0003] The existing marine engineering tunnel cleaning robot is not equipped with a conveying mechanism. The marine biological debris that falls off from the wall of the cold source water intake tunnel falls into the gap between the walking mechanism and the bottom of the tunnel by its own weight. The walking mechanism needs to pass over the pile of marine biological debris in the form of a leap.

[0004] However, in actual use, we found that if there are too many marine organisms in the tunnel, as the cleaning work continues, more and more marine organism debris will accumulate in front of the robot in the direction of travel, and the cross-sectional area of ​​the debris pile may exceed the cross-sectional area of ​​the gap between the walking mechanism and the bottom of the tunnel, which means that the walking mechanism cannot cross over all the marine organism debris, so some marine organism debris will be stranded in front of the robot and accumulate more and more. Then, the robot needs to push these stranded debris to follow it in the process of moving forward, which will not only create resistance to the robot's movement, but also affect the fit between the walking mechanism and the tunnel wall, making it difficult for the robot to center in the tunnel.

[0005] Based on the above reasons, it is necessary to add an active obstacle removal mechanism to the offshore tunnel cleaning robot to promptly remove obstacles formed by marine biological debris accumulated in front of the robot's travel direction. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide an obstacle removal method and a marine tunnel cleaning robot with an obstacle removal mechanism.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A method for clearing obstacles is applicable to a marine tunnel cleaning robot having a track assembly and an obstacle clearing mechanism, and in the case where marine biological debris peeled off from the inner wall of the marine tunnel is accumulated on the walking path of the track assembly; during the forward movement of the marine tunnel cleaning robot, the marine biological debris located at the front side of the track assembly is transported to the rear side of the marine tunnel cleaning robot by the obstacle clearing mechanism, so as to prevent the marine biological debris from affecting the passage of the marine tunnel cleaning robot.

[0009] As a further improvement of the above technical solution:

[0010] When the marine tunnel cleaning robot is moving backward, the obstacle clearing mechanism disperses the pile of marine biological debris located at the rear side of the robot by spraying water, so as to prevent the marine biological debris from affecting the passage of the marine tunnel cleaning robot.

[0011] Then, the present invention also discloses a marine tunnel cleaning robot with an obstacle removal mechanism, which is suitable for the above-mentioned obstacle removal method. The marine tunnel cleaning robot comprises a frame, on which is mounted an upper mechanism for peeling off marine organisms attached to the tunnel wall, and a pair of crawler chassis for driving the robot to move; the frame is also provided with a conveying mechanism for conveying marine organism debris on the front side of the robot to the rear side of the robot;

[0012] The conveying mechanism comprises a slurry pump and a conveying pipe, wherein the conveying pipe is connected to the output end of the slurry pump; the input end of the slurry pump is located at the front side of the frame, and the output end of the conveying pipe is located at the rear side of the frame.

[0013] As a further improvement of the above technical solution:

[0014] The inlet end of the slurry pump is provided with a reamer for crushing the remains of marine organisms.

[0015] The slurry pump is fixed at the lower end of the frame, and the inlet end of the slurry pump is close to the tunnel wall.

[0016] The crawler chassis comprises a frame and a pair of crawler assemblies symmetrically arranged on both sides thereof, and the inlet end of the conveying pipe is close to the inner side of the front end of the crawler assembly and close to the tunnel wall.

[0017] The crawler chassis includes a frame and a pair of crawler assemblies symmetrically arranged on both sides thereof. The outlet end of the delivery pipe is close to the inner side of the rear end of the crawler assembly and close to the tunnel wall; the water flow discharged by the delivery pipe intersects with the retreat path of the crawler assembly.

[0018] A branch pipe is formed in the middle of the delivery pipe, and the branch pipe is connected to the outlet end of the slurry pump.

[0019] A front shovel mechanism is also arranged at the front end of the frame; the front shovel mechanism comprises a bracket connected to the frame, and an arc-shaped razor is arranged at the lower end of the bracket, and the curvature of the razor is consistent with the curvature of the tunnel wall.

