An underwater inspection robot for offshore wind farms and its use method

Abstract

The present invention relates to the technical field of offshore wind farms, and discloses an underwater inspection robot for offshore wind farms and a method for using the same. The underwater inspection robot is used for inspecting support pipe piles of offshore wind turbines, and includes a robot main body and an inspection device connected to the robot main body. The inspection device includes an inspection device body, which is wrapped around the outside of the support pipe piles. A protective liquid spraying mechanism, a repair mechanism, a detection mechanism, and a cleaning mechanism are provided in the inspection device body. The protective liquid spraying mechanism is used to spray protective liquid on the surface of the support pipe piles, the repair mechanism is used to repair the surface of the support pipe piles, the detection mechanism is used to detect the surface of the support pipe piles to facilitate repair and spraying of protective liquid, and the cleaning mechanism is used to remove attachments adhered to the surface of the support pipe piles. The underwater inspection robot of the present invention does not require manual inspection and can perform underwater inspections autonomously, thereby improving inspection efficiency and reducing operation and maintenance costs.

Description

Technical Field

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

[0002] Offshore wind farms are offshore wind farms located in water depths of approximately 10 meters. Compared to onshore wind farms, offshore wind farms offer advantages in that they do not occupy land resources and are largely unaffected by topography. They also offer higher wind speeds, more abundant wind energy resources, larger turbine capacities (3-5 MW), and higher annual utilization hours. However, offshore wind farm construction is also technically challenging, with construction costs generally being two to three times higher than onshore wind farms.

[0003] Underwater facilities at offshore wind farms, such as pile foundations and submarine cables, are constantly submerged in seawater and are susceptible to environmental factors such as corrosion and erosion, requiring regular inspection and maintenance. Traditional inspection methods, mostly manual or by inspection vessel, consume significant manpower and resources, and struggle to ensure comprehensiveness and accuracy. Therefore, developing a robotic system capable of autonomous underwater inspections is crucial for improving inspection efficiency and reducing operational 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 offshore wind farm underwater inspection robot and a method of using the same, which effectively solves the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an underwater inspection robot for offshore wind farms, used for inspecting support pipe piles of offshore wind turbines, comprising a robot main body and an inspection device connected to the robot main body, the inspection device comprising an inspection device main body formed by splicing two symmetrical semi-wrapped parts, the inspection device main body being wrapped around the outside of the support pipe pile, a protective liquid spraying mechanism, a repair mechanism, a detection mechanism and a cleaning mechanism being longitudinally arranged in the inspection device main body, the protective liquid spraying mechanism being used for spraying protective liquid on the surface of the support pipe pile, the repair mechanism being used for repairing the surface of the support pipe pile, a detection mechanism being provided at the lower part of the repair mechanism, the detection mechanism being used for detecting the surface of the support pipe pile to facilitate repair and spraying of protective liquid, and the cleaning mechanism being used for removing attachments, such as shells, adhering to the surface of the support pipe pile.

[0006] A repair mechanism is provided at the lower portion of the protective liquid spraying mechanism, a detection mechanism is provided at the lower portion of the repair mechanism, and a cleaning mechanism is provided at the lower portion of the detection mechanism.

[0007] There can be several inspection devices. When there are multiple inspection devices, each inspection device corresponds to one supporting pipe pile; when there is only one inspection device, multiple supporting pipe piles can be inspected in batches.

[0008] Furthermore, 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 radially arranged and rotatably connected along the annular frame, one end of the nut plate is slidably connected to the angle adjustment frame through a screw nut mechanism to enable the nut plate to telescopically move relative to the length direction of the angle adjustment frame, the other end of the nut plate is fixedly connected to the groove frame, and a double-nut transmission screw mechanism is provided in the groove frame, the two nuts of the double-nut transmission screw mechanism are respectively fixedly connected to a half-wrapped part, and the movement of the double-nut transmission screw mechanism synchronously drives the two half-wrapped parts to move relative or oppositely.

[0009] Furthermore, the direction adjustment mechanism includes a direction adjustment gear cavity arranged in the robot body, a direction adjustment gear shaft is rotatably connected between the end walls of the direction adjustment gear cavity, the direction adjustment gear shaft is connected to the power of the direction adjustment motor fixedly installed in the robot body, the outer surface of the direction adjustment gear shaft is fixedly connected to the direction adjustment gear, the direction adjustment gear is meshed with the direction adjustment annular rack, the direction adjustment annular rack is rotatably installed on the end wall of the robot body, the outer surface of the direction adjustment annular rack is fixedly connected to an annular frame, the annular frame is rotatably connected to the robot body, and an angle adjustment mechanism is provided in the annular frame. The angle adjustment cavity has an angle adjustment driving gear shaft that is rotatably connected to the bottom wall of the angle adjustment cavity, and the angle adjustment driving gear shaft is connected to the angle adjustment motor power fixedly installed in the annular frame. The upper end of the angle adjustment driving gear shaft is fixedly connected to the angle adjustment driving gear, and the angle adjustment driving gear is meshed with the angle adjustment annular rack, and the angle adjustment annular rack is rotatably installed on the bottom wall of the angle adjustment cavity, and the angle adjustment annular rack is meshed with several angle adjustment driven gears, and the angle adjustment driven gear is fixedly installed on the outer surface of the worm shaft, and the worm shaft is rotatably installed between the end walls of the angle adjustment cavity. The outer surface of the worm shaft is fixedly connected with a worm, and the worm is meshed with the worm wheel. The worm wheel is fixedly mounted on the end of one side of the worm gear shaft, and the worm gear shaft is rotatably mounted on the end wall of the angle adjustment cavity, and the worm gear shaft extends into the angle adjustment bevel gear cavity provided in the annular frame, and the other end of the worm gear shaft is fixedly connected with a direction adjustment bevel gear 1, and the direction adjustment bevel gear 1 is meshed with the direction adjustment bevel gear 2, and the direction adjustment bevel gear 2 is fixedly mounted on the outer surface of the direction adjustment shaft, and the direction adjustment shaft is rotatably mounted between the end walls of the angle adjustment bevel gear cavity and extends between the end walls of the groove provided on the annular frame. The outer surface of the clamping nut block is symmetrically threaded with a clamping nut block, and the clamping nut block is slidably connected to the groove frame. A half-wrapped part is fixedly connected to the outer surface of the clamping nut block, and the rotation of the clamping electric screw drives the two clamping nuts to move in different directions, so that the inspection device body is wrapped around the outer surface of the supporting pipe pile.

