Underwater inspection robot for offshore wind plant and use method of underwater inspection robot

Abstract

The invention relates to the technical field of offshore wind plants, and discloses an offshore wind plant underwater inspection robot and a using method thereof.The underwater inspection robot is applied to supporting pipe pile inspection of offshore wind turbines and comprises a robot body and an inspection device connected with the robot body, and the inspection device comprises an inspection device body; the inspection device body wraps the supporting pipe pile, a protective liquid spraying mechanism, a repairing mechanism, a detecting mechanism and a removing mechanism are arranged in the inspection device body, the protective liquid spraying mechanism is used for spraying protective liquid to the surface of the supporting pipe pile, and the repairing mechanism is used for repairing the surface of the supporting pipe pile. The detecting mechanism is used for detecting the surface of the supporting pipe pile, repairing and spraying of protective liquid are facilitated, and the removing mechanism is used for removing attachments attached to the surface of the supporting pipe pile. According to the underwater inspection robot, manual inspection is not needed, underwater inspection can be carried out autonomously, the inspection efficiency is improved, and the operation and maintenance cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of offshore wind farms, and particularly relates to an underwater inspection robot for an offshore wind farm and a method for using the same. Background Art

[0002] An offshore wind farm refers to an offshore wind power with a water depth of about 10 meters. Compared with onshore wind farms, the advantages of offshore wind farms are mainly that they do not occupy land resources, are basically not affected by topography and landforms, have higher wind speeds, richer wind energy resources, larger single-unit capacities of wind turbines (3 - 5 MW), and higher annual utilization hours. However, the construction technology of offshore wind farms is also more difficult, and the construction cost is generally 2 - 3 times that of onshore wind farms.

[0003] Underwater facilities of offshore wind farms, such as pile foundations and submarine cables, are immersed in seawater for a long time and are easily affected by environmental factors such as corrosion and scouring, and need to be inspected and maintained regularly. Traditional inspection methods are mostly manual inspections or inspections by inspection vessels, which require a large amount of manpower and material resources, and it is difficult to ensure the comprehensiveness and accuracy of inspections. Therefore, developing a robot system that can autonomously perform underwater inspections is of great significance for improving inspection efficiency and reducing operation and maintenance costs. Summary of the Invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides an underwater inspection robot for an offshore wind farm and a method for using the same, effectively solving the problems mentioned in the above background art.

[0005] To achieve the above object, the present invention provides the following technical solution: An underwater inspection robot for an offshore wind farm, which is applied to the inspection of the support pipe piles of an offshore wind turbine, includes a robot main body and an inspection device connected to the robot main body. The inspection device includes an inspection device body formed by splicing two symmetric semi-wrapping members. The inspection device body is wrapped around the outside of the support pipe pile. A protective liquid spraying mechanism, a repair mechanism, a detection mechanism, and a cleaning mechanism are longitudinally arranged in the inspection device body. The protective liquid spraying mechanism is used to spray a protective liquid on the surface of the support pipe pile. The repair mechanism is used to repair the surface of the support pipe pile. A detection mechanism is arranged below the repair mechanism, and the detection mechanism is used to detect the surface of the support pipe pile to facilitate repair and spraying of the protective liquid. The cleaning mechanism is used to remove the attachments adhered to the surface of the support pipe pile, such as shells, etc.

[0006] The protective liquid spraying mechanism is arranged below the repair mechanism, the repair mechanism is arranged below the detection mechanism, and the detection mechanism is arranged below the cleaning mechanism.

[0007] The number of inspection devices can be several. When there are multiple inspection devices, each inspection device corresponds to a support pipe pile; when there is one inspection device, multiple support pipe piles can be inspected in batches.

[0008] Further, a direction adjustment mechanism is provided between the robot body and the inspection device for adjusting the direction of the inspection device body; the direction adjustment mechanism includes an annular frame, an angle adjustment frame, a nut plate and a groove frame. The annular frame is rotatably connected to the robot body. The angle adjustment frame is arranged along the radial direction of the annular frame and is rotatably connected. One end of the nut plate is slidably connected to the angle adjustment frame through a screw-nut mechanism so that the nut plate can perform telescopic movement in the length direction relative to the angle adjustment frame. The other end of the nut plate is fixedly connected to the groove frame. A double-nut drive screw mechanism is arranged in the groove frame. Two nuts of the double-nut drive screw mechanism are respectively fixedly connected to a half-wrapping member, and the double-nut drive screw mechanism moves synchronously to drive the two half-wrapping members to move relative to or in the opposite direction.

[0009] Further, the direction adjustment mechanism includes a direction adjustment gear chamber provided in the robot body. A direction adjustment gear shaft is rotatably connected between the end walls of the direction adjustment gear chamber. The direction adjustment gear shaft is in power connection with a direction adjustment motor fixedly installed in the robot body. A direction adjustment gear is fixedly connected to the outer surface of the direction adjustment gear shaft. The direction adjustment gear meshes with a direction adjustment annular rack. The direction adjustment annular rack is rotatably installed on the end wall of the robot body. An annular frame is fixedly connected to the outer surface of the direction adjustment annular rack. The annular frame is rotatably connected to the robot body. An angle adjustment chamber is provided in the annular frame. An angle adjustment driving gear shaft is rotatably connected to the bottom wall of the angle adjustment chamber. The angle adjustment driving gear shaft is in power connection with an angle adjustment motor fixedly installed in the annular frame. An angle adjustment driving gear is fixedly connected to the upper end of the angle adjustment driving gear shaft. The angle adjustment driving gear meshes with an angle adjustment annular rack. The angle adjustment annular rack is rotatably installed on the bottom wall of the angle adjustment chamber. The angle adjustment annular rack meshes with a plurality of angle adjustment driven gears. The angle adjustment driven gears are fixedly installed on the outer surface of a worm shaft. The worm shaft is rotatably installed between the end walls of the angle adjustment chamber. A worm is fixedly connected to the outer surface of the worm shaft above the angle adjustment driven gear. The worm meshes with a worm gear. The worm gear is fixedly installed at one end of the side of a worm gear shaft. The worm gear shaft penetrates and is rotatably installed on the end wall of the angle adjustment chamber, and the worm gear shaft extends into an angle adjustment bevel gear chamber provided in the annular frame. A direction adjustment bevel gear one is fixedly connected to the other end of the side of the worm gear shaft. The direction adjustment bevel gear one meshes with a direction adjustment bevel gear two. The direction adjustment bevel gear two is fixedly installed on the outer surface of a direction adjustment rotating shaft. The direction adjustment rotating shaft penetrates and is rotatably installed between the end walls of the angle adjustment bevel gear chamber and extends between the end walls of a groove provided on the annular frame. An angle adjustment frame is fixedly connected to the outer surface of the direction adjustment rotating shaft in the groove. A pushing screw rod is rotatably connected in the angle adjustment frame. A nut plate is threadedly connected to the outer surface of the pushing screw rod. The nut plate is slidably connected in the angle adjustment frame. A groove frame is fixedly connected to the end of the nut plate. A clamping electric screw rod is rotatably connected to the groove frame. Clamping nut blocks are symmetrically threadedly connected to the outer surface of the clamping electric screw rod. The clamping nut blocks are slidably connected to the groove frame. A semi-wrapping member is fixedly connected to the outer surface of the clamping nut block. The rotation of the clamping electric screw rod drives the two clamping nuts to move in different directions, so that the inspection device body is wrapped around the outer surface of the support pipe pile.

[0010] Further, the protective liquid spraying mechanism includes a protective groove provided inside the semi-wrapping member. On the upper end wall of one side of the protective groove, a protective gear cavity is machined. A protective gear shaft is rotatably connected between the end walls of the protective gear cavity. The protective gear shaft is power-connected to a protective motor fixedly installed inside the semi-wrapping member. A protective gear is fixedly connected to the outer surface of the protective gear shaft. The protective gear meshes with a protective semi-circular rack. The protective semi-circular rack is rotatably installed on the end wall of the protective groove. A protective spray head is fixedly connected to the inner surface of the protective semi-circular rack. A stepped through hole is provided at the end of one side of the protective semi-circular rack. The stepped through hole is a stepped channel and communicates with the inside of the protective semi-circular rack. Symmetric spring grooves are provided inside the protective semi-circular rack on one side. One end of a tension spring is fixedly connected to the end wall of the spring groove. The other end of the tension spring is fixedly connected to a closing plate. When the tension spring contracts, it pulls the closing plate tightly against the inner end wall of the protective semi-circular rack to close the stepped through hole. A top pipe is inserted into the stepped through hole. The top pipe is fixedly installed on the protective semi-circular rack on the other side and communicates with the inside of the protective semi-circular rack. A number of communication holes are evenly provided at the end of the top pipe, and the communication holes communicate with the inside of the top pipe. A sealing ring sleeve is slidably connected to the outer surface of the top pipe. A sealing spring is clamped between the sealing ring sleeve and the end wall of the protective semi-circular rack. When the two protective semi-circular racks are separated, the sealing spring pushes the sealing ring sleeve to move to close the communication holes. A communication groove is provided on the outer side wall of the protective semi-circular rack and communicates with the inside of the protective semi-circular rack. A protective material storage cavity is provided inside the semi-wrapping member. The protective material storage cavity communicates with the communication groove through an input groove.