[0020] The front shovel mechanism also includes a driver for driving the frame to move so as to change the distance between the razor and the tunnel wall.

[0021] The robot also includes a spray mechanism; the spray mechanism includes a spray pipe connected to the outlet end of the slurry pump, and the spray pipe is equipped with a plurality of jet nozzles facing the front side of the frame for breaking up the crusted marine debris.

[0022] Compared with the prior art, the advantages of the present invention are:

[0023] By setting up an obstacle removal mechanism, it can push the marine debris accumulated on the front side of the robot to the rear side of the robot, and can also disperse the marine debris accumulated on the rear side of the robot, thereby reducing the obstruction to the robot's movement caused by the accumulation of marine debris. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is the structure of the robot Figure 1 (The upper loading mechanism is in a folded state);

[0025] Figure 2 This is the structure of the robot Figure 2 (The upper loading mechanism is in the unfolded state);

[0026] Figure 3 It is a schematic diagram of the structure of the crawler chassis;

[0027] Figure 4 yes Figure 3 Schematic diagram of the cross section of AA;

[0028] Figure 5 yes Figure 3 Schematic cross-section of the middle BB;

[0029] Figure 6 It is a schematic diagram of the structure of the crawler chassis when the frame is offset;

[0030] Figure 7 This is the structure of the robot Figure 3 (upper loading mechanism not shown);

[0031] Figure 8 This is a schematic diagram of the distribution area of ​​marine biological debris in the tunnel;

[0032] Fig. 9 This is the structure of the robot Figure 4 (Top loading mechanism not shown).

[0033] The numbers in the figure represent: 1. frame; 2. upper mounting mechanism; 21. semicircular bracket; 22. scraper; 23. connecting rod assembly; 24. second telescopic rod; 3. crawler chassis; 31. frame; 32. crawler assembly; 33. leveling mechanism; 331. lower support plate; 332. upper support plate; 333. spring; 334. leveling screw rod; 335. gap; 34. support shaft; 4. conveying mechanism; 41. slurry pump; 42. conveying pipe; 421. branch pipe; 5. front shovel mechanism; 51. bracket; 52. razor; 6. spraying mechanism; 01. marine biological debris; 02. tunnel. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Example

[0036] like Figure 1 As shown, the marine tunnel cleaning robot with an obstacle removal mechanism of this embodiment includes a frame 1, on which is mounted an upper mechanism 2 for removing marine organisms attached to the tunnel wall, and a pair of crawler chassis 3 for driving the robot to move. The frame 1 is also provided with a conveying mechanism 4 for conveying marine organism debris on the front side of the robot to the rear side of the robot;

[0037] Specifically, Figure 2As shown, the upper mounting mechanism 2 includes two semicircular brackets 21 hinged along the chord edge, and the bottom of the semicircular bracket 21 is hinged to the main frame 1; and a plurality of scrapers 22 for peeling marine organisms are arranged on the arc surface of the semicircular bracket 21, and the scrapers 22 are in contact with the tunnel wall. The upper mounting mechanism 2 also includes a connecting rod assembly 23 and a second telescopic rod 24; the scraper 22 is connected to the semicircular bracket 21 through the connecting rod assembly 23; one end of the second telescopic rod 24 is hinged to the semicircular bracket 21, and the other end is hinged to the connecting rod assembly 23; under the driving action of the second telescopic rod 24, the scraper 22 reciprocates along the circumference of the upper mounting mechanism 2. The scraper 22 is elastically connected to the connecting rod assembly 23, so that the scraper 22 can move in a radial direction of the upper mounting mechanism 2. The scraper 22 is fitted with the tunnel wall. On the one hand, the scraper 22 can reciprocate along the circumference of the upper mechanism 2 (i.e., the circumference of the tunnel) under the drive of the second telescopic rod 24. On the other hand, the scraper 22 can also move along the axial direction of the tunnel under the drive of the crawler chassis 3, and can clean the marine organisms on the tunnel wall while traveling. Since it is difficult for the robot's travel route to completely coincide with the axial direction of the tunnel, that is, a certain degree of deviation may occur, this deviation will cause the pressure between the scraper 22 on one side and the tunnel wall to increase, while the pressure between the scraper 22 on the opposite side and the tunnel wall to decrease. In order to prevent the scraper 22 from over-extruding the tunnel and causing damage, the scraper 22 and the connecting rod assembly 23 are set to be elastically connected. When the scraper 22 squeezes the tunnel wall, the elastic member contracts under the pressure, so that the scraper 22 contracts to a certain extent along the radial direction of the upper mechanism 2, thereby reducing the probability of the scraper 22 and the tunnel from being over-extruded and causing damage.