[0010] Furthermore, the protective liquid spraying mechanism includes a protective groove provided on the inner side of the semi-wrapped part, and a protective gear cavity is processed on the upper end wall of the protective groove on one side, and a protective gear shaft is rotatably connected between the end walls of the protective gear cavity, and the protective gear shaft is connected to the power of the protective motor fixedly installed in the semi-wrapped part, and the outer surface of the protective gear shaft is fixedly connected to a protective gear, and the protective gear is meshed with a protective semi-annular rack frame, and the protective semi-annular rack frame is rotatably installed on the end wall of the protective groove, and the inner surface of the protective semi-annular rack frame is fixedly connected to a protective nozzle, and the end of the protective semi-annular rack frame on one side is provided with a stepped through hole, and the stepped through hole is a stepped channel, and the stepped through hole is connected to the protective semi-annular rack frame, and the protective semi-annular rack frame on one side is symmetrically provided with a spring groove, and the end wall of the spring groove is fixedly connected to one end of a tensioning spring, and the other end of the tensioning spring is fixed A sealing ring sleeve is slidably connected to the outer surface of the top tube, and a sealing spring is clamped between the sealing ring sleeve and the end wall of the protective semi-annular rack frame. When the two protective semi-annular rack frames are separated, the sealing spring pushes the sealing ring sleeve to move and close the communicating hole. A communicating groove is provided on the outer wall of the protective semi-annular rack frame and is connected to the protective semi-annular rack frame. A protective material storage chamber is provided in the semi-wrapped member, and the protective material storage chamber and the communicating groove are connected through an input groove.

[0011] Furthermore, the repair mechanism includes a repair groove provided on the inner surface of the semi-wrapped part on the lower side of the protective groove, a repair gear cavity is provided in the semi-wrapped part on one side, a repair gear shaft is rotatably connected between the end walls of the repair gear cavity, the repair gear shaft is connected to the power of the repair motor fixedly installed in the semi-wrapped part, a repair gear is fixedly connected to the outer surface of the repair gear shaft, the repair gear is meshed with a repair semi-annular rack, the repair semi-annular rack is rotatably installed on the end wall of the repair groove, a repair plug is fixedly connected to the repair semi-annular rack on one side, the repair plug is inserted into the repair slot, and the repair slot is provided on the other side. The repairing semi-annular rack has an end portion at the repairing semi-annular rack side, and the end wall of the repairing slot is provided with a card slot, and the card slot extends to the repairing plug block, and a spring rod is fixedly connected to the end wall of the card slot, and a spherical card block is fixedly connected to the end of the spring rod, and the spherical card block is snapped into the card slot on the repairing plug block, and a grinding groove rack is fixed on the end wall of the repairing semi-annular rack on one side, and a grinding electric screw is rotatably connected to the grinding groove rack, and the outer surface of the grinding electric screw is threadedly connected to a grinding nut block, and the grinding nut block is slidably connected to the grinding groove rack, and the grinding nut block end wall is rotatably connected to the grinding electric The cladding groove frame is rotatably connected to the cladding electric screw, and the outer surface of the cladding electric screw is threadedly connected to the cladding nut block, and the cladding nut block is slidably connected to the cladding groove frame, and the end wall of the cladding nut block is fixedly connected to the connecting box, and the end wall of the connecting box is fixedly connected to the cladding head, and the connecting box is provided with an injection channel, and the injection channel is connected to the connecting box. An injection valve is fixedly connected between the end walls of the injection channel, an extraction pipe is connected to the cladding head, and the extraction pipe extends into the connecting box, a cladding material storage cavity is symmetrically provided in the semi-wrapped part, 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, the feeding pipe extends to the bottom wall of the cladding material storage cavity, a cladding feeding pipe is fixedly connected to the feeding pump, a cladding feeding electric telescopic tube is fixedly connected to the end of the cladding feeding tube, a moving end of the cladding feeding electric telescopic tube extends to the upper end wall of the repair groove, and the cladding feeding electric telescopic tube is inserted into the injection channel.

[0012] Furthermore, the detection mechanism includes a detection groove provided on the inner surface of the semi-wrapped part at the lower side of the repair groove, a detection gear cavity provided on the end wall of the detection groove, a detection gear shaft rotatably connected between the end walls of the detection gear cavity, the detection gear shaft is dynamically connected to the detection motor fixedly installed in the robot body, the outer surface of the detection gear shaft is fixedly connected to the detection gear, the detection gear is meshed with the detection semi-annular rack, the end of the detection semi-annular rack on one side is fixedly connected to a detection plug-in block, the detection plug-in block is inserted into the detection slot, and the detection slot is provided at the end of the detection semi-annular rack on the other side, two card slots are symmetrically provided on the end wall of the detection slot, and the two card slots extend to the detection plug-in block, two spring rods are fixedly connected to the two end walls of the card slot, two ends of the spring rods are fixedly connected to a spherical card block, the spherical card block two is inserted into the two card slots on the detection plug-in block, and the inner surface of the detection semi-annular rack is fixedly connected.