[0011] Further, the repair mechanism includes a repair groove provided on the inner surface of the semi-wrapping member below the protective groove. A repair gear cavity is provided inside one side of the semi-wrapping member. A repair gear shaft is rotatably connected between the end walls of the repair gear cavity. The repair gear shaft is power-connected to a repair motor fixedly installed inside the semi-wrapping member. A repair gear is fixedly connected to the outer surface of the repair gear shaft. The repair gear meshes with a repair semi-circular rack. The repair semi-circular rack is rotatably installed on the end wall of the repair groove. A repair insert block is fixedly connected to one side of the repair semi-circular rack. The repair insert block is inserted into a repair slot. The repair slot is provided at the end of the repair semi-circular rack on the other side. A first clamping groove is provided on the end wall of the repair slot and extends to the repair insert block. A first spring rod is fixedly connected to the end wall of the first clamping groove. A first spherical clamping block is fixedly connected to the lower end of the first spring rod. The first spherical clamping block is clamped into the first clamping groove on the repair insert block. A grinding groove frame is fixedly connected to the end wall of one side of the repair semi-circular rack. A grinding electric lead screw is rotatably connected to the grinding groove frame. A grinding nut block is threadedly connected to the outer surface of the grinding electric lead screw. The grinding nut block is slidably connected to the grinding groove frame. A grinding electric push rod is rotatably connected to the end wall of the grinding nut block. The grinding electric push rod is power-connected to a grinding motor fixedly installed inside the grinding nut block. A grinding disc is fixedly connected to the end of the grinding electric push rod. A cladding groove frame is fixedly connected to the end wall of the repair semi-circular rack on the other side. A cladding electric lead screw is rotatably connected to the cladding groove frame. A cladding nut block is threadedly connected to the outer surface of the cladding electric lead screw. The cladding nut block is slidably connected to the cladding groove frame. A connection box is fixedly connected to the end wall of the cladding nut block. A cladding head is fixedly connected to the end wall of the connection box. A feeding channel is provided through the connection box and communicates with the inside of the connection box. A feeding valve is fixedly connected between the end walls of the feeding channel. An extraction pipe is connected to the cladding head and extends into the connection box. Cladding material storage cavities are symmetrically provided inside the semi-wrapping member. A feeding pump is fixedly connected to the end wall of the cladding material storage cavity. A feeding pipe is fixedly connected to the feeding pump and extends to the bottom wall position of the cladding material storage cavity. A cladding feeding pipe is fixedly connected to the feeding pump. The end of the cladding feeding pipe is fixedly connected to a cladding feeding electric telescopic pipe. The moving end of the cladding feeding electric telescopic pipe extends to the upper end wall of the repair groove. The cladding feeding electric telescopic pipe is inserted into the feeding channel.

[0012] Further, the detection mechanism includes a detection groove provided on the inner surface of the semi-wrapping member below the repair groove. A detection gear cavity is provided on the end wall of the detection groove. A detection gear shaft is rotatably connected between the end walls of the detection gear cavity. The detection gear shaft is in power connection with a detection motor fixedly installed in the robot body. A detection gear is fixedly connected to the outer surface of the detection gear shaft. The detection gear meshes with a detection semi-circular rack. One end of the detection semi-circular rack is fixedly connected with a detection plug. The detection plug is inserted into a detection slot. The detection slot is provided at the end of the other detection semi-circular rack. Two clamping grooves are symmetrically provided on the end wall of the detection slot and extend to the detection plug. A second spring rod is fixedly connected to the end wall of the clamping groove. A second spherical clamping block is fixedly connected to the end of the second spring rod. The second spherical clamping block is clamped into the clamping groove on the detection plug. A detection probe is fixedly connected to the inner surface of the detection semi-circular rack.

[0013] Further, a crawling cavity is provided on the inner surface of the semi-wrap of the cleaning mechanism. A crawling rotating shaft is rotatably connected between the end walls of the crawling cavity. The crawling rotating shaft is power-connected to a crawling motor fixedly installed in the semi-wrap. A crawling wheel is fixedly connected to the outer surface of the crawling rotating shaft. The crawling wheel contacts the outer surface of the support pipe pile. An anti-slip material is provided on the outer surface of the crawling wheel. The end of one side of the crawling rotating shaft extends into a bevel gear cavity provided in the semi-wrap. A first bevel gear is fixedly connected to the end of the crawling rotating shaft. The first bevel gear meshes with a second bevel gear. The second bevel gear is fixedly installed on the outer surface of a transmission shaft. The transmission shaft is rotatably installed between the end walls of the bevel gear cavity. A third bevel gear is fixedly connected to the outer surface of the transmission shaft. The third bevel gear meshes with a fourth bevel gear. The fourth bevel gear is fixedly installed at the end of a rotating shaft. The rotating shaft is rotatably installed on the end wall of the bevel gear cavity. A fifth bevel gear is fixedly connected to the outer surface of the rotating shaft. The fifth bevel gear meshes with a sixth bevel gear. The sixth bevel gear is fixedly installed at the upper end of a bevel gear shaft. The bevel gear shaft penetrates and is rotatably installed on the bottom wall of the bevel gear cavity, and the bevel gear shaft extends into a transmission cavity provided in the semi-wrap. A seventh bevel gear is fixedly connected to the lower end of the bevel gear shaft. The seventh bevel gear meshes with an eighth bevel gear. The eighth bevel gear is fixedly installed on the outer surface of a cleaning gear shaft. The cleaning gear shaft penetrates and is rotatably installed on the end wall of the transmission cavity, and the transmission cavity extends into a cleaning gear cavity provided in the semi-wrap. A cleaning gear is fixedly connected to the outer surface of the transmission cavity in the cleaning gear cavity. The cleaning gear meshes with a cleaning ring rack. The cleaning ring rack is rotatably installed on the bottom wall of the semi-wrap. A cleaning plug is fixedly connected to the end of one side of the cleaning ring rack. The cleaning plug is inserted into a cleaning slot. The cleaning slot is provided at the end of the cleaning ring rack on the other side. Card slots three are symmetrically provided on the end wall of the cleaning slot, and the rear card slot three extends to the cleaning plug. A spring rod three is fixedly connected to the end wall of the card slot three. A spherical locking block three is fixedly connected to the lower end of the spring rod three. The spherical locking block three is snapped into the card slot three on the cleaning plug. A cleaning brush is fixedly connected to the inner surface of the cleaning ring rack. A cleaning groove is provided on the lower surface of the semi-wrap. A cleaning electric rotating shaft is rotatably connected between the end walls of the cleaning groove. A cleaning rotating block is fixedly connected to the outer surface of the cleaning electric rotating shaft. A cleaning knife is fixedly connected to the end of the cleaning rotating block.

[0014] Further, the multi-directional inspection mechanism includes an inspection gear chamber provided in the robot main body. A inspection gear shaft is rotatably connected between the end walls of the inspection gear chamber. The inspection gear shaft is in power connection with an inspection motor fixedly installed in the robot main body. An inspection gear is fixedly connected to the outer surface of the inspection gear shaft. The inspection gear meshes with an inspection annular rack. The inspection annular rack is rotatably installed on the robot main body. A plurality of inspection sensors are fixedly connected to the outer surface of the inspection annular rack. An observation camera is fixedly connected to the lower part of the robot main body.

[0015] Further, the movement mechanism includes a plurality of movement gear chambers provided in the robot main body. A main movement gear shaft is rotatably connected between the end walls of the movement gear chamber. The main movement gear shaft is in power connection with a movement motor fixedly installed in the robot main body. A main movement gear is fixedly connected to the outer surface of the main movement gear shaft. The main movement gear meshes with a secondary movement gear. The secondary movement gear is fixedly installed on the outer surface of an adjustable electric telescopic shaft. The adjustable electric telescopic shaft penetrates and is rotatably installed on the bottom wall of the movement gear chamber. An installation block is fixedly connected to the lower end of the adjustable electric telescopic shaft. A propeller is fixedly connected to the installation block.