[0038] Specifically, Figures 3 to 6 As shown, the track chassis 3 includes a frame 31 and a track assembly 32. Since the marine debris in the tunnel is difficult to be completely cleared, the track assembly 32 may deviate when it rolls over the pile of marine debris. In order to correct the deviation in time, a leveling mechanism 33 is also provided on the track chassis 3. The track assembly 32 is provided with two groups of support shafts 34 hinged on both sides of the width direction of the frame 31; the leveling mechanism 33 includes a fixed part and an adjustment part that can rotate the frame 31 relative to the support shaft 34 through adjustment, the fixed part is movably connected to the adjustment part, the fixed part is also fixedly connected to the track assembly 32, and the adjustment part is connected to the frame 31. In this structure, the frame 31 and the track assembly 32 are hinged by setting the support shaft 34, so that the frame 31 can swing relative to the frame 31 through the support shaft 34, as shown in FIG. Figure 3 In the direction C in FIG. At the same time, a leveling mechanism 33 is provided between the vehicle frame 31 and the track assembly 32. When the vehicle frame 31 cannot maintain a horizontal state due to uneven load, the leveling mechanism 33 is adjusted to rotate the vehicle frame 31 to restore the horizontal state, so that the vehicle frame 31 can maintain stability without affecting the normal driving of the vehicle.

[0039] The leveling mechanism 33 also includes a shock absorbing part, which can apply an elastic force to the frame 31 when the frame 31 tilts. The fixed part includes a lower support plate 331, the adjustment part includes a leveling screw rod 334, and the shock absorbing part includes an upper support plate 332 and a spring 333. The spring 333 is vertically arranged and its lower end is fixedly connected to the lower support plate 331, and its upper end is fixedly connected to the upper support plate 332; the lower support plate 331 is fixedly connected to the track assembly 32, the leveling screw rod 334 is vertically arranged and hinged to the frame 31, and the leveling screw rod 334 is also threadedly connected to the upper support plate 332. In this structure, the spring 333 acts as an elastic shock absorber to ensure the stability of the vehicle's driving. For details, please refer to Figure 6 When the center of gravity of the chassis load deviates in the direction of arrow F, the track assembly 32 remains unchanged under the support of the ground, while the frame 31 bearing the load of the center of gravity deviation swings in the direction G with the support shaft 34 as the fulcrum, so that the leveling screw 334 drives the upper support plate 332 to move in the direction G until the elastic force of the spring 333 and the load gravity are balanced, and the frame 31 is no longer level. For details, please refer to Figure 6 If the chassis needs to be adjusted to a horizontal state at this time, it is only necessary to adjust the leveling screw rod 334. The leveling screw rod 334 drives the upper support plate 332 to move, so that the frame 31 rotates in the opposite direction of the G direction until the frame 31 returns to a horizontal state.