[0013] Furthermore, the inner surface of the semi-wrapped part of the cleaning mechanism is provided with a crawling cavity, and a crawling shaft is rotatably connected between the end walls of the crawling cavity, and the crawling shaft is connected to the crawling motor fixedly installed in the semi-wrapped part. The outer surface of the crawling shaft is fixedly connected with a crawling wheel, and the crawling wheel contacts the outer surface of the supporting pipe pile. The outer surface of the crawling wheel is provided with anti-slip material, and the end of the crawling shaft on one side extends into the bevel gear cavity provided in the semi-wrapped part, and the end of the crawling shaft is fixedly connected with bevel gear 1, and the bevel gear 1 is meshed with bevel gear 2, and the bevel gear 2 is fixedly installed on the outer surface of the transmission shaft. The surface of the transmission shaft is rotatably installed between the end walls of the bevel gear cavity, the outer surface of the transmission shaft is fixedly connected with bevel gear three, the bevel gear three is meshed with bevel gear four, the bevel gear four is fixedly installed at the end of the rotating shaft, the rotating shaft is rotatably installed on the end wall of the bevel gear cavity, the outer surface of the rotating shaft is fixedly connected with bevel gear five, the bevel gear five is meshed with bevel gear six, the bevel gear six is ​​fixedly installed on the upper end of the bevel gear shaft, the bevel gear shaft passes through and is rotatably installed on the bottom wall of the bevel gear cavity, and the bevel gear shaft extends to the transmission cavity provided in the semi-wrapped part, and the lower end of the bevel gear shaft is fixedly connected with a bevel gear. Gear seven, the bevel gear seven is meshed with bevel gear eight, the bevel gear eight is fixedly mounted on the outer surface of the cleaning gear shaft, the cleaning gear shaft is rotatably mounted on the end wall of the transmission cavity, and the transmission cavity extends into the cleaning gear cavity provided in the semi-wrapped part, the outer surface of the transmission cavity in the cleaning gear cavity is fixedly connected with a cleaning gear, the cleaning gear is meshed with a cleaning annular rack, the cleaning annular rack is rotatably mounted on the bottom wall of the semi-wrapped part, the end of the cleaning annular rack on one side is fixedly connected with a cleaning plug, the cleaning plug is inserted into the cleaning slot, and the cleaning slot is provided on the cleaning ring on the other side. The cleaning ring rack has an end, and a card slot three is symmetrically provided on the end wall of the cleaning slot, and the rear card slot three extends to the cleaning plug block, and a spring rod three is fixedly connected to the end wall of the card slot, and the lower end of the spring rod three is fixedly connected to a spherical card block three, and the spherical card block three is inserted into the card slot three on the cleaning plug block, and a cleaning brush is fixedly connected to the inner surface of the cleaning ring rack, and a cleaning groove is provided on the lower surface of the semi-wrapped part, and a cleaning electric rotating shaft is rotatably connected between the end walls of the cleaning groove, and a cleaning rotating block is fixedly connected to the outer surface of the cleaning electric rotating shaft, and a cleaning knife is fixedly connected to the end of the cleaning rotating block.

[0014] Furthermore, the multi-directional inspection mechanism includes an inspection gear cavity provided in the robot body, an inspection gear shaft is rotatably connected between the end walls of the inspection gear cavity, the inspection gear shaft is power-connected to the inspection motor fixedly installed in the robot body, an inspection gear is fixedly connected to the outer surface of the inspection gear shaft, the inspection gear is meshed with the inspection annular rack, the inspection annular rack is rotatably installed on the robot body, a number of inspection sensors are fixedly connected to the outer surface of the inspection annular rack, and an observation camera is fixedly connected to the lower part of the robot body.

[0015] Furthermore, the motion mechanism includes several motion gear cavities provided in the robot body, a motion main gear shaft is rotatably connected between the end walls of the motion gear cavity, the motion main gear shaft is dynamically connected to the motion motor fixedly installed in the robot body, a motion main gear is fixedly connected to the outer surface of the motion main gear shaft, the motion main gear is meshed with the motion sub-gear, the motion sub-gear is fixedly installed on the outer surface of the adjusting electric telescopic shaft, the adjusting electric telescopic shaft is rotatably installed on the bottom wall of the motion gear cavity, the lower end of the adjusting electric telescopic shaft is fixedly connected to a mounting block, and a propeller is fixedly connected to the mounting block.

[0016] Furthermore, the lifting mechanism includes a water tank symmetrically fixedly connected to the lower part of the robot body, the inlet end of the water tank is fixedly connected to a water pump, and the drainage end of the water tank is fixedly connected to a drainage pump.

[0017] 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 method comprises the following steps:

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

[0019] Step 2: The lifting mechanism moves, driving the robot body (1) and the inspection device to descend in the water;

[0020] Step 2: The motion mechanism moves, driving the robot body (1) and the inspection device to move between a plurality of support pipe piles;

[0021] Step 3: When the robot body moves, the multi-directional inspection mechanism moves, thereby realizing inspection of the support pipe piles and inspection and observation of the water body around the support pipe piles;

[0022] 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;

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

[0024] Step 6: After the cleaning is completed, the detection mechanism works to detect the surface of the support pipe pile to detect which positions need to be repaired;

[0025] Step 7: The repair mechanism works to repair the position of the support pipe pile that needs to be repaired;

[0026] 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.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention provides an underwater inspection robot for offshore wind farms, which can protect the surface of underwater pipe piles in wind farms and clean the surface of pipe piles with high cleaning efficiency. The robot can crawl along the surface of pipe piles and repair the surface of pipe piles, repairing damaged locations and extending the service life of pipe piles. The robot does not require manual inspection and can conduct underwater inspections autonomously, thereby improving inspection efficiency and reducing operation and maintenance costs.

[0029] 2. The present invention provides an underwater inspection robot for offshore wind farms, which can realize underwater inspections and can realize inspections in multiple directions. The inspection efficiency is high and it can realize monitoring of the water body around the wind farm.

[0030] 3. The present invention provides an underwater inspection robot for offshore wind farms, which can realize direction and angle adjustment, so as to adapt to the position of pipe piles and improve the efficiency of inspection and repair. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0032] In the attached figure:

[0033] Figure 1 This is a schematic diagram of the structure of the offshore wind farm underwater inspection robot of the present invention in a first direction when in use;

[0034] Figure 2 This is a schematic diagram of the second direction structure of the offshore wind farm underwater inspection robot of the present invention in use;

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

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

[0037] Figure 5 This is a schematic diagram of the second split structure of the offshore wind farm underwater inspection robot of the present invention (in Figure 4 The robot body is hidden on the basis of

[0038] Figure 6 This is a schematic diagram of the third split structure of the offshore wind farm underwater inspection robot of the present invention (in Figure 5 An angle adjustment bracket is hidden on the base);

[0039] Figure 7 This is a schematic diagram of the fourth split structure of the offshore wind farm underwater inspection robot of the present invention (in Figure 6 On the basis of the half package is hidden);

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

[0041] Figure 9 This is a schematic diagram of the internal installation structure of the grinding groove frame of the present invention;

[0042] Figure 10 This is a schematic diagram of the internal installation structure of the cladding groove frame of the present invention;

[0043] Figure 11 This is a schematic diagram of a second split structure of the offshore wind farm underwater inspection robot from another perspective of the present invention;

[0044] Figure 12 This is a schematic structural diagram of the connection of the repaired semi-annular racks of the present invention;

