Underwater bolt repairing robot

Abstract

The invention discloses an underwater bolt repairing robot which comprises a driving device, an image acquisition device and a first repairing device, the driving device comprises a shell and a plurality of propelling parts, the image acquisition device is arranged on the shell, and the image acquisition device is used for performing image acquisition on a bolt so as to identify and position the state and position of the bolt. The first repairing device comprises a positioning mechanism and a fastening mechanism, the positioning mechanism comprises a clamping positioning part and a sliding positioning part, and the clamping positioning part is used for clamping the hinge plate to achieve preliminary positioning. And the sliding positioning part is matched with the image acquisition device, so that the bolt on the hinge plate can be secondarily positioned, and the bolt repairing precision is ensured. The bolt clamping assembly is used for clamping a bolt, the bolt tightening assembly drives the bolt clamping assembly to rotate so as to tighten the bolt, the bolt on the hinge plate can be fastened and repaired, the device is suitable for bolt fastening and repairing in different scenes, the repairing efficiency is high, and the repairing precision is high.

Description

Technical Field

[0001] The present application relates to the technical field of underwater robot equipment, and in particular to an underwater bolt repair robot. Background Art

[0002] Bolt fasteners are widely used in various underwater projects, especially in marine engineering, such as flange connection of submarine oil pipelines, installation of offshore wind power equipment foundations, and fixation of submarine cables. However, the complexity of the underwater environment poses great challenges to the stability of bolts. Multiple factors such as seawater corrosion, ocean current impact, biological attachment, geological movement, etc. can cause bolts to loosen, rust, or even fail, thereby threatening the safety of the entire engineering structure. This problem may not only cause serious engineering accidents, but also bring huge economic losses. The current underwater bolt detection and repair technology mainly relies on regular inspections and operations by manual divers. Divers need to judge the looseness or damage of bolts through visual inspection or with the assistance of machine vision, and repair them manually. However, this method has multiple limitations. First, the time of diving operations is limited by the physiological conditions of divers, the single working time is short, and a lot of preparation time is required, resulting in overall low efficiency. In addition, the underwater working environment is highly unpredictable, and divers are easily disturbed by factors such as ocean currents and marine life during operation, which increases the risk of work and cannot guarantee the accuracy and continuity of repair operations. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes an underwater bolt repair robot, which is suitable for bolt tightening and repairing in different scenarios, and has high repair efficiency and high repair accuracy.

[0004] An underwater bolt repair robot according to the first aspect of the present application includes:

[0005] A driving device, the driving device comprising a housing and a plurality of propulsion components, wherein the plurality of propulsion components are arranged on the housing;

[0006] An image acquisition device, the image acquisition device is used to acquire an image of the bolt, and the image acquisition device is arranged on the housing;

[0007] The first repair device comprises a positioning mechanism and a fastening mechanism, the positioning mechanism comprises a clamping positioning component and a sliding positioning component, the clamping positioning component is used to clamp the hinge plate; the sliding positioning component is arranged on the clamping positioning component, the sliding positioning component can move relative to the clamping positioning component to position the bolt on the hinge plate; the fastening mechanism is arranged on the sliding positioning component, the fastening mechanism comprises a bolt clamping assembly and a bolt tightening assembly, the bolt clamping assembly is used to clamp the bolt, and the bolt tightening assembly drives the bolt clamping assembly to rotate to tighten the bolt.

[0008] According to an underwater bolt repair robot of the first aspect of the present application, there are at least the following beneficial effects: an underwater bolt repair robot of the present application comprises a driving device, an image acquisition device and a first repair device, the driving device comprises a housing and a plurality of propulsion components, the image acquisition device is arranged on the housing, and the image acquisition device is used to acquire images of the bolts so as to identify and locate the state and position of the bolts. The first repair device comprises a positioning mechanism and a fastening mechanism, the positioning mechanism comprises a clamping positioning component and a sliding positioning component, and the clamping positioning component is used to clamp the hinge plate to achieve preliminary positioning. The sliding positioning component is arranged on the clamping positioning component, and the sliding positioning component cooperates with the image acquisition device to perform secondary positioning on the bolts on the hinge plate to ensure the accuracy of the bolt repair. The fastening mechanism is arranged on the sliding positioning component, and the fastening mechanism comprises a bolt clamping assembly and a bolt tightening assembly, the bolt clamping assembly is used to clamp the bolt, and the bolt tightening assembly drives the bolt clamping assembly to rotate to tighten the bolt, and can fasten and repair the bolts on the hinge plate, which is suitable for bolt fastening and repair in different scenarios, with high repair efficiency and high repair accuracy.