[0040] A set of leveling mechanisms 33 is provided with at least two springs 333, and a leveling screw rod 334 is arranged in the middle of the upper support plate 332; each spring 333 is independently configured with a lower support plate 331; a set of track assemblies 32 includes two sets of leveling mechanisms 33, which are symmetrically arranged on both sides of the support shaft 34 along the length direction of the vehicle. In this structure, a plurality of springs 333 are arranged in a set of leveling mechanisms 33 to improve the shock absorbing effect of the leveling device; a gap 335 is left between each lower support plate 331 and the leveling screw 334 to avoid interference between the leveling screw 334 and the lower support plate 331 during the tilting process of the frame 31; the leveling screw 334 is arranged in the middle of the upper support plate 332 to improve the force uniformity of the support plate and ensure the structural stability of the leveling mechanism 33; the leveling mechanism 33 is symmetrically arranged on both sides of the support shaft 34 along the length direction of the vehicle, when the frame 31 is unbalanced, it is only necessary to adjust the leveling screws 334 on both sides to rotate the frame 31 until the frame 31 is horizontal.

[0041] Specifically, Figure 7As shown, the conveying mechanism 4 includes a slurry pump 41 and a conveying pipe 42, and the conveying pipe 42 is connected to the output end of the slurry pump 41; the input end of the slurry pump 41 is located at the front side of the frame 1, and the output end of the conveying pipe 42 connected to the output end of the slurry pump 41 is located at the rear side of the frame 1. (In other embodiments, the conveying pipe 42 can also be connected to the input end of the slurry pump 41, and the input end of the conveying pipe 42 is located at the front side of the frame 1, and the output end of the slurry pump 41 is located at the rear side of the frame 1.) By providing the slurry pump 41 and the conveying pipe 42, the suction force generated by the slurry pump 41 can suck the marine debris accumulated on the front side of the robot into the pump, and discharge it to the rear side of the robot through the conveying pipe 42, thereby reducing the obstruction to the movement of the robot caused by the accumulation of marine debris.

[0042] In this embodiment, a reamer for crushing marine biological debris is provided at the inlet end of the slurry pump 41. The reamer is connected to the impeller shaft of the slurry pump 41. When the slurry pump 41 is started, the reamer and the impeller rotate simultaneously. At this time, the marine biological debris sucked into the slurry pump 41 will be crushed by the reamer first, thereby reducing the probability of blockage of the slurry pump 41 to a certain extent.

[0043] In practice, it is found that under the push of the robot, the accumulation area of ​​the marine debris 01 in the tunnel 02 is roughly as follows: Figure 8 As shown. In this embodiment, the slurry pump 41 is fixed at the lower end of the frame 1, and the inlet end of the slurry pump 41 is close to the tunnel wall. The inlet end of the slurry pump 41 is close to the middle accumulation area of ​​marine debris, so it is easier to remove the marine debris in this area. The crawler chassis 3 includes a frame 31 and a pair of crawler assemblies 32 symmetrically arranged on both sides thereof. The inlet end of the delivery pipe 42 is close to the inner side of the front end of the crawler assembly 32 and close to the tunnel wall. The inlet end of the delivery pipe 42 is close to the edge accumulation area of ​​marine debris, so it is easier to remove the marine debris in this area. At the same time, a branch pipe 421 is formed in the middle of the delivery pipe 42, and the branch pipe 421 is connected to the outlet end of the slurry pump 41. The slurry pump 41 pushes the water in the delivery pipe 42 to flow, so that suction is generated at the inlet end of the delivery pipe 42. Since the marine debris will accumulate on both sides of the robot, in order to facilitate removal, a slurry pump 41 is provided on both sides of the frame 1, and each slurry pump 41 is connected to a delivery pipe 42. The inlet end of the delivery pipe 42 connected to the left slurry pump 41 is close to the inner side of the front end of the left track assembly 32, and is responsible for sucking the marine debris accumulated on the left side of the robot; the inlet end of the delivery pipe 42 connected to the right slurry pump 41 is close to the inner side of the front end of the right track assembly 32, and is responsible for sucking the marine debris accumulated on the right side of the robot.