[0045] Figure 13 This is a schematic structural diagram of the detection semi-annular racks connected to each other according to the present invention;

[0046] Figure 14 This is a schematic structural diagram of the cleaning annular racks connected to each other according to the present invention;

[0047] Figure 15 This is a schematic structural diagram of the protective semi-annular rack frame connected to the present invention;

[0048] Figure 16 This is a schematic diagram of the partial structure of the protective semi-annular rack frame of the present invention;

[0049] Figure 17 It is a schematic cross-sectional view of the structure of the protective semi-annular rack frame connected to the present invention;

[0050] Figure 18This is a schematic diagram of the exploded structure of the protective semi-annular rack frame connected to the present invention;

[0051] Figure 19 This is a schematic diagram of the structure of the offshore wind farm underwater inspection robot of the present invention in the third direction when in use;

[0052] Figure 20 for Figure 19 Schematic diagram of the cross-sectional structure at AA in the middle;

[0053] Figure 21 for Figure 20 Schematic diagram of the cross-sectional structure at DD in the middle;

[0054] Figure 22 for Figure 20 Schematic diagram of the cross-sectional structure at the middle BB;

[0055] Figure 23 for Figure 21 Schematic diagram of the cross-sectional structure at EE in the middle;

[0056] Figure 24 for Figure 21 Schematic diagram of the enlarged structure at F in the middle;

[0057] Figure 25 for Figure 21 Schematic diagram of the enlarged structure at G in the middle;

[0058] Figure 26 for Figure 8 Schematic diagram of the enlarged structure at H in the middle. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0060] like Figures 1 to 26As shown, the present invention provides an underwater inspection robot for an offshore wind farm, comprising a robot body 1 and an inspection device connected to the robot body 1. The robot body 1 is provided with a motion mechanism, which is used to drive the robot body 1 to move for easy inspection. The robot body 1 is provided with a lifting mechanism, which is used to drive the robot body 1 to descend in the water. The robot body 1 is provided with a multi-directional inspection mechanism, which is used to perform multi-directional inspections. A direction adjustment mechanism is provided between the robot body 1 and the inspection device, which is used to adjust the direction so that the inspection device can adapt to the position of the support pipe piles 2 of the offshore wind turbine. The offshore wind turbine also includes a platform 3, and the support pipe piles 2 are fixedly mounted on the lower part of the platform 3 in a circular array. In this embodiment, the number of supporting pipe piles 2 is selected as 4 as an example for illustration. The inspection device includes an inspection device body formed by splicing two symmetrical semi-wrapped parts 202. The inspection device body is wrapped around the outside of the supporting pipe pile 2. A protective liquid spraying mechanism is provided 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. A repair mechanism is also provided in the inspection device body. The repair mechanism is used to repair the surface of the supporting pipe pile 2. A detection mechanism is also provided in the inspection device body. The detection mechanism is used to detect the surface of the supporting pipe pile 2 to facilitate repair and spraying of protective liquid. A cleaning mechanism is also provided in the inspection device body. The cleaning mechanism is used to remove attachments such as shells adhered to the surface of the supporting pipe 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 body 1 and the inspection device to adjust the direction of the inspection device body so that the inspection device body can be wrapped around the surface of the support pipe pile 2. Figures 2 to 7 , 20, 22, and 23, the direction adjustment mechanism includes a direction adjustment gear chamber 224 provided in the robot body 1, a direction adjustment gear shaft 221 is rotatably connected between the end walls of the direction adjustment gear chamber 224, the direction adjustment gear shaft 221 is connected to the power of the direction adjustment motor fixedly installed in the robot body 1, the outer surface of the direction adjustment gear shaft 221 is fixedly connected to the direction adjustment gear 220, the direction adjustment gear 220 is engaged with the direction adjustment annular rack 219, the direction adjustment annular rack 219 is rotatably installed on the end wall of the robot body 1, the outer surface of the direction adjustment annular rack 219 is fixedly connected to the annular frame 203, the annular frame 203 is rotatably connected to the robot body 1, and an angle adjustment chamber 225 is provided in the annular frame 203 (see Figure 20), the angle adjustment cavity 225 bottom wall is rotatably connected to an angle adjustment driving gear shaft 227, the angle adjustment driving gear shaft 227 is connected to the angle adjustment motor fixedly installed in the annular frame 203, and the upper end of the angle adjustment driving gear shaft 227 is fixedly connected to the angle adjustment driving gear 218 (see Figure 4 、 20 ), the angle adjustment driving gear 218 is meshed with the angle adjustment annular rack 214, the angle adjustment annular rack 214 is rotatably mounted on the bottom wall of the angle adjustment chamber 225, the angle adjustment annular rack 214 is meshed with a plurality of angle adjustment driven gears 217, the angle adjustment driven gear 217 is fixedly mounted on the outer surface of the worm shaft 215, the worm shaft 215 is rotatably mounted between the end walls of the angle adjustment chamber 225, the outer surface of the worm shaft 215 on the upper part of the angle adjustment driven gear 217 is fixedly connected to the worm 213, the worm 213 is meshed with the worm wheel 211, the worm wheel 211 The worm gear shaft 212 is fixedly mounted on one end of the worm gear shaft 212, which is rotatably mounted on the end wall of the angle adjustment cavity 225, and the worm gear shaft 212 extends into the angle adjustment bevel gear cavity 226 provided in the annular frame 203. The other end of the worm gear shaft 212 is fixedly connected to the direction adjustment bevel gear 1 210, which is engaged with the direction adjustment bevel gear 2 209. The direction adjustment bevel gear 209 is fixedly mounted on the outer surface of the direction adjustment shaft 208, and the direction adjustment shaft 208 is rotatably mounted between the end walls of the angle adjustment bevel gear cavity 226 (see Figure 22 ) and extends to the end wall of the groove 207 provided on the annular frame 203 (see Figure 3 ), the outer surface of the direction adjustment shaft 208 in the groove 207 is fixedly connected to the angle adjustment frame 204, and the angle adjustment frame 204 is rotatably connected to the push screw 222 (see Figure 6 、 7 ), the outer surface of the pushing screw 222 is threadedly connected with a nut plate 205, and the nut plate 205 is slidably connected in the angle adjustment frame 204, and the end of the nut plate 205 is fixedly connected to the groove frame 201, and the groove frame 201 is rotatably connected with a clamping electric screw 206, and the outer surface of the clamping electric screw 206 is symmetrically threaded with a clamping nut block 223, and the two clamping nut blocks 223 are slidably connected to the groove frame 201, and the outer surface of the clamping nut block 223 is fixedly connected with a semi-wrapped part 202, and the semi-wrapped part 202 is wrapped around the outer surface of the supporting pipe pile 2.