[0016] Further, the lifting mechanism includes water storage tanks symmetrically and fixedly connected to the lower part of the robot main body. A water pump is fixedly connected to the inlet end of the water storage tank. A drainage pump is fixedly connected to the drainage end of the water storage tank.

[0017] The present invention also provides a usage method of an underwater inspection robot for an offshore wind farm. Based on the above-mentioned underwater inspection robot for an offshore wind farm, the steps include:

[0018] Step 1: The underwater inspection robot enters the water.

[0019] Step 2: The lifting mechanism moves to drive the robot main body (1) and the inspection device to descend in the water.

[0020] Step 2: The movement mechanism moves to drive the robot main body (1) and the inspection device to move between a plurality of support pipe piles.

[0021] Step 3: When the robot main body moves, the multi-directional inspection mechanism moves, so as to realize the inspection of the support pipe piles and the inspection and observation of the water body around the support pipe piles.

[0022] Step 4: The direction adjustment mechanism moves to realize the adjustment of the direction of the inspection device body, so as to facilitate the inspection device body to wrap around the surface of the support pipe pile.

[0023] Step 5: The cleaning mechanism works, and the movement mechanism drives the inspection device body to move along the support pipe pile, so as to realize the cleaning of the surface of the support pipe pile.

[0024] Step Six: After the cleaning is completed, the inspection mechanism works to inspect the surface of the support pipe pile and detect the positions that need to be repaired.

[0025] Step Seven: The repair mechanism works to repair the positions of the support pipe pile that need to be repaired.

[0026] Step Eight: After the repair is completed, the protective liquid spraying mechanism works to spray the protective liquid on the surface of the support pipe pile.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0028] 1. The present invention provides an underwater inspection robot for an offshore wind farm, which can protect the surface of the pipe piles underwater in the wind farm, can clean the surface of the pipe piles, has a high cleaning efficiency, can crawl along the surface of the pipe piles, can also repair the surface of the pipe piles, repair the damaged positions, extend the service life of the pipe piles, does not require manual inspection, can independently conduct underwater inspections, improve the inspection efficiency, and reduce the operation and maintenance costs.

[0029] 2. The present invention provides an underwater inspection robot for an offshore wind farm, which can conduct inspections underwater, can conduct inspections in multiple directions, has a high inspection efficiency, and can also monitor the water body around the wind farm.

[0030] 3. The present invention provides an underwater inspection robot for an offshore wind farm, which can adjust the direction and angle, is convenient for adapting to the position of the pipe piles, and improves the inspection and repair efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention.

[0032] In the drawings:

[0033] Figure 1 is the first-direction structural schematic diagram of the underwater inspection robot for an offshore wind farm of the present invention in the use state;

[0034] Figure 2 is the second-direction structural schematic diagram of the underwater inspection robot for an offshore wind farm of the present invention in the use state;

[0035] Figure 3 is the structural schematic diagram of the underwater inspection robot for an offshore wind farm of the present invention;

[0036] Figure 4Schematic diagram of the first split structure of the underwater inspection robot for an offshore wind farm of the present invention (the annular frame is hidden);

[0037] Figure 5 Schematic diagram of the second split structure of the underwater inspection robot for an offshore wind farm of the present invention (the robot main body is hidden on the basis of Figure 4 );

[0038] Figure 6 Schematic diagram of the third split structure of the underwater inspection robot for an offshore wind farm of the present invention (one angle adjustment frame is hidden on the basis of Figure 5 );

[0039] Figure 7 Schematic diagram of the fourth split structure of the underwater inspection robot for an offshore wind farm of the present invention (one semi - wrapping part is hidden on the basis of Figure 6 );

[0040] Figure 8 Schematic diagram of the split structure of the inspection device of the present invention (the inspection device body is hidden);

[0041] Figure 9 Schematic diagram of the internal installation structure of the grinding groove frame of the present invention;

[0042] Figure 10 Schematic diagram of the internal installation structure of the cladding groove frame of the present invention;

[0043] Figure 11 Schematic diagram of the second split structure of the underwater inspection robot for an offshore wind farm of the present invention from another perspective;

[0044] Figure 12 Schematic diagram of the structure where the repair semi - circular rack is connected of the present invention;

[0045] Figure 13 Schematic diagram of the structure where the detection semi - circular rack is connected of the present invention;

[0046] Figure 14 Schematic diagram of the structure where the cleaning circular rack is connected of the present invention;

[0047] Figure 15 Schematic diagram of the structure where the protective semi - circular rack frame is connected of the present invention;

[0048] Figure 16 Schematic diagram of the partial structure of the protective semi - circular rack frame of the present invention;

[0049] Figure 17 Schematic diagram of the sectional structure where the protective semi - circular rack frame is connected of the present invention;

[0050] Figure 18Schematic diagram of the sectional decomposition structure connected to the protective semi-circular rack of the present invention;

[0051] Figure 19 Schematic diagram of the third-direction structure of the underwater inspection robot of the present invention in the working state in the offshore wind farm;

[0052] Figure 20 is Figure 19 Schematic diagram of the sectional view at A-A in

[0053] Figure 21 is Figure 20 Schematic diagram of the sectional view at D-D in

[0054] Figure 22 is Figure 20 Schematic diagram of the sectional view at B-B in

[0055] Figure 23 is Figure 21 Schematic diagram of the sectional view at E-E in

[0056] Figure 24 is Figure 21 Enlarged schematic diagram at F in

[0057] Figure 25 is Figure 21 Enlarged schematic diagram at G in

[0058] Figure 26 is Figure 8 Enlarged schematic diagram at H in Detailed implementation manners

[0059] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0060] As Figures 1 - 26As shown in the figure, the present invention provides an underwater inspection robot for an offshore wind farm, including a robot main body 1 and an inspection device connected to the robot main body 1. A motion mechanism is provided on the robot main body 1, and the motion mechanism is used to drive the robot main body 1 to move for convenient inspection. A lifting mechanism is provided on the robot main body 1, and the lifting mechanism is used to drive the robot main body 1 to descend in water. A multi-directional inspection mechanism is provided on the robot main body 1, and the multi-directional inspection mechanism is used to perform inspections in multiple directions. A direction adjustment mechanism is provided between the robot main body 1 and the inspection device, and the direction adjustment mechanism is used to adjust the direction so that the inspection device adapts to the position of the support pile 2 of the offshore wind turbine. The offshore wind turbine further includes a platform 3, and the support piles 2 are fixedly installed at the lower part of the platform 3 and arranged in a circumferential array. In this embodiment, 4 support piles 2 are selected for illustration. The inspection device includes an inspection device body formed by splicing two symmetrical semi-wrapping members 202. The inspection device body wraps around the outside of the support pile 2. A protective liquid spraying mechanism is provided inside the inspection device body, and the protective liquid spraying mechanism is used to spray a protective liquid on the surface of the support pile 2. A repair mechanism is also provided inside the inspection device body, and the repair mechanism is used to repair the surface of the support pile 2. A detection mechanism is also provided inside the inspection device body, and the detection mechanism is used to detect the surface of the support pile 2 for convenient repair and spraying of the protective liquid. A cleaning mechanism is also provided inside the inspection device body, and the cleaning mechanism is used to remove attachments such as shells adhered to the surface of the support pile 2.

[0061] The following is a detailed introduction to each component.