[0009] According to some embodiments of the present application, the bolt clamping assembly includes a push rod, a push rod motor, four support rods and four clamping blocks. The two ends of the support rod are rotatably connected to the push rod and the clamping block respectively. The push rod motor drives the push rod to extend and retract to drive the clamping block to open or contract.

[0010] According to some embodiments of the present application, the bolt tightening assembly includes a housing and a rotating motor disposed in the housing, and the rotating motor drives the bolt clamping assembly to rotate to tighten the bolt.

[0011] According to some embodiments of the present application, the gripping and positioning component includes a mechanical claw group and a first driving component that drives the mechanical claw group to open and contract.

[0012] According to some embodiments of the present application, the mechanical claw group includes an upper mechanical claw group and a lower mechanical claw group, and the upper mechanical claw group and the lower mechanical claw group are relatively arranged on the upper and lower sides of the clamping and positioning component. The upper mechanical claw group includes a pair of relatively arranged upper mechanical claws, and the lower mechanical claw group includes a pair of relatively arranged lower mechanical claws.

[0013] According to some embodiments of the present application, the clamping and positioning component includes a base, an outrigger rod and a mounting plate, the mechanical claw group and the first driving component are arranged on the mounting plate, the base is arranged at the bottom of the shell, and the outrigger rod is used to connect the base and the mounting plate.

[0014] According to some embodiments of the present application, the sliding positioning component includes a guide rail, a slider slidably mounted on the guide rail, and a sliding motor driving the slider to move, the guide rail is arranged on the clamping positioning component, the slider is provided with a mounting portion, and the fastening mechanism is arranged in the mounting portion.

[0015] According to some embodiments of the present application, a second repair device is further included, and the second repair device includes a mounting frame and an electric screwdriver, the mounting frame is arranged on the housing, and the electric screwdriver is arranged on the mounting frame.

[0016] According to some embodiments of the present application, the propulsion component includes an X-axis propeller, a Y-axis propeller, and a Z-axis propeller.

[0017] According to some embodiments of the present application, the image acquisition device is configured as a high-definition camera, and the image acquisition device and the clamping and positioning component are arranged in the same direction.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0020] Figure 1 is a schematic structural diagram of an underwater bolt repair robot according to an embodiment of the present application;

[0021] Figure 2 is a structural schematic diagram of a positioning mechanism in an embodiment of the present application;

[0022] Figure 3 is a structural schematic diagram of a fastening mechanism of an embodiment of the present application;

[0023] Figure 4It is a structural schematic diagram of an underwater bolt repair robot according to another embodiment of the present application. DETAILED DESCRIPTION

[0024] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0025] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, inside, outside, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0026] In the description of this application, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0027] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, assembling, and matching should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0028] Refer to the following Figures 1 to 4 An underwater bolt repair robot according to an embodiment of the present application is described.