[0064] In this embodiment, the semi-wrapping members 202 are arc-shaped plates. During inspection, the two semi-wrapping members 202 are joined together to form a single unit, wrapping the support pile 2. When not in inspection mode or after inspection, i.e., when the semi-wrapping members 202 no longer need to wrap the support pile 2, the two semi-wrapping members 202 move in opposite directions, while the nut plate 205 retracts toward the angle adjustment bracket 204, and the semi-wrapping members 202 detach from the support pile 2.

[0065] During operation, the direction adjustment motor is started, thereby driving the direction adjustment gear shaft 221 to rotate, thereby driving the direction adjustment gear 220 to rotate, the direction adjustment gear 220 is engaged with the direction adjustment annular rack 219, thereby driving the direction adjustment annular rack 219 to rotate, thereby driving the annular frame 203 to rotate, and after rotating to the corresponding direction, the angle adjustment motor is started, thereby driving the angle adjustment driving gear shaft 227 to rotate, thereby driving the angle adjustment driving gear 218 to rotate, the angle adjustment driving gear 218 is engaged with the angle adjustment annular rack 214, thereby driving the angle adjustment annular rack 214 to rotate, the angle adjustment annular rack 214 is engaged with the angle adjustment driven gear 217, thereby driving the worm shaft 215 to rotate, thereby driving the worm 213 to rotate, the worm 213 and the worm gear 211 is engaged, thereby driving the worm shaft 212 to rotate, thereby driving the direction adjustment bevel gear 1 210 to rotate, and the direction adjustment bevel gear 1 210 is engaged with the direction adjustment bevel gear 2 209, thereby driving the direction adjustment shaft 208 to rotate, thereby driving the angle adjustment frame 204 to rotate, and rotate to the horizontal direction, so that the pushing screw 222 rotates, thereby pushing the nut plate 205 to move, thereby driving the groove frame 201 to move, thereby driving the arc plate 202 to move, so that the support pipe pile 2 is located between the arc plates 202, so that the clamping electric screw 206 rotates, thereby driving the clamping nut block 223 to move closer to each other, thereby driving the arc plates 202 to move closer to each other, so that the arc plate 202 is wrapped around the outside of the support pipe pile 2 and slides against the support pipe pile 2.

[0066] 2. Protective liquid spraying mechanism

[0067] Reference 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, and a protective gear cavity 315 is processed 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 fixedly installed in the arc plate 202. The outer surface of the protective gear shaft 303 is fixedly connected to the protective gear 302 (see Figure 7 ), the protective gear 302 is engaged with the protective semi-annular rack 301, the protective semi-annular rack 301 is rotatably mounted on the end wall of the protective groove 317, and the inner surface of the protective semi-annular rack 301 is fixedly connected with a protective nozzle 304 (see Figure 8 ), a stepped through hole 313 is provided at the end of the protective semi-annular rack 301 on one side (see Figure 17 、 18), the stepped through hole 313 is a stepped passage, and the stepped through hole 313 is connected to the protective semi-annular rack frame 301. A spring groove 312 is symmetrically provided in the protective semi-annular rack frame 301 on one side, and the end wall of the spring groove 312 is fixedly connected to one end of a tensioning spring 310, and the other end of the tensioning spring 310 is fixedly connected to a closing plate 306. When the tensioning spring 310 contracts, the closing plate 306 is tightened and pressed against the inner end wall of the protective semi-annular rack frame 301, closing the stepped through hole 313. A top pipe 307 is inserted into the stepped through hole 313, and the top pipe 307 is fixedly mounted on the protective semi-annular rack frame 301 on the other side and is connected to the protective semi-annular rack frame 301. A number of connecting holes 311 are evenly provided at the end of the top pipe 307 (see Figure 16 ), and the communicating hole 311 is communicated with the inside of the top pipe 307, the outer surface of the top pipe 307 is slidably connected with a sealing ring sleeve 308, and a sealing spring 309 is clamped between the sealing ring 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 communicating hole 311. A communicating groove 305 is provided on the outer wall of the protective semi-annular rack frame 301 (see Figure 15 ), and is connected to the protective semi-annular rack frame 301, a protective material storage chamber 314 is provided in the arc plate 202, and the protective material storage chamber 314 is connected to the connecting groove 305 through the input groove 316.

[0068] When working, the arc 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 interior of the protective semi-annular rack frame 301, pushing the closing plate 306 to move, the tensioning spring 310 is stretched, and the closing plate 306 is pushed open, so that the two protective semi-annular rack frames 301 are connected. The protective liquid in the protective semi-annular rack frame 301 on one side passes through the connecting hole 311 and the top pipe 307 into the protective semi-annular rack frame 301 on the other side, so that the two protective semi-annular rack frames 301 are connected. When the top pipe 307 is inserted into the stepped through hole 313, it pushes the sealing ring sleeve 308 to move, so that the connecting hole 311 is opened. When it is not inserted, the sealing ring sleeve 308 is sleeved on When inserted into the top pipe 307 outside the connecting hole 311, the sealing ring sleeve 308 is blocked by the stepped through hole 313, and the connecting hole 311 enters the protective semi-annular rack frame 301, so that the sealing spring 309 is compressed, and the protective liquid in the protective material storage chamber 314 flows through the input groove 316 and the connecting groove 305 into the protective semi-annular rack frame 301. The protective semi-annular rack frame 301 and the end wall of the protective groove 317 are sealed, and the protective motor is started, thereby driving the protective gear shaft 303 to rotate, thereby driving the protective gear 302 to rotate, and the protective gear 302 is engaged with the protective semi-annular rack frame 301, thereby driving the protective nozzle 304 to spray the protective liquid, thereby spraying the surface of the repaired support pipe pile 2.