[0062] 1. Direction adjustment mechanism

[0063] A direction adjustment mechanism is provided between the robot main body 1 and the inspection device to adjust the direction of the inspection device body, facilitating the inspection device body to wrap around the surface of the support pile 2. Specifically, as shown in FIGS. Figures 2 - 7 20, 22, and 23, the direction adjustment mechanism includes a direction adjustment gear cavity 224 provided inside the robot main body 1. A direction adjustment gear shaft 221 is rotatably connected between the end walls of the direction adjustment gear cavity 224. The direction adjustment gear shaft 221 is power-connected to a direction adjustment motor fixedly installed inside the robot main body 1. A direction adjustment gear 220 is fixedly connected to the outer surface of the direction adjustment gear shaft 221. The direction adjustment gear 220 meshes with a direction adjustment annular rack 219. The direction adjustment annular rack 219 is rotatably installed on the end wall of the robot main body 1. An annular frame 203 is fixedly connected to the outer surface of the direction adjustment annular rack 219. The annular frame 203 is rotatably connected to the robot main body 1. An angle adjustment cavity 225 is provided inside the annular frame 203 (see Figure 20), a rotationally connected angle adjustment drive gear shaft 227 is provided on the bottom wall of the angle adjustment cavity 225. The angle adjustment drive gear shaft 227 is in power connection with an angle adjustment motor fixedly installed in the annular frame 203. At the upper end of the angle adjustment drive gear shaft 227, an angle adjustment drive gear 218 is fixedly connected (see Figure 4 , 20 ). The angle adjustment drive gear 218 meshes with an angle adjustment annular rack 214. The angle adjustment annular rack 214 is rotatably installed on the bottom wall of the angle adjustment cavity 225. The angle adjustment annular rack 214 meshes with a plurality of angle adjustment driven gears 217. The angle adjustment driven gears 217 are fixedly installed on the outer surface of the worm shaft 215. The worm shaft 215 is rotatably installed between the end walls of the angle adjustment cavity 225. On the outer surface of the worm shaft 215 above the angle adjustment driven gear 217, a worm 213 is fixedly connected. The worm 213 meshes with a worm gear 211. The worm gear 211 is fixedly installed at one end of the side of the worm gear shaft 212. The worm gear shaft 212 is rotatably installed through the end wall of the angle adjustment cavity 225 and extends into an angle adjustment bevel gear cavity 226 provided in the annular frame 203. At the other end of the worm gear shaft 212, a direction adjustment bevel gear one 210 is fixedly connected. The direction adjustment bevel gear one 210 meshes with a direction adjustment bevel gear two 209. The direction adjustment bevel gear two 209 is fixedly installed on the outer surface of the direction adjustment rotating shaft 208. The direction adjustment rotating shaft 208 is rotatably installed through the end walls between the angle adjustment bevel gear cavity 226 (see Figure 22 ), and extends between the end walls of a groove 207 provided on the annular frame 203 (see Figure 3 ). On the outer surface of the direction adjustment rotating shaft 208 in the groove 207, an angle adjustment frame 204 is fixedly connected. In the angle adjustment frame 204, a push screw rod 222 is rotationally connected (see Figure 6 , 7 ). A nut plate 205 is threadedly connected to the outer surface of the push screw rod 222. The nut plate 205 is slidably connected in the angle adjustment frame 204. At the end of the nut plate 205, a groove frame 201 is fixedly connected. On the groove frame 201, a clamping electric screw rod 206 is rotationally connected. Symmetrically threaded on the outer surface of the clamping electric screw rod 206 are clamping nut blocks 223. The two clamping nut blocks 223 are slidably connected on the groove frame 201. On the outer surface of the clamping nut blocks 223, a semi-wrapping member 202 is fixedly connected. The semi-wrapping member 202 wraps around the outer surface of the support pipe pile 2.

[0064] In this embodiment, the semi-wrapping member 202 is selected as an arc-shaped plate. During the inspection state, the two semi-wrapping members 202 are spliced into a whole to wrap the support pipe pile 2. When not in inspection or after the inspection is completed, that is, when the semi-wrapping member 202 does not need to wrap the support pipe pile 2, the two semi-wrapping members 202 move in the opposite direction. At the same time, the nut plate 205 contracts towards the angle adjustment frame 204, and the semi-wrapping member 202 disengages from the support pipe pile 2.

[0065] During operation, start the direction adjustment motor, which drives the rotation of the direction adjustment gear shaft 221, thereby driving the rotation of the direction adjustment gear 220. The direction adjustment gear 220 meshes with the direction adjustment annular rack 219, thereby driving the rotation of the direction adjustment annular rack 219, and then driving the rotation of the annular frame 203. After rotating to the corresponding direction, start the angle adjustment motor, which drives the rotation of the angle adjustment driving gear shaft 227, thereby driving the rotation of the angle adjustment driving gear 218. The angle adjustment driving gear 218 meshes with the angle adjustment annular rack 214, thereby driving the rotation of the angle adjustment annular rack 214. The angle adjustment annular rack 214 meshes with the angle adjustment driven gear 217, thereby driving the rotation of the worm shaft 215, and then driving the rotation of the worm 213. The worm 213 meshes with the worm gear 211, thereby driving the rotation of the worm gear shaft 212, and then driving the rotation of the first direction adjustment bevel gear 210. The first direction adjustment bevel gear 210 meshes with the second direction adjustment bevel gear 209, thereby driving the rotation of the direction adjustment rotating shaft 208, and then driving the rotation of the angle adjustment frame 204. Rotate to the horizontal direction, causing the push screw rod 222 to rotate, thereby pushing the nut plate 205 to move, and then driving the groove frame 201 to move, and then driving the arc plate 202 to move, so that the support pipe pile 2 is located between the arc plates 202. Then, start the clamping electric screw rod 206 to rotate, thereby driving the clamping nut block 223 to move closer to each other, and then driving the arc plates 202 to move closer to each other and fit together, so that the arc plates 202 wrap around the outside of the support pipe pile 2 and are in sliding contact with the support pipe pile 2.

[0066] 2. Protective liquid spraying mechanism

[0067] Refer to Figure 7 、 15 ~18, 24. The protective liquid spraying mechanism includes a protective groove 317 provided on the inner side of the arc plate 202. On the upper end wall of one side of the protective groove 317, a protective gear cavity 315 is machined. A protective gear shaft 303 is rotatably connected between the end walls of the protective gear cavity 315. The protective gear shaft 303 is power-connected to a protective motor fixedly installed in the arc plate 202. A protective gear 302 (see Figure 7 ) is fixedly connected to the outer surface of the protective gear shaft 303. The protective gear 302 meshes with a protective semi-annular rack 301. The protective semi-annular rack 301 is rotatably installed on the end wall of the protective groove 317. A protective spray head 304 (see Figure 8 ) is fixedly connected to the inner surface of the protective semi-annular rack 301. A stepped through hole 313 (see Figure 17 、 18) The stepped through-hole 313 is a stepped channel, which is connected to the inside of the protective semi-circular rack 301. On one side of the protective semi-circular rack 301, spring grooves 312 are symmetrically arranged. One end of the tension spring 310 is fixedly connected to the end wall of the spring groove 312. The other end of the tension spring 310 is fixedly connected to the closing plate 306. When the tension spring 310 contracts, it pulls the closing plate 306 to closely adhere to the inner end wall of the protective semi-circular rack 301 to close the stepped through-hole 313. A top pipe 307 is inserted into the stepped through-hole 313. The top pipe 307 is fixedly installed on the protective semi-circular rack 301 on the other side and is connected to the inside of the protective semi-circular rack 301. A number of communication holes 311 are evenly arranged at the end of the top pipe 307 (see Figure 16 ), and the communication holes 311 are connected to the inside of the top pipe 307. A sealing ring sleeve 308 is slidably connected to the outer surface of the top pipe 307. A sealing spring 309 is clamped between the sealing ring sleeve 308 and the end wall of the protective semi-circular rack 301. When the two protective semi-circular racks 301 are separated, the sealing spring 309 pushes the sealing ring sleeve 308 to move to close the communication holes 311. A communication groove 305 is arranged on the outer side wall of the protective semi-circular rack 301 (see Figure 15 ), and it is connected to the inside of the protective semi-circular rack 301. A protective material storage cavity 314 is arranged inside the arc-shaped plate 202. The protective material storage cavity 314 is connected to the communication groove 305 through an input groove 316.

[0068] During operation, the arc-shaped plates 202 approach each other, thereby driving the top pipe 307 to move and insert into the stepped through-hole 313. The top pipe 307 enters the inside of the protective semi-circular rack 301, pushes the closing plate 306 to move, the tension spring 310 is stretched, and the closing plate 306 is pushed open, so that the two protective semi-circular racks 301 are connected. The protective liquid in one of the protective semi-circular racks 301 enters the other protective semi-circular rack 301 through the communication holes 311 and the top pipe 307, making the two protective semi-circular racks 301 connected. When the top pipe 307 is inserted into the stepped through-hole 313, it pushes the sealing ring sleeve 308 to move, facilitating the opening of the communication holes 311. When not inserted, the sealing ring sleeve 308 is sleeved on the top pipe 307 outside the communication holes 311. When inserted, the sealing ring sleeve 308 is blocked by the stepped through-hole 313, and the communication holes 311 enter the protective semi-circular rack 301, causing the sealing spring 309 to be compressed. The protective liquid in the protective material storage cavity 314 flows through the input groove 316 and the communication groove 305 into the protective semi-circular rack 301. The protective semi-circular rack 301 is sealed with the end wall of the protective groove 317. The protective motor is started, thereby driving the protective gear shaft 303 to rotate, and then driving the protective gear 302 to rotate. The protective gear 302 meshes with the protective semi-circular rack 301, thereby driving the protective nozzle 304 to spray the protective liquid, so as to spray the surface of the repaired support pipe pile 2.