[0029] An underwater bolt repair robot according to an embodiment of the present application, such as Figures 1 to 4As shown, it includes a driving device, an image acquisition device 200 and a first repair device. The driving device includes a housing 100 and a plurality of propulsion components 110. The image acquisition device 200 is arranged on the housing 100. The image acquisition device 200 is used to acquire images of the bolts so as to identify and locate the state and position of the bolts. The first repair device includes a positioning mechanism and a fastening mechanism 400. The positioning mechanism includes a clamping positioning component 310 and a sliding positioning component 320. The clamping positioning component 310 is used to clamp the hinge plate to achieve preliminary positioning. The sliding positioning component 320 is arranged on the clamping positioning component. The sliding positioning component 320 cooperates with the image acquisition device 200 to perform secondary positioning on the bolts on the hinge plate to ensure the accuracy of bolt repair. The fastening mechanism 400 is arranged on the sliding positioning component 320. The fastening mechanism 400 includes a bolt clamping assembly and a bolt tightening assembly. The bolt clamping assembly is used to clamp the bolt. The bolt tightening assembly drives the bolt clamping assembly to rotate to tighten the bolt, and can fasten and repair the bolts on the hinge plate. It is suitable for bolt fastening and repair in different scenarios, with high repair efficiency and high repair accuracy. Specifically, a plurality of propulsion components 110 are arranged on the housing 100. The plurality of propulsion components 110 are arranged in different directions, and can drive the housing 100 to move in different directions, so that the underwater bolt repair robot can move freely in all directions. The image acquisition device 200 is arranged on the housing 100. The propulsion component 110 drives the housing 100 to move, and can drive the image acquisition device 200 to move to the bolt that needs to be repaired, identify the state of the bolt, and locate the position of the bolt. The first repair device includes a positioning mechanism and a fastening mechanism 400. The positioning mechanism includes a clamping positioning component 310 and a sliding positioning component 320. The clamping positioning component 310 is used to clamp the hinge plate part of the hinge-type bolt of the underwater engineering, and can complete the preliminary positioning of the bolt. The sliding positioning component 320 is arranged on the clamping positioning component. After the clamping positioning component 310 clamps the hinge plate to complete the preliminary positioning, the sliding positioning component 320 moves on the clamping positioning component 310 to perform secondary positioning on the bolt on the hinge plate, complete the precise positioning of the bolt, and ensure the positioning accuracy and repair accuracy. The fastening mechanism 400 is arranged on the sliding positioning component 320. The fastening mechanism 400 includes a bolt clamping assembly and a bolt tightening assembly. The bolt clamping assembly can clamp the bolt. The bolt tightening assembly drives the bolt clamping assembly to rotate and tighten the bolt. The bolt on the hinge plate can be fastened and repaired. It is suitable for bolt fastening and repair in different scenarios, with high repair efficiency and high repair accuracy.

[0030] According to some embodiments of the present application, the bolt clamping assembly includes a push rod 410, a push rod motor, four support rods 420 and four clamping blocks 430. The two ends of the support rod 420 are rotatably connected to the push rod 410 and the clamping block 430 respectively. The push rod motor drives the push rod 410 to extend and retract to drive the clamping block 430 to open or contract. The push rod motor drives the push rod 410 to extend outward or retract inward. Specifically, four support rods 420 and four clamping blocks 430 are arranged in four directions of the push rod 410. When the push rod motor drives the push rod 410 to extend outward, since the two ends of the support rod 420 are respectively connected to the push rod 410 and the clamping block 430 for rotation, the support rod 420 will open the clamping block 430 outward, driving the clamping block 430 to open in four directions; when the push rod motor drives the push rod 410 to retract inward, the push rod 410 drives the support rod 420 to move, and the support rod 420 drives the clamping block 430 to retract inward. The four inwardly retracted clamping blocks 430 can clamp the bolts to facilitate the subsequent tightening of the bolts. It is understandable that in some other embodiments, the number and direction of the clamping blocks 430 can be adjusted according to the bolts, all within the protection scope of the present application.

[0031] According to some embodiments of the present application, the bolt tightening assembly includes a housing 440 and a rotating motor disposed in the housing 440, and the rotating motor drives the bolt clamping assembly to rotate to tighten the bolt. The bolt tightening assembly is used to tighten the bolt. Specifically, the bolt tightening assembly includes a housing 440 and a rotating motor disposed in the housing 440, and the rotating motor and the bolt clamping assembly are disposed in the housing 440. The bolt clamping assembly clamps the bolt, and the rotating motor drives the bolt clamping assembly to rotate, so that the clamped bolt can be tightened to complete the tightening repair of the bolt.

[0032] According to some embodiments of the present application, the clamping and positioning component includes a mechanical claw group and a first driving component that drives the mechanical claw group to open and retract. The clamping and positioning component is used to clamp and position the hinge plate. Specifically, the clamping and positioning component includes a mechanical claw group and a first driving component. The first driving component drives the mechanical claw group to open and retract. By opening and retracting the mechanical claw group, the clamping and positioning of the hinge plate can be completed, so as to facilitate the subsequent precise positioning of the bolts on the hinge plate to ensure the positioning accuracy.