[0069] 3. Repair mechanism

[0070] like Figure 8 、 9 As shown in , 10, 24, and 25, the repair mechanism includes a repair groove 427 provided on the inner surface of the arc-shaped plate 202 at the lower side of the protective groove 317, a repair gear cavity 423 is provided in 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 connected to the power of the repair motor fixedly installed in 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 is meshed with the repair semi-annular rack 401, and the repair semi-annular rack 401 is rotatably arranged Mounted on the end wall of the repair groove 427, the repair semi-annular rack 401 on one side is fixedly connected to the repair plug 414, the repair plug 414 is inserted into the repair slot 413, and the repair slot 413 is located at the end of the repair semi-annular rack 401 on the other side. A card slot 417 is provided on the end wall of the repair slot 413, and the card slot 417 extends to the repair plug 414. A spring rod 416 is fixedly connected to the end wall of the card slot 417, and a spherical card block 415 is fixedly connected to the lower end of the spring rod 416. The spherical card block 415 is snapped into the repair plug In the slot 417 on 414, a grinding groove frame 409 is fixed on the end wall of the repaired semi-annular rack 401 on one side, 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 the grinding motor fixedly installed in the grinding nut block 422. The grinding electric push rod 421 The end is fixedly connected to a grinding disc 410, and the end wall of the repair semi-annular rack 401 on the other side is fixedly connected to a cladding groove frame 408, and a cladding electric screw 411 is rotatably connected to the cladding electric screw 411. The outer surface of the cladding electric screw 411 is threadedly connected to a cladding nut block 412, and the cladding nut block 412 is slidably connected to the cladding groove frame 408. The end wall of the cladding nut block 412 is fixedly connected to a connection box 406, and a cladding head 407 is fixedly connected to the end wall of the connection box 406. A material injection channel 424 is provided through the connection box 406 (see Figure 25 ), and the injection channel 424 is connected to the connection box 406, the injection valve 425 is fixedly connected between the end walls of the injection channel 424, and the extraction pipe 426 is connected to the cladding head 407 (see Figure 25), and the extraction pipe 426 extends into the connecting box 406, and a cladding material storage chamber 418 is symmetrically provided in the arc plate 202, and a feeding pump 402 is fixedly connected to the end wall of the cladding material storage chamber 418, and a feeding pipe 403 is fixedly connected to the feeding pump 402, and the feeding pipe 403 extends to the bottom wall of the cladding material storage chamber 418, and a cladding feeding pipe 419 is fixedly connected to the feeding pump 402, and a cladding feeding electric telescopic pipe 420 is fixedly connected to the end of the cladding feeding pipe 419, and 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.

[0071] During operation, the repair plug 414 is inserted into the repair slot 413, and the spring rod 416 pushes the spherical block 415 to be clamped into the spring rod 416 on the repair plug 414, thereby realizing the connection between the repair semi-annular rack 401, starting the repair motor, thereby driving the repair gear shaft 405 to rotate, thereby driving the repair gear 404 to rotate, and the repair gear 404 is engaged with the repair semi-annular rack 401, thereby driving the repair semi-annular rack 401 to rotate, thereby driving the grinding groove frame 409 to rotate to the position that needs to be repaired, so that the grinding electric screw 428 rotates, thereby driving the grinding nut block 422 to move up and down, and energizing the grinding electric push rod 421, so that the grinding electric push rod 421 extends, thereby driving the grinding disc 410 to move and contact the position that needs to be repaired, and starting the grinding motor, thereby driving the grinding electric push rod 421 to rotate, thereby driving the grinding disc 410 to rotate. The repair position is polished. After polishing, the cladding groove rack 408 moves to the polishing position, causing the cladding electric screw 411 to rotate, thereby driving the cladding nut block 412 to move up and down, thereby driving the connecting box 406 to move up and down, starting the cladding head 407, and extracting the material in the connecting box 406 into the cladding head 407 through the extraction pipe 426. The material is melted and clad at the position to be repaired, thereby realizing the repair. When material needs to be added to the connecting box 406, the connecting 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 material in the cladding material storage chamber 418 enters the cladding feeding pipe 419 through the feeding pipe 403, and enters the connecting box 406 through the cladding feeding electric telescopic pipe 420.

[0072] 4. Testing agency

[0073] The detection mechanism includes a detection groove 506 (see Figure 24 ), a detection gear cavity 505 is provided on the end wall of the detection slot 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 connected to the detection motor power fixedly installed in the robot body 1, the outer surface of the detection gear shaft 502 is fixedly connected to the detection gear 503, the detection gear 503 is engaged with the detection semi-annular rack 501, and the end of the detection semi-annular rack 501 on one side is fixedly connected to the detection plug 511 (see Figure 13 ), the detection plug-in block 511 is inserted into the detection slot 507, the detection slot 507 is located at the end of the detection semi-annular rack 501 on the other side, and the detection slot 507 end wall is symmetrically provided with a second card slot 508, and the second card slot 508 extends to the detection plug-in block 511, and the end wall of the second card slot 508 is fixedly connected to the second spring rod 509, and the end of the second spring rod 509 is fixedly connected to the second spherical card block 510, and 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 to the detection probe 504 (see Figure 8 ).

[0074] During operation, the detection plug 511 is inserted into the detection slot 507, and the spring rod 2 509 pushes the spherical block 2 510 to move and snap into the slot 2 508 on the detection plug 511, thereby realizing the connection between the detection semi-annular rack 501, starting the detection motor, thereby driving the detection gear shaft 502 to rotate, thereby driving the detection gear 503 to rotate, and the detection gear 503 engages with the detection semi-annular rack 501, thereby driving the detection probe 504 to rotate to detect the surface of the supporting pipe pile 2.