[0069] 3. Repair mechanism

[0070] As shown in Figure 8 , 9 , 10, 24, and 25, the repair mechanism includes a repair groove 427 provided on the inner surface of the arc-shaped plate 202 below the protective groove 317. A repair gear cavity 423 is provided inside the arc-shaped plate 202 on one side. A repair gear shaft 405 is rotatably connected between the end walls of the repair gear cavity 423. The repair gear shaft 405 is power-connected to a repair motor fixedly installed inside the arc-shaped plate 202. A repair gear 404 is fixedly connected to the outer surface of the repair gear shaft 405. The repair gear 404 meshes with a repair semi-circular rack 401. The repair semi-circular rack 401 is rotatably installed on the end wall of the repair groove 427. A repair insert block 414 is fixedly connected to one side of the repair semi-circular rack 401. The repair insert block 414 is inserted into a repair slot 413. The repair slot 413 is provided at the end of the repair semi-circular rack 401 on the other side. A first card slot 417 is provided on the end wall of the repair slot 413. The first card slot 417 extends to the repair insert block 414. A first spring rod 416 is fixedly connected to the end wall of the first card slot 417. A first spherical clamping block 415 is fixedly connected to the lower end of the first spring rod 416. The first spherical clamping block 415 is clamped into the first card slot 417 on the repair insert block 414. A polishing groove frame 409 is fixedly connected to the end wall of the repair semi-circular rack 401 on one side. A polishing electric lead screw 428 is rotatably connected to the polishing groove frame 409. A polishing nut block 422 is threadedly connected to the outer surface of the polishing electric lead screw 428. The polishing nut block 422 is slidably connected to the polishing groove frame 409. A polishing electric push rod 421 is rotatably connected to the end wall of the polishing nut block 422. The polishing electric push rod 421 is power-connected to a polishing motor fixedly installed inside the polishing nut block 422. A polishing disc 410 is fixedly connected to the end of the polishing electric push rod 421. A cladding groove frame 408 is fixedly connected to the end wall of the repair semi-circular rack 401 on the other side. A cladding electric lead screw 411 is rotatably connected to the cladding groove frame 408. A cladding nut block 412 is threadedly connected to the outer surface of the cladding electric lead screw 411. The cladding nut block 412 is slidably connected to the cladding groove frame 408. A connection box 406 is fixedly connected to the end wall of the cladding nut block 412. A cladding head 407 is fixedly connected to the end wall of the connection box 406. A feeding channel 424 (see Figure 25 ) penetrates through the connection box 406, and the feeding channel 424 communicates with the inside of the connection box 406. A feeding valve 425 is fixedly connected between the end walls of the feeding channel 424. An extraction pipe 426 (see Figure 25), and the extraction pipe 426 extends into the connection box 406. A cladding material storage cavity 418 is symmetrically arranged inside the arc-shaped plate 202. A feeding pump 402 is fixedly connected to the end wall of the cladding material storage cavity 418. A feeding pipe 403 is fixedly connected to the feeding pump 402. The feeding pipe 403 extends to the position of the bottom wall of the cladding material storage cavity 418. A cladding feeding pipe 419 is fixedly connected to the feeding pump 402. The end of the cladding feeding pipe 419 is fixedly connected to a cladding feeding electric telescopic pipe 420. The moving end of the cladding feeding electric telescopic pipe 420 extends to the upper side end wall of the repair groove 427. The cladding feeding electric telescopic pipe 420 is inserted into the injection channel 424.

[0071] During operation, the repair insert block 414 is inserted into the repair slot 413. The first spring rod 416 pushes the first spherical locking block 415 to be stuck into the first spring rod 416 on the repair insert block 414, thereby realizing the connection between the repair semi-circular racks 401. The repair motor is started, which drives the repair gear shaft 405 to rotate, and then drives the repair gear 404 to rotate. The repair gear 404 meshes with the repair semi-circular racks 401, thereby driving the repair semi-circular racks 401 to rotate, and then driving the grinding groove frame 409 to rotate to the position to be repaired. The grinding electric screw rod 428 rotates, driving the grinding nut block 422 to move up and down. The grinding electric push rod 421 is powered on, causing the grinding electric push rod 421 to extend, thereby driving the grinding disc 410 to move into contact with the position to be repaired. The grinding motor is started, driving the grinding electric push rod 421 to rotate, and then driving the grinding disc 410 to rotate to grind the repaired position. After grinding, the cladding groove frame 408 moves to the grinding position, causing the cladding electric screw rod 411 to rotate, driving the cladding nut block 412 to move up and down, and then driving the connection box 406 to move up and down. The cladding head 407 is started, and the material in the connection box 406 is extracted into the cladding head 407 through the extraction pipe 426, melted and then cladded at the position to be repaired, thereby realizing the repair. When it is necessary to add materials to the connection box 406, the connection box 406 moves to the lower side of the cladding feeding electric telescopic pipe 420. The cladding feeding electric telescopic pipe 420 extends and is inserted into the injection channel 424. The injection valve 425 is opened, and the feeding pump 402 is started, so that the materials in the cladding material storage cavity 418 enter the cladding feeding pipe 419 through the feeding pipe 403, and enter the connection box 406 through the cladding feeding electric telescopic pipe 420.

[0072] 4. Detection mechanism

[0073] The detection mechanism includes a detection groove 506 arranged on the inner surface of the arc-shaped plate 202 below the repair groove 427 (see Figure 24 ), a detection gear cavity 505 is arranged on the end wall of the detection groove 506, and a detection gear shaft 502 is rotatably connected between the end walls of the detection gear cavity 505 (see Figure 7), the detection gear shaft 502 is in power connection with the detection motor fixedly installed in the robot main body 1. A detection gear 503 is fixedly connected to the outer surface of the detection gear shaft 502. The detection gear 503 meshes with the detection semi-circular rack 501. A detection plug 511 is fixedly connected to the end of one side of the detection semi-circular rack 501 (see Figure 13 ). The detection plug 511 is inserted into the detection slot 507. The detection slot 507 is provided at the end of the detection semi-circular rack 501 on the other side. Second clamping grooves 508 are symmetrically provided on the end wall of the detection slot 507 and extend to the detection plug 511. A second spring rod 509 is fixedly connected to the end wall of the second clamping groove 508. A second spherical clamping block 510 is fixedly connected to the end of the second spring rod 509. The second spherical clamping block 510 is clamped into the second clamping groove 508 on the detection plug 511. A detection probe 504 is fixedly connected to the inner surface of the detection semi-circular rack 501 (see Figure 8 ).

[0074] During operation, the detection plug 511 is inserted into the detection slot 507. The second spring rod 509 pushes the second spherical clamping block 510 to move and be clamped into the second clamping groove 508 on the detection plug 511, so as to realize the connection between the detection semi-circular racks 501. The detection motor is started, which drives the detection gear shaft 502 to rotate, and then drives the detection gear 503 to rotate. The detection gear 503 meshes with the detection semi-circular rack 501, and then drives the detection probe 504 to rotate to detect the surface of the support pipe pile 2.