[0044] In this embodiment, Fig. 9As shown, a front shovel mechanism 5 is also installed at the front end of the frame 1; the front shovel mechanism 5 includes a bracket 51 connected to the frame 1, and an arc-shaped razor 52 is arranged at the lower end of the bracket 51, and the curvature of the razor 52 is consistent with the curvature of the tunnel wall. The front shovel mechanism 5 also includes a driver for driving the frame 1 to move to change the distance between the razor 52 and the tunnel wall. By setting the front shovel mechanism 5, marine organisms on the bottom of the tunnel can be removed.

[0045] In this embodiment, the robot also includes a spray mechanism 6; the spray mechanism 6 includes a spray pipe connected to the outlet end of the slurry pump 41, and a plurality of jet nozzles facing the front side of the frame 1 are installed on the spray pipe for breaking up the hardened marine debris. Since the marine debris peeled off from the tunnel wall may be hardened into blocks, by setting up the spray mechanism 6, the water column ejected from the jet nozzle can disperse the hardened marine debris, thereby reducing the blocking probability of the slurry pump 41 to a certain extent. Specifically, the bracket 51 in the front shovel mechanism 5 is set to a frame structure so that the marine debris can pass through the front shovel mechanism 5 and enter the slurry pump 41 or the delivery pipe 42. The jet nozzle is set in the hollow part of the bracket 51 and is aimed at the marine debris passing through the front shovel mechanism 5.

[0046] In this embodiment, a clearing method is also disclosed, which is compatible with the above-mentioned robot, and the clearing method is applicable to the situation where marine biological debris peeled from the inner wall of a marine tunnel accumulates on the walking path of the track assembly 32; when the marine tunnel cleaning robot moves forward, the marine biological debris located on the front side of the track assembly 32 is transported to the rear side of the marine tunnel cleaning robot through the clearing mechanism to prevent the marine biological debris from affecting the passage of the marine tunnel cleaning robot.

[0047] When the marine tunnel cleaning robot is moving backward, the obstacle removal mechanism disperses the pile of marine debris at the rear of the robot by spraying water to prevent the marine debris from affecting the passage of the marine tunnel cleaning robot. Specifically, when the robot moves backward, the water flow sprayed by the delivery pipe 42 connected to the output end of the slurry pump 41 disperses the pile of marine debris at the rear of the robot and on the walking path of the track assembly 32. The outlet end of the delivery pipe 42 is close to the inner side of the rear end of the track assembly 32 and close to the tunnel wall; the water flow discharged by the delivery pipe 42 intersects with the backward path of the track assembly 32. When the robot moves backward, the slurry pump 41 remains in working state. At this time, the water flow discharged from the outlet end of the delivery pipe 42 will impact the marine debris deposited at the rear of the robot. Under the impact of the water flow, the marine debris is lifted up, so the obstacles on the backward path of the track assembly 32 are cleared.