[0075] 5. Clearance Agency

[0076] The cleaning mechanism is located at the bottom of the inspection device and is used to clean the attachments on the surface of the support pipe pile 2. Specifically, Figure 7 、 11 , 14, 24, 26, the cleaning mechanism includes a crawling cavity 620 (see Figure 26 ), the crawling cavity 620 end wall is rotatably connected with a crawling shaft 605 (see Figure 26), the crawling shaft 605 is connected to the crawling motor power fixedly installed in the arc plate 202, the outer surface of the crawling shaft 605 is fixedly connected with a crawling wheel 606, the crawling wheel 606 is in rolling contact with the outer surface of the supporting pipe pile 2, and the outer surface of the crawling wheel 606 is provided with an anti-slip material. The end of the crawling shaft 605 on one side extends into the bevel gear cavity 621 provided in the arc plate 202, and the end of the crawling shaft 605 is fixedly connected with a bevel gear 1 607, and the bevel gear 1 607 and the bevel gear Bevel gear 2 608 is meshed with each other, bevel gear 2 608 is fixedly mounted on the outer surface of transmission shaft 609, transmission shaft 609 is rotatably mounted between the end walls of bevel gear cavity 621, bevel gear 3 610 is fixedly connected to the outer surface of transmission shaft 609, bevel gear 3 610 is meshed with bevel gear 4 611, bevel gear 4 611 is fixedly mounted on the end of rotating shaft 612, rotating shaft 612 is rotatably mounted on the end wall of bevel gear cavity 621, bevel gear 5 619 is fixedly connected to the outer surface of rotating shaft 612, bevel gear 5 610 is meshed with bevel gear 4 611, bevel gear 4 611 is fixedly mounted on the end of rotating shaft 612, rotating shaft 612 is rotatably mounted on the end wall of be 19 is engaged with bevel gear six 618, bevel gear six 618 is fixedly mounted on the upper end of bevel gear shaft 617, bevel gear shaft 617 is rotatably mounted on the bottom wall of bevel gear cavity 621, and bevel gear shaft 617 extends to the transmission cavity 622 provided in the arc plate 202, bevel gear shaft 617 is fixedly connected with bevel gear seven 616 on the lower end, bevel gear seven 616 is engaged with bevel gear eight 614, bevel gear eight 614 is fixedly mounted on the outer surface of cleaning gear shaft 615, cleaning gear The gear shaft 615 is rotatably mounted on the end wall of the transmission cavity 622, and the transmission cavity 622 extends into the cleaning gear cavity 623 provided in the arc plate 202. The outer surface of the transmission cavity 622 in the cleaning gear cavity 623 is fixedly connected to the cleaning gear 613. The cleaning gear 613 is engaged with the cleaning annular rack 601. The cleaning annular rack 601 is rotatably mounted on the bottom wall of the arc plate 202. The end of the cleaning annular rack 601 on one side is fixedly connected to the cleaning plug 630 (see Figure 14 ), the cleaning block 630 is inserted into the cleaning slot 626, and the cleaning slot 626 is located 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 block 630, and the end wall of the card slot three 627 is fixedly connected to a spring rod three 628, and the lower end of the spring rod three 628 is fixedly connected to a spherical card block three 629, and the spherical card block three 629 is inserted into the card slot three 627 on the cleaning block 630, and the inner surface of the cleaning annular rack 601 is fixedly connected to a cleaning brush 624, and the lower surface of the arc plate 202 is provided with a cleaning groove 625, and the cleaning electric rotating shaft 602 is rotatably connected between the end walls of the cleaning groove 625, and the outer surface of the cleaning electric rotating shaft 602 is fixedly connected to a cleaning rotating block 603, and the end of the cleaning rotating block 603 is fixedly connected to a cleaning knife 604.

[0077] During operation, the cleaning plug 630 is inserted into the cleaning slot 626, and the spring rod 628 pushes 629 to move and snap into the slot 627 on the cleaning plug 630, thereby achieving the connection between the cleaning ring rack 601, so that the cleaning electric shaft 602 rotates, thereby driving the cleaning rotating block 603 to rotate (see Figure 7 ), thereby driving the cleaning blade 604 to rotate and wrap around the supporting pipe pile 2 (see Figure 11 ), start the crawling motor, thereby driving the crawling shaft 605 to rotate, thereby driving the crawling wheel 606 to roll on the surface of the supporting pipe pile 2, thereby driving the arc plate 202 to move downward, thereby pushing the cleaning knife 604 to move downward, and scraping the shells attached to the surface of the supporting pipe pile 2. The crawling shaft 605 rotates, thereby driving the bevel gear 1 607 to rotate, and the bevel gear 1 607 meshes with the bevel gear 2 608, thereby driving the transmission shaft 609 to rotate, thereby driving the bevel gear 3 610 to rotate, and the bevel gear 3 610 meshes with the bevel gear 4 611, from This drives the rotating shaft 612 to rotate, thereby driving the bevel gear five 619 to rotate, and the bevel gear five 619 engages with the bevel gear six 618, thereby driving the bevel gear shaft 617 to rotate, thereby driving the bevel gear seven 616 to rotate, and the bevel gear seven 616 engages with the bevel gear eight 614, thereby driving the cleaning gear shaft 615 to rotate, thereby driving the cleaning gear 613 to rotate, and the cleaning gear 613 engages with the cleaning annular rack 601, thereby driving the cleaning annular rack 601 to rotate, thereby driving the cleaning brush 624 to rotate to scrub the surface of the supporting pipe pile 2.

[0078] 6. Multi-faceted inspection organization

[0079] The multi-directional inspection mechanism is used to inspect the supporting piles and can also be used to inspect and observe the water bodies around the supporting piles. Figure 6 、 11 As shown in , 20, the multi-directional inspection mechanism includes an inspection gear cavity 704 provided in the robot body 1, an inspection gear shaft 706 is rotatably connected between the end walls of the inspection gear cavity 704, the inspection gear shaft 706 is connected to the power of the 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 the 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.

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

[0081] 7. Movement 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, Figure 1 、 5 As shown in FIG20 , the motion mechanism includes a plurality of motion gear cavities 807 provided in the robot body 1, a motion main gear shaft 805 is rotatably connected between the end walls of the motion gear cavity 807, the motion main gear shaft 805 is connected to the motion motor fixedly installed in the robot body 1, and a motion main gear 806 is fixedly connected to the outer surface of the motion main gear shaft 805, and the motion main gear 806 is meshed with the motion sub-gear 804 (see FIG20 ). Figure 5 ), the motion sub-gear 804 is fixedly mounted on the outer surface of the adjustment electric telescopic shaft 803, the adjustment electric telescopic shaft 803 is rotatably mounted on the bottom wall of the motion gear cavity 807, the lower end of the adjustment electric telescopic shaft 803 is fixedly connected to the mounting block 801, and the mounting block 801 is fixedly connected to the propeller 802 (see Figure 1 ).

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

[0084] 8. Lifting mechanism

[0085] The lifting mechanism drives the robot body 1 and the inspection device to rise and fall in the water. Figure 1 、 2 As shown, the lifting mechanism includes a water tank 901 symmetrically fixedly connected to the lower part of the robot body 1, the inlet end of the water tank 901 is fixedly connected to a water pump, and the drainage end of the water tank 901 is fixedly connected to a drainage pump.