[0075] 5. Cleaning mechanism

[0076] The cleaning mechanism is located at the lower part of the inspection device and is used to clean the attachments adhered to the surface of the support pipe pile 2. Specifically, as shown in Figure 7 、 11 、14、24、26, the cleaning mechanism includes a crawling cavity 620 provided on the inner surface of the arc-shaped plate 202 (see Figure 26 ). A crawling rotating shaft 605 is rotatably connected between the end walls of the crawling cavity 620 (see Figure 26) The crawling rotating shaft 605 is in power connection with a crawling motor fixedly installed inside the arc-shaped plate 202. A crawling wheel 606 is fixedly connected to the outer surface of the crawling rotating shaft 605. The crawling wheel 606 is in rolling contact with the outer surface of the support pipe pile 2. The outer surface of the crawling wheel 606 is provided with an anti-slip material. The end of the crawling rotating shaft 605 on one side extends into a bevel gear cavity 621 provided inside the arc-shaped plate 202. A first bevel gear 607 is fixedly connected to the end of the crawling rotating shaft 605. The first bevel gear 607 meshes with a second bevel gear 608. The second bevel gear 608 is fixedly installed on the outer surface of a transmission shaft 609. The transmission shaft 609 is rotatably installed between the end walls of the bevel gear cavity 621. A third bevel gear 610 is fixedly connected to the outer surface of the transmission shaft 609. The third bevel gear 610 meshes with a fourth bevel gear 611. The fourth bevel gear 611 is fixedly installed at the end of a rotating shaft 612. The rotating shaft 612 is rotatably installed on the end wall of the bevel gear cavity 621. A fifth bevel gear 619 is fixedly connected to the outer surface of the rotating shaft 612. The fifth bevel gear 619 meshes with a sixth bevel gear 618. The sixth bevel gear 618 is fixedly installed at the upper end of the bevel gear shaft 617. The bevel gear shaft 617 is rotatably installed through the bottom wall of the bevel gear cavity 621, and the bevel gear shaft 617 extends into a transmission cavity 622 provided inside the arc-shaped plate 202. A seventh bevel gear 616 is fixedly connected to the lower end of the bevel gear shaft 617. The seventh bevel gear 616 meshes with an eighth bevel gear 614. The eighth bevel gear 614 is fixedly installed on the outer surface of a cleaning gear shaft 615. The cleaning gear shaft 615 is rotatably installed through the end wall of the transmission cavity 622, and the transmission cavity 622 extends into a cleaning gear cavity 623 provided inside the arc-shaped plate 202. A cleaning gear 613 is fixedly connected to the outer surface of the transmission cavity 622 inside the cleaning gear cavity 623. The cleaning gear 613 meshes with a cleaning annular rack 601. The cleaning annular rack 601 is rotatably installed on the bottom wall of the arc-shaped plate 202. A cleaning plug 630 is fixedly connected to the end of the cleaning annular rack 601 on one side (see Figure 14 ). The cleaning plug 630 is inserted into a cleaning slot 626. The cleaning slot 626 is provided at the end of the cleaning annular rack 601 on the other side. Third clamping grooves 627 are symmetrically provided on the end wall of the cleaning slot 626, and the rear third clamping groove 627 extends to the cleaning plug 630. A third spring rod 628 is fixedly connected to the end wall of the third clamping groove 627. A third spherical clamping block 629 is fixedly connected to the lower end of the third spring rod 628. The third spherical clamping block 629 is clamped into the third clamping groove 627 on the cleaning plug 630. A cleaning brush 624 is fixedly connected to the inner surface of the cleaning annular rack 601. A cleaning groove 625 is provided on the lower surface of the arc-shaped plate 202. A cleaning electric rotating shaft 602 is rotatably connected between the end walls of the cleaning groove 625. A cleaning rotating block 603 is fixedly connected to the outer surface of the cleaning electric rotating shaft 602. A cleaning knife 604 is fixedly connected to the end of the cleaning rotating block 603.

[0077] During operation, the cleaning insert block 630 is inserted into the cleaning slot 626, and the spring rod three 628 pushes 629 to move and snap into the slot three 627 on the cleaning insert block 630, thereby realizing the connection between the cleaning ring racks 601, causing the cleaning electric rotating shaft 602 to rotate, and then driving the cleaning rotating block 603 to rotate (see Figure 7 ), thereby driving the cleaning knife 604 to rotate and wrap around the support pipe pile 2 (see Figure 11 ). Start the crawling motor, which drives the crawling rotating shaft 605 to rotate, which drives the crawling wheel 606 to roll on the surface of the support pipe pile 2, which drives the arc plate 202 to move downward, which pushes the cleaning knife 604 to move downward to scrape the shells adhered to the surface of the support pipe pile 2. The crawling rotating shaft 605 rotates, driving the bevel gear one 607 to rotate. The bevel gear one 607 meshes with the bevel gear two 608, driving the transmission shaft 609 to rotate, driving the bevel gear three 610 to rotate. The bevel gear three 610 meshes with the bevel gear four 611, driving the rotating shaft 612 to rotate, driving the bevel gear five 619 to rotate. The bevel gear five 619 meshes with the bevel gear six 618, driving the bevel gear shaft 617 to rotate, driving the bevel gear seven 616 to rotate. The bevel gear seven 616 meshes with the bevel gear eight 614, driving the cleaning gear shaft 615 to rotate, driving the cleaning gear 613 to rotate. The cleaning gear 613 meshes with the cleaning ring rack 601, driving the cleaning ring rack 601 to rotate, driving the cleaning brush 624 to rotate to brush and clean the surface of the support pipe pile 2.

[0078] 6. Multi-directional inspection mechanism

[0079] The multi-directional inspection mechanism is used to inspect the support pipe pile and can also be used to inspect and observe the water body around the support pipe pile. Specifically, as shown in Figure 6 , 11 , 20, the multi-directional inspection mechanism includes a robot main body 1 with an inspection gear cavity 704 inside. The end walls of the inspection gear cavity 704 are rotatably connected with an inspection gear shaft 706. The inspection gear shaft 706 is power-connected to an inspection motor fixedly installed in the robot main body 1. The outer surface of the inspection gear shaft 706 is fixedly connected with an inspection gear 705. The inspection gear 705 meshes with an inspection ring rack 701. The inspection ring rack 701 is rotatably installed on the robot main body 1. The outer surface of the inspection ring rack 701 is fixedly connected with a number of inspection sensors 702. The lower part of the robot main body 1 is fixedly connected with an observation camera 703.

[0080] During operation, the inspection motor is started, which drives the inspection gear shaft 706 to rotate, thereby driving the inspection gear 705 to rotate. The inspection gear 705 meshes with the inspection ring rack 701, driving the inspection ring rack 701 to rotate, and then driving the inspection sensor 702 to rotate for inspection. The observation camera 703 observes the environment during the descent process.

[0081] 7. Motion mechanism

[0082] The motion mechanism is used to drive the robot body 1 and the inspection device to move between the four support pipe piles 2. Specifically, as Figure 1 , 5 , as shown in Fig. 20, the motion mechanism includes several motion gear chambers 807 provided in the robot body 1. A motion main gear shaft 805 is rotatably connected between the end walls of the motion gear chamber 807. The motion main gear shaft 805 is power-connected to a motion motor fixedly installed in the robot body 1. A motion main gear 806 is fixedly connected to the outer surface of the motion main gear shaft 805. The motion main gear 806 meshes with a motion sub-gear 804 (see Figure 5 ). The motion sub-gear 804 is fixedly installed on the outer surface of the adjustment electric telescopic shaft 803. The adjustment electric telescopic shaft 803 passes through and is rotatably installed on the bottom wall of the motion gear chamber 807. The lower end of the adjustment electric telescopic shaft 803 is fixedly connected to a mounting block 801, and a propeller 802 is fixedly connected to the mounting block 801 (see Figure 1 ).

[0083] During operation, the propeller 802 moves to push the robot body 1 to move. When the direction needs to be adjusted, the motion motor is started, driving the motion main gear shaft 805 to rotate, then driving the motion main gear 806 to rotate. The motion main gear 806 meshes with the motion sub-gear 804, driving the adjustment electric telescopic shaft 803 to rotate, then driving the mounting block 801 to rotate, and finally driving the propeller 802 to rotate to the corresponding direction, thus realizing the adjustment of the direction.

[0084] 8. Lifting mechanism

[0085] The lifting mechanism drives the robot body 1 and the inspection device to lift and lower in the water. Specifically, as Figure 1 , 2 , as shown in Fig., the lifting mechanism includes water storage tanks 901 symmetrically and fixedly connected to the lower part of the robot body 1. A water pump is fixedly connected to the inlet end of the water storage tank 901, and a drainage pump is fixedly connected to the drainage end of the water storage tank 901.

[0086] During operation, during the descent process, the water pump is started, allowing water to enter the water storage tank 901, causing the robot body 1 to descend in the water. When ascending, the drainage pump is started to drain the water in the water storage tank 901, thus achieving floating.

[0087] In summary, the underwater inspection robot for an offshore wind farm of the present invention can protect the surface of the pile foundation underwater in the wind farm, can clean the surface of the pile foundation, has a relatively high cleaning efficiency, can crawl along the surface of the pile foundation, can repair the surface of the pile foundation, repair the damaged positions, and extend the service life of the pile foundation; it can perform inspections underwater and can perform inspections in multiple directions, with a relatively high inspection efficiency, and can monitor the water body around the wind farm; it can adjust the direction to facilitate adapting to the position of the pile foundation and improve the efficiency of inspection and repair.