[0048] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A troubleshooting method, characterized in that: The invention is applicable to a marine tunnel cleaning robot with an obstacle removal mechanism, and the marine biological debris peeled off from the inner wall of the marine tunnel is accumulated on the walking path of the crawler assembly; when the marine tunnel cleaning robot is moving forward, the obstacle removal mechanism transports the marine biological debris located at the front side of the crawler assembly to the rear side of the marine tunnel cleaning robot to avoid the marine biological debris affecting the passage of the marine tunnel cleaning robot; when the marine tunnel cleaning robot is moving backward, the obstacle removal mechanism disperses the marine biological debris pile located at the rear side of the robot by spraying water to avoid the marine biological debris affecting the passage of the marine tunnel cleaning robot; The marine tunnel cleaning robot with an obstacle removal mechanism comprises a frame (1), on which is mounted an upper mounting mechanism (2) for removing marine organisms attached to the tunnel wall, and a pair of crawler chassis (3) for driving the robot to move; the frame (1) is also provided with a conveying mechanism (4) for conveying marine organism debris on the front side of the robot to the rear side of the robot; The conveying mechanism (4) comprises a slurry pump (41) and a conveying pipe (42), wherein the conveying pipe (42) is connected to the output end of the slurry pump (41); the input end of the slurry pump (41) is located at the front side of the frame (1), and the output end of the conveying pipe (42) is located at the rear side of the frame (1); The upper mounting mechanism (2) comprises two semicircular brackets (21) hinged along the chord edges, the bottom of the semicircular bracket (21) being hinged to the frame (1); and a plurality of scrapers (22) for peeling marine organisms are arranged on the arc surface of the semicircular bracket (21), and the scrapers (22) are in contact with the tunnel wall surface; the upper mounting mechanism (2) further comprises a connecting rod assembly (23) and a second telescopic rod (24); the scrapers (22) are connected to the semicircular bracket (21) via the connecting rod assembly (23); one end of the second telescopic rod (24) is hinged to the semicircular bracket (21), and the other end is hinged to the connecting rod assembly (23). The rod assembly (23) is hinged; under the driving action of the second telescopic rod (24), the scraper (22) reciprocates along the circumference of the upper mounting mechanism (2); the scraper (22) is elastically connected to the connecting rod assembly (23) so that the scraper (22) can move in a telescopic manner along the radial direction of the upper mounting mechanism (2); the scraper (22) is in contact with the tunnel wall surface, and on the one hand, the scraper (22) can reciprocate along the circumference of the upper mounting mechanism (2) under the driving action of the second telescopic rod (24), and on the other hand, the scraper (22) can also move along the axial direction of the tunnel under the driving action of the crawler chassis (3); The crawler chassis (3) comprises a frame (31) and a pair of crawler assemblies (32) symmetrically arranged on both sides thereof; the outlet end of the delivery pipe (42) is close to the inner side of the rear end of the crawler assembly (32) and close to the tunnel wall; the water flow discharged from the delivery pipe (42) intersects with the retreat path of the crawler assembly (32); when the robot retreats, the water flow discharged from the outlet end of the delivery pipe (42) impacts the marine debris deposited on the rear side of the robot, thereby clearing the obstacles on the retreat path of the crawler assembly (32).

2. A marine tunnel cleaning robot with an obstacle removal mechanism, characterized in that: Applicable to the troubleshooting method according to claim 1, the slurry pump (41) is fixed to the lower end of the frame (1), and the inlet end of the slurry pump (41) is close to the tunnel wall.

3. The offshore tunnel cleaning robot with an obstacle removal mechanism according to claim 2, characterized in that: The inlet end of the conveying pipe (42) is close to the inner side of the front end of the crawler assembly (32) and close to the tunnel wall.

4. The offshore tunnel cleaning robot with an obstacle removal mechanism according to claim 2 or 3, characterized in that: A branch pipe (421) is formed in the middle of the delivery pipe (42), and the branch pipe (421) is connected to the outlet end of the slurry pump (41).

5. The offshore tunnel cleaning robot with an obstacle removal mechanism according to claim 2, characterized in that: A front shovel mechanism (5) is also installed at the front end of the frame (1); the front shovel mechanism (5) comprises a bracket (51) connected to the frame (1), and a curved razor (52) is arranged at the lower end of the bracket (51); the curvature of the razor (52) is consistent with the curvature of the tunnel wall.

6. The offshore tunnel cleaning robot with an obstacle removal mechanism according to claim 5, characterized in that: The front shovel mechanism (5) further comprises a driver for driving the frame (1) to move so as to change the distance between the razor (52) and the tunnel wall.

7. The offshore tunnel cleaning robot with an obstacle removal mechanism according to claim 2, characterized in that: The robot further comprises a spray mechanism (6); the spray mechanism (6) comprises a spray pipe connected to the outlet end of the slurry pump (41), the spray pipe being provided with a plurality of jet nozzles directed toward the front side of the frame (1) and used for crushing crusted marine organism debris.

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