[0033] According to some embodiments of the present application, the mechanical claw group includes an upper mechanical claw group 311 and a lower mechanical claw group 312, and the upper mechanical claw group 311 and the lower mechanical claw group 312 are relatively arranged on the upper and lower sides of the clamping and positioning component, and the upper mechanical claw group 311 includes a pair of relatively arranged upper mechanical claws, and the lower mechanical claw group 312 includes a pair of relatively arranged lower mechanical claws. The mechanical claw group includes an upper mechanical claw group 311 and a lower mechanical claw group 312, and the upper mechanical claw group 311 and the lower mechanical claw group 312 are relatively arranged, and the upper mechanical claw group 311 includes a pair of upper mechanical claws, and the lower mechanical claw group 312 includes a pair of lower mechanical claws. The first driving component drives the upper mechanical claws and the lower mechanical claws to open and contract to complete the clamping and positioning of the hinge plate, so as to facilitate the subsequent precise positioning of the bolts on the hinge plate to ensure the positioning accuracy. The upper mechanical claw group 311 and the lower mechanical claw group 312 can clamp the hinge plate from two positions, upper and lower, to ensure the clamping effect.

[0034] According to some embodiments of the present application, the clamping and positioning component includes a base 330, an outrigger 340 and a mounting plate 350, the mechanical claw group and the first driving component are arranged on the mounting plate 350, the base 330 is arranged at the bottom of the housing 100, and the outrigger 340 is used to connect the base 330 and the mounting plate 350. The clamping and positioning component is used to clamp the hinge plate, the clamping and positioning component includes a base 330, an outrigger 340 and a mounting plate 350, the mechanical claw group and the first driving component are arranged on the mounting plate 350, and the arrangement of the outrigger 340 allows the mechanical claw group to extend from the bottom of the housing 100, so that the mechanical claw group can clamp the external hinge plate.

[0035] According to some embodiments of the present application, the sliding positioning component 320 includes a guide rail 323, a slider 322 slidably mounted on the guide rail 323, and a sliding motor 321 driving the slider 322 to move. The guide rail 323 is arranged on the clamping positioning component 310, the slider 322 is provided with a mounting portion, and the fastening mechanism 400 is arranged in the mounting portion. The sliding positioning component 320 is arranged on the clamping positioning component for performing secondary positioning of the bolt to improve the repair accuracy. The sliding positioning component 320 includes a guide rail 323, a slider 322 and a sliding motor 321. The guide rail 323 is arranged on the clamping positioning component 310, the slider 322 is slidably mounted on the guide rail 323, the sliding motor 321 drives the slider 322 to move on the guide rail 323, the slider 322 is provided with a mounting portion, the fastening mechanism 400 is arranged in the mounting portion, and the slider 322 drives the fastening mechanism 400 to move, and can simultaneously transport the fastening mechanism 400 to the front of the bolt while performing secondary positioning, so as to facilitate the fastening and repair of the bolt.

[0036] According to some embodiments of the present application, a second repair device is further included, the second repair device includes a mounting frame 520 and an electric screwdriver 510, the mounting frame 520 is arranged on the housing 100, and the electric screwdriver 510 is arranged on the mounting frame 520. The first repair device is used to repair exposed bolts. In the related art, underwater engineering also has hidden bolts. The second repair device includes a mounting frame 520 and an electric screwdriver 510, and the electric screwdriver 510 is arranged on the mounting frame 520. The electric screwdriver 510 can be used to tighten and repair the hidden bolts. In conjunction with the first repair device, the underwater bolt repair robot can adapt to the repair operations of different bolts, thereby improving versatility.