[0088] The present invention also provides a method for using an underwater inspection robot for an offshore wind farm. Based on the above-mentioned underwater inspection robot for an offshore wind farm, the steps include:

[0089] Step 1: Place the underwater inspection robot into the water;

[0090] Step 2: The lifting mechanism moves to drive the robot main body 1 and the inspection device to descend in the water, facilitating movement between the support pile foundations 2;

[0091] Step 2: The movement mechanism moves, thereby driving the robot main body 1 and the inspection device to move and reach between the support pile foundations 2;

[0092] Step 3: When the robot main body 1 moves, the multi-direction inspection mechanism moves, thereby realizing the inspection of the support pile foundation 2 and realizing the inspection and observation of the water body around the support pile foundation 2;

[0093] Step 4: The direction adjustment mechanism moves, thereby realizing the adjustment of the directions of the two semi-wrapping structures 202 of the inspection device body to facilitate the inspection device body to wrap around the surface of the support pile foundation 2;

[0094] Step 5: The cleaning mechanism works, and the movement mechanism drives the inspection device to move along the support pile foundation 2, thereby realizing the cleaning of the surface of the support pile foundation 2;

[0095] Step 6: After the cleaning is completed, the detection mechanism works, thereby realizing the detection of the surface of the support pile foundation 2 to detect which positions need to be repaired;

[0096] Step 7: The repair mechanism works, thereby realizing the repair of the positions of the support pile foundation 2 that need to be repaired;

[0097] Step 8: After the repair is completed, the protective liquid spraying mechanism works, thereby realizing the spraying of the protective liquid on the surface of the support pile foundation 2.

[0098] It should be noted that, in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0099] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater inspection robot for offshore wind farms, used for inspection of supporting pipe piles (2) of offshore wind turbines, characterized in that: The invention comprises a robot body (1) and an inspection device connected to the robot body (1), wherein the inspection device comprises an inspection device body, wherein the inspection device body is wrapped around the outside of a supporting pipe pile (2), and a protective liquid spraying mechanism, a repairing mechanism, a detection mechanism and a cleaning mechanism are arranged in the inspection device body. The protective liquid spraying mechanism is used to spray protective liquid on the surface of the supporting pipe pile (2), the repairing mechanism is used to repair the surface of the supporting pipe pile (2), the detection mechanism is used to detect the surface of the supporting pipe pile (2) to facilitate repair and spraying of protective liquid, and the cleaning mechanism is used to clean attachments adhered to the surface of the supporting pipe pile (2).

2. The underwater inspection robot for offshore wind farms according to claim 1, characterized in that: The inspection device body is configured to be formed by splicing two symmetrical half-wrapped parts (202); a direction adjustment mechanism is provided between the robot body (1) and the inspection device, for adjusting the direction of the inspection device body; the direction adjustment mechanism comprises an annular frame (203), an angle adjustment frame (204), a nut plate (205) and a groove frame (201); the annular frame (203) is rotatably connected to the robot body (1); the angle adjustment frame (204) is radially arranged along the annular frame (203) and is rotatably connected; the nut plate (205) is One end of the nut plate (205) is slidably connected to the angle adjustment frame (204) through a screw nut mechanism so that the nut plate (205) can telescopically move relative to the angle adjustment frame (204) along the length direction, and the other end of the nut plate (205) is fixedly connected to the groove frame (201). A double-nut transmission screw mechanism is arranged in the groove frame (201), and two nuts of the double-nut transmission screw mechanism are respectively fixedly connected to a half-wrapped member (202). The movement of the double-nut transmission screw mechanism synchronously drives the two half-wrapped members (202) to move relative to or in the opposite direction.

3. The underwater inspection robot for offshore wind farms according to claim 2, characterized in that: The protective liquid spraying mechanism includes a protective groove (317) provided on the inner side of the semi-wrapped member (202), a protective gear cavity (315) is provided on the upper end wall of the protective groove (317) on one side, a protective gear shaft (303) is rotatably connected between the end walls of the protective gear cavity (315), the protective gear shaft (303) is connected to the protective motor power fixedly installed in the inspection device body, the outer surface of the protective gear shaft (303) is fixedly connected to a protective gear (302), the protective gear (302) is meshingly connected to a protective semi-annular rack frame (301), and the protective semi-annular rack frame (301) is rotatably installed in the inspection device body. On the end wall of the protection groove (317), a protection nozzle (304) is fixedly connected to the inner surface of the protection semi-annular rack frame (301), a stepped through hole (313) is provided at the end of the protection semi-annular rack frame (301) on one side, and the stepped through hole (313) is connected to the protection semi-annular rack frame (301), and a spring groove (312) is symmetrically provided in the protection semi-annular rack frame (301) on one side, and one end of a tension spring (310) is fixedly connected to the end wall of the spring groove (312), and the other end of the tension spring (310) is fixedly connected to a closing plate (306), and the tension spring (310) is contracted. When the closing plate (306) is compressed, it is pulled tight against the inner end wall of the protective semi-annular rack frame (301) to close the stepped through hole (313). A top pipe (307) is inserted into the stepped through hole (313). The top pipe (307) is fixedly mounted on the other side of the protective semi-annular rack frame (301) and is connected to the inside of the protective semi-annular rack frame (301). A plurality of connecting holes (311) are evenly arranged at the end of the top pipe (307), and the connecting holes (311) are connected to the inside of the top pipe (307). A sealing ring sleeve (308) is slidably connected to the outer surface of the top pipe (307). The sealing ring A sealing spring (309) is clamped between the sleeve (308) and the end wall of the protective semi-annular rack frame (301). When the two protective semi-annular rack frames (301) are separated, the sealing spring (309) pushes the sealing ring sleeve (308) to move and close the connecting hole (311). A connecting groove (305) is provided on the outer wall of the protective semi-annular rack frame (301) and is connected to the protective semi-annular rack frame (301). A protective material storage chamber (314) is provided in the semi-wrapped member (202), and the protective material storage chamber (314) is connected to the connecting groove (305) through an input groove (316).

4. The underwater inspection robot for offshore wind farms according to claim 3, characterized in that: The repair mechanism comprises a repair groove (427) arranged on the inner surface of the semi-enclosed member (202) at the lower side of the protective groove (317) and a repair gear cavity (423) arranged on one side of the semi-enclosed member (202); a repair gear shaft (405) is rotatably connected between the end walls of the repair gear cavity (423); the repair gear shaft (405) is connected to the power of a repair motor fixedly installed in the semi-enclosed member (202); a repair gear (404) is fixedly connected to the outer surface of the repair gear shaft (405); the repair gear (404) is meshed with a repair semi-annular rack (401); the repair semi-annular rack (401) is rotatably installed on the end wall of the repair groove (427); the repair semi-annular rack (401) on one side is rotatably installed on the inner surface of the semi-enclosed member (202); The rack (401) is fixedly connected with a repair plug (414), and the repair plug (414) is inserted into a repair slot (413). The repair slot (413) is arranged at the end of the repair semi-annular rack (401) on the other side. A clamping groove (417) is arranged on the end wall of the repair slot (413). The clamping groove (417) extends to the repair plug (414). A spring rod (416) is fixedly connected to the end wall of the clamping groove (417). A spherical clamping block (415) is fixedly connected to the lower end of the spring rod (416). The spherical clamping block (415) is clamped into the clamping groove (417) on the repair plug (414). A grinding groove frame (409) is fixed on the wall, and a grinding electric screw (428) is rotatably connected to the grinding groove frame (409). The outer surface of the grinding electric screw (428) is threadedly connected to a grinding nut block (422). The grinding nut block (422) is slidably connected to the grinding groove frame (409). A grinding electric push rod (421) is rotatably connected to the end wall of the grinding nut block (422). The grinding electric push rod (421) is connected to the power of a grinding motor fixedly installed in the grinding nut block (422). A grinding disc (410) is fixedly connected to the end of the grinding electric push rod (421). The end wall of the repair semi-annular rack (401) on the other side is fixedly connected to the cladding groove frame (408). A cladding electric screw (411) is rotatably connected to the cladding groove frame (408); a cladding nut block (412) is threadedly connected to the outer surface of the cladding electric screw (411); the cladding nut block (412) is slidably connected to the cladding groove frame (408); a connection box (406) is fixedly connected to the end wall of the cladding nut block (412); a cladding head (407) is fixedly connected to the end wall of the connection box (406); an injection channel (424) is provided through the connection box (406), and the injection channel (424) is connected to the connection box (406); an injection valve (425) is fixedly connected between the end walls of the injection channel (424); and an extraction pipe (426) is connected to the cladding head (407).The extraction pipe (426) extends into the connection box (406), and a cladding material storage chamber (418) is symmetrically arranged in the semi-wrapped part (202). A feed pump (402) is fixedly connected to the end wall of the cladding material storage chamber (418), and a feed pipe (403) is fixedly connected to the feed pump (402). The feed pipe (403) extends to the bottom wall of the cladding material storage chamber (418). A cladding feed pipe (419) is fixedly connected to the feed pump (402), and a cladding feeding electric telescopic pipe (420) is fixedly connected to the end of the cladding feeding pipe (419). The moving end of the cladding feeding electric telescopic pipe (420) extends to the upper end wall of the repair groove (427), and the cladding feeding electric telescopic pipe (420) is inserted into the injection channel (424).

5. The underwater inspection robot for offshore wind farms according to claim 4, characterized in that: The detection mechanism comprises a detection groove (506) provided on the inner surface of the semi-wrapped part (202), the detection groove (506) being located at the lower side of the repair groove (427), a detection gear cavity (505) being provided on the end wall of the detection groove (506), a detection gear shaft (502) being rotatably connected between the end walls of the detection gear cavity (505), the detection gear shaft (502) being connected to the detection motor power fixedly installed in the robot body (1), a detection gear (503) being fixedly connected to the outer surface of the detection gear shaft (502), the detection gear (503) being meshed with a detection semi-annular rack (501), and a detection plug (511) being fixedly connected to the end of the detection semi-annular rack (501) on one side. ), the detection plug-in block (511) is inserted into the detection slot (507), the detection slot (507) is arranged at the end of the detection semi-annular rack (501) on the other side, the end wall of the detection slot (507) is symmetrically provided with a second card slot (508), and the second card slot (508) extends to the detection plug-in block (511), the end wall of the second card slot (508) is fixedly connected with a second spring rod (509), the end of the second spring rod (509) is fixedly connected with a second spherical card block (510), the second spherical card block (510) is inserted into the second card slot (508) on the detection plug-in block (511), and the inner surface of the detection semi-annular rack (501) is fixedly connected with a detection probe (504).

6. The underwater inspection robot for offshore wind farms according to claim 1, characterized in that: The cleaning mechanism comprises a crawling cavity (620) arranged on the inner surface of the semi-wrapped member (202), a crawling shaft (605) is rotatably connected between the end walls of the crawling cavity (620), the crawling shaft (605) is connected to the crawling motor fixedly installed in the semi-wrapped member (202), the outer surface of the crawling shaft (605) is fixedly connected to a crawling wheel (606), the crawling wheel (606) is in contact with the outer surface of the supporting pipe pile (2), the outer surface of the crawling wheel (606) is provided with anti-slip material, the end of the crawling shaft (605) on one side extends into a bevel gear cavity (621) arranged in the semi-wrapped member (202), the end of the crawling shaft (605) is fixedly connected to a bevel gear (607) ), the bevel gear one (607) meshes with the bevel gear two (608), the bevel gear two (608) is fixedly mounted on the outer surface of the transmission shaft (609), the transmission shaft (609) is rotatably mounted between the end walls of the bevel gear cavity (621), the outer surface of the transmission shaft (609) is fixedly connected with the bevel gear three (610), the bevel gear three (610) meshes with the bevel gear four (611), the bevel gear four (611) is fixedly mounted on the end of the rotating shaft (612), the rotating shaft (612) is rotatably mounted on the end wall of the bevel gear cavity (621), the outer surface of the rotating shaft (612) is fixedly connected with the bevel gear five (619), the bevel gear five (619) meshes with the bevel gear six (618), the bevel gear six (618) is fixedly mounted on the upper end of the bevel gear shaft (617), the bevel gear shaft (617) is rotatably mounted on the bottom wall of the bevel gear cavity (621), and the bevel gear shaft (617) extends to the transmission cavity (622) provided in the semi-enclosed member (202), the lower end of the bevel gear shaft (617) is fixedly connected with bevel gear seven (616), the bevel gear seven (616) is meshed with bevel gear eight (614), the bevel gear eight (614) is fixedly mounted on the outer surface of the cleaning gear shaft (615), the cleaning gear shaft (615) is rotatably mounted on the end wall of the transmission cavity (622), and the transmission cavity (622) extends to the cleaning gear cavity (616) provided in the semi-enclosed member (202). 623), the outer surface of the transmission cavity (622) in the cleaning gear cavity (623) is fixedly connected with a cleaning gear (613), the cleaning gear (613) is meshed with a cleaning annular rack (601), the cleaning annular rack (601) is rotatably mounted on the bottom wall of the semi-wrapped member (202), the end of the cleaning annular rack (601) on one side is fixedly connected with a cleaning plug (630), the cleaning plug (630) is inserted into a cleaning slot (626), the cleaning slot (626) is arranged at the end of the cleaning annular rack (601) on the other side, the end wall of the cleaning slot (626) is symmetrically provided with a card slot three (627), and the rear card slot three (627) extends to the cleaning plug block (630),A spring rod three (628) is fixedly connected to the end wall of the slot three (627), and a spherical block three (629) is fixedly connected to the lower end of the spring rod three (628). The spherical block three (629) is inserted into the slot three (627) on the cleaning plug (630). A cleaning brush (624) is fixedly connected to the inner surface of the cleaning annular rack (601). A cleaning groove (625) is provided on the lower surface of the semi-wrapped part (202). A cleaning electric shaft (602) is rotatably connected between the end walls of the cleaning groove (625). A cleaning rotating block (603) is fixedly connected to the outer surface of the cleaning electric shaft (602), and a cleaning knife (604) is fixedly connected to the end of the cleaning rotating block (603).

7. The underwater inspection robot for offshore wind farms according to claim 1, characterized in that: The robot body (1) also includes a multi-directional inspection mechanism, which includes an inspection gear chamber (704) arranged in the robot body (1), an inspection gear shaft (706) rotatably connected between the end walls of the inspection gear chamber (704), the inspection gear shaft (706) is connected to the power of an inspection motor fixedly installed in the robot body (1), an inspection gear (705) is fixedly connected to the outer surface of the inspection gear shaft (706), the inspection gear (705) is meshed with an inspection annular rack (701), the inspection annular rack (701) is rotatably installed on the robot body (1), a plurality of inspection sensors (702) are fixedly connected to the outer surface of the inspection annular rack (701), and an observation camera (703) is fixedly connected to the lower part of the robot body (1).

8. The underwater inspection robot for offshore wind farms according to claim 1, characterized in that: The robot body (1) further comprises a motion mechanism for driving the robot body (1) to move for inspection. The motion mechanism comprises a plurality of motion gear chambers (807) arranged in the robot body (1). A motion main gear shaft (805) is rotatably connected between the end walls of the motion gear chamber (807). The motion main gear shaft (805) is connected to a motion motor fixedly installed in the robot body (1). A motion main gear (806) is fixedly connected to the outer surface of the motion main gear shaft (805). The motion main gear (806) is meshed with a motion sub-gear (804). The motion sub-gear (804) is fixedly installed on the outer surface of an adjustable electric telescopic shaft (803). The adjustable electric telescopic shaft (803) is rotatably installed on the bottom wall of the motion gear chamber (807). A mounting block (801) is fixedly connected to the lower end of the adjustable electric telescopic shaft (803). A propeller (802) is fixedly connected to the mounting block (801).

9. The underwater inspection robot for offshore wind farms according to claim 1, characterized in that: The robot body (1) further comprises a lifting mechanism for driving the robot body (1) to descend in water, the lifting mechanism comprising a water storage tank (901) symmetrically fixedly connected to the lower part of the robot body (1), the inlet end of the water storage tank (901) being fixedly connected to a water pump, and the drainage end of the water storage tank (901) being fixedly connected to a drainage pump.

10. A method for using an underwater inspection robot for an offshore wind farm, based on the underwater inspection robot for an offshore wind farm according to any one of claims 1 to 9, characterized in that the steps include: Step 1: The underwater inspection robot enters the water; Step 2: The lifting mechanism moves, driving the robot body (1) and the inspection device to descend in the water; Step 2: The motion mechanism moves, driving the robot body (1) and the inspection device to move between a plurality of supporting pipe piles (2); Step 3: When the robot body (1) moves, the multi-directional inspection mechanism moves, thereby realizing inspection of the supporting pipe pile (2) and inspection and observation of the water body around the supporting pipe pile (2); Step 4: The direction adjustment mechanism moves to adjust the direction of the inspection device body so that the inspection device body is wrapped around the surface of the support pipe pile (2); Step 5: The cleaning mechanism works, and the movement mechanism drives the inspection device body to move along the support pipe pile (2), thereby cleaning the surface of the support pipe pile (2); Step 6: After cleaning, the detection mechanism works to detect the surface of the supporting pile (2) to detect which positions need to be repaired; Step 7: The repair mechanism works to repair the position of the supporting pipe pile (2) that needs to be repaired; Step 8: After the repair is completed, the protective liquid spraying mechanism works to spray the protective liquid on the surface of the supporting pipe pile (2).

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