[0037] According to some embodiments of the present application, the propulsion component 110 includes an X-axis propeller, a Y-axis propeller, and a Z-axis propeller. There are multiple propulsion components 110, and the multiple propulsion components 110 include an X-axis propeller, a Y-axis propeller, and a Z-axis propeller. It can be understood that there are multiple X-axis propellers, Y-axis propellers, and Z-axis propellers, and multiple X-axis propellers, Y-axis propellers, and Z-axis propellers are arranged in different directions of the housing 100, which can realize the full range of free movement of the drive device.

[0038] According to some embodiments of the present application, the image acquisition device 200 is configured as a high-definition camera, and the image acquisition device 200 and the clamping and positioning component 310 are arranged in the same direction. The image acquisition device 200 is used for image acquisition. Specifically, the image acquisition device 200 and the clamping and positioning component 310 are arranged in the same direction, and the driving device drives the image acquisition device 200 to move underwater, and continuously acquires images of bolts and bolt groups from multiple angles, identifies and classifies the status and type of the bolts, and facilitates subsequent tightening and repair of the bolts.

[0039] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. An underwater bolt repair robot, characterized in that: include: A driving device, the driving device comprising a housing and a plurality of propulsion components, wherein the plurality of propulsion components are arranged on the housing; An image acquisition device, the image acquisition device is used to acquire an image of the bolt, and the image acquisition device is arranged on the housing; The first repair device comprises a positioning mechanism and a fastening mechanism, the positioning mechanism comprises a clamping positioning component and a sliding positioning component, the clamping positioning component is used to clamp the hinge plate; the sliding positioning component is arranged on the clamping positioning component, the sliding positioning component can move relative to the clamping positioning component to position the bolt on the hinge plate; the fastening mechanism is arranged on the sliding positioning component, the fastening mechanism comprises a bolt clamping assembly and a bolt tightening assembly, the bolt clamping assembly is used to clamp the bolt, and the bolt tightening assembly drives the bolt clamping assembly to rotate to tighten the bolt.

2. The underwater bolt repair robot according to claim 1, characterized in that: The bolt clamping assembly includes a push rod, a push rod motor, four support rods and four clamping blocks. The two ends of the support rod are rotatably connected to the push rod and the clamping block respectively. The push rod motor drives the push rod to extend and retract to drive the clamping block to open or contract.

3. The underwater bolt repair robot according to claim 1, characterized in that: The bolt tightening assembly comprises a housing and a rotating motor arranged in the housing, and the rotating motor drives the bolt clamping assembly to rotate so as to tighten the bolt.

4. The underwater bolt repair robot according to claim 1, characterized in that: The gripping and positioning component includes a mechanical claw group and a first driving component for driving the mechanical claw group to open and contract.

5. The underwater bolt repair robot according to claim 4, characterized in that: The mechanical claw group includes an upper mechanical claw group and a lower mechanical claw group, and the upper mechanical claw group and the lower mechanical claw group are relatively arranged on the upper and lower sides of the clamping and positioning component. The upper mechanical claw group includes a pair of relatively arranged upper mechanical claws, and the lower mechanical claw group includes a pair of relatively arranged lower mechanical claws.

6. The underwater bolt repair robot according to claim 4, characterized in that: The gripping and positioning component includes a base, an outrigger rod and a mounting plate, the mechanical claw group and the first driving component are arranged on the mounting plate, the base is arranged at the bottom of the shell, and the outrigger rod is used to connect the base and the mounting plate.

7. The underwater bolt repair robot according to claim 1, characterized in that: The sliding positioning component includes a guide rail, a slider slidably mounted on the guide rail, and a sliding motor driving the slider to move. The guide rail is arranged on the clamping positioning component, the slider is provided with a mounting portion, and the fastening mechanism is arranged in the mounting portion.

8. The underwater bolt repair robot according to claim 1, characterized in that: It also includes a second repair device, which includes a mounting frame and an electric screwdriver. The mounting frame is arranged on the housing, and the electric screwdriver is arranged on the mounting frame.

9. The underwater bolt repair robot according to claim 1, characterized in that: The propulsion component includes an X-axis propeller, a Y-axis propeller and a Z-axis propeller.

10. The underwater bolt repair robot according to claim 1, characterized in that: The image acquisition device is configured as a high-definition camera, and the image acquisition device and the clamping and positioning component are arranged in the same direction.

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