[0086] During operation, during the descent process, the water pump is started to allow water to enter the water tank 901, so that the robot body 1 descends in the water. During the ascent, the drainage pump is started to discharge the water in the water tank 901, so as to achieve floating.

[0087] To sum up, the underwater inspection robot for offshore wind farms of the present invention can protect the surface of the underwater pipe piles in the wind farm, and can clean the surface of the pipe piles with a relatively high cleaning efficiency. It can crawl along the surface of the pipe piles, repair the surface of the pipe piles, and repair the damaged positions, thereby extending the service life of the pipe piles; it can realize underwater inspections, and can realize inspections in multiple directions with a relatively high inspection efficiency, and can realize monitoring of the water bodies around the wind farm; it can realize adjustment of the direction to adapt to the position of the pipe piles 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 method comprises the following steps:

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

[0090] Step 2: The lifting mechanism moves, driving the robot body 1 and the inspection device to descend in the water, so as to facilitate movement between the supporting pipe piles 2;

[0091] Step 2: The motion mechanism moves, thereby driving the robot body 1 and the inspection device to move between the support pipe piles 2;

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

[0093] Step 4: The direction adjustment mechanism moves, thereby adjusting the directions of the two half-wrapped structures 202 of the inspection device body, so that the inspection device body is wrapped around the surface of the supporting pipe pile 2;

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

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

[0096] Step 7: The repair mechanism works to repair the position of the support pipe pile 2 that needs to be repaired;

[0097] 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.

[0098] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0099] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An underwater inspection robot for offshore wind farms, used for inspecting support 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, 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); The inspection device body is configured to be formed by splicing two symmetrical half-wrapped parts (202); The protective liquid spraying mechanism comprises a protective groove (317) provided on the inner side of the semi-wrapped member (202); a protective semi-annular rack frame (301) is rotatably mounted in the protective groove (317); a protective spray head (304) is fixedly connected to the inner surface of the protective semi-annular rack frame (301); two adjacent protective semi-annular rack frames (301) are detachably connected; a connecting groove (305) is provided on the outer side 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); The repair mechanism includes a repair groove (427) arranged on the inner surface of the semi-wrapped part (202) on the lower side of the protective groove (317), and a repair semi-annular rack (401) is rotatably mounted on the end wall of the repair groove (427); two adjacent repair semi-annular racks (401) are detachably connected; a grinding groove frame (409) is fixed on the end wall of the repair semi-annular rack (401) on one side, and a first elevator is arranged in the grinding groove frame (409), and the movable end of the first elevator is connected to a front and rear telescopic machine, and the movable end of the front and rear telescopic machine is connected to a grinding disc (410); a cladding groove frame (408) is fixedly connected to the end wall of the repair semi-annular rack (401) on the other side, and a second elevator is arranged in the cladding groove frame (408), and the movable end of the second elevator is connected to a cladding head (407), and the cladding head (407) is connected to a cladding material storage chamber (418) arranged in the semi-wrapped part (202) through a pipeline; The detection mechanism comprises a detection groove (506) provided on the inner surface of the semi-wrapped member (202), the detection groove (506) being located below the repair groove (427), a detection semi-annular rack (501) being rotatably mounted in the detection groove (506), and a detection probe (504) being fixedly connected to the inner surface of the detection semi-annular rack (501); two adjacent detection semi-annular racks (501) being detachably connected; The cleaning mechanism comprises a crawling cavity (620) arranged on the inner surface of the semi-wrapped member (202), wherein a crawling wheel (606) capable of axial rotation is arranged in the crawling cavity (620), and the crawling wheel (606) contacts the outer surface of the supporting pipe pile (2); the cleaning mechanism also comprises a cleaning annular rack (601) rotatably mounted on the bottom wall of the semi-wrapped member (202), and a cleaning brush (624) is fixedly connected to the inner surface of the cleaning annular rack (601); the cleaning annular rack (601) and the crawling wheel (606) achieve synchronous motion through a fixed-axis gear train; two adjacent cleaning annular racks (601) are detachably connected; the cleaning mechanism also comprises a cleaning knife (604) mounted on the lower surface of the semi-wrapped member (202), and the cleaning knife (604) is capable of rotating around the supporting pipe pile (2).

2. The underwater inspection robot for offshore wind farms according to claim 1, characterized in that: 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 rotatably connected. One end of the nut plate (205) is slidably connected to the angle adjustment frame (204) via a screw nut mechanism so that the nut plate (205) can telescopically move relative to the angle adjustment frame (204) along the length direction. The other end of the nut plate (205) is fixedly connected to the groove frame (201). A double-nut transmission screw mechanism is provided in the groove frame (201). Two nuts of the double-nut transmission screw mechanism are respectively fixedly connected to a half-wrapped piece (202). The movement of the double-nut transmission screw mechanism synchronously drives the two half-wrapped pieces (202) to move relative to or in opposite directions.

3. The underwater inspection robot for offshore wind farms according to claim 1, characterized in that: The protective liquid spraying mechanism further comprises a protective gear cavity (315) 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 fixedly installed in the inspection device body, the outer surface of the protective gear shaft (303) is fixedly connected to the protective gear (302), the protective gear (302) is meshed with the protective semi-annular gear The rack (301) is provided with a stepped through hole (313) at the end of the protective semi-annular rack rack (301) on one side, and the stepped through hole (313) is connected to the protective semi-annular rack rack (301). The protective semi-annular rack rack (301) on one side is symmetrically provided with a spring groove (312). The end wall of the spring groove (312) is fixedly connected to the end of one side of the tension spring (310), and the other end of the tension spring (310) is fixedly connected to the closing plate (306). When the tension spring (310) contracts, the closing plate (306) is tightened to be close to the inner end wall of the protective semi-annular rack frame (301), closing 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 protective semi-annular rack frame (301) on the other side and is connected to the inside of the protective semi-annular rack frame (301). The end of the top pipe (307) is evenly provided with a plurality of A connecting hole (311) is provided, and the connecting hole (311) is connected to the inside of the top tube (307); a sealing ring sleeve (308) is slidably connected to the outer surface of the top tube (307); a sealing spring (309) is clamped between the sealing ring 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).

4. The underwater inspection robot for offshore wind farms according to claim 1, characterized in that: The repair mechanism further comprises 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 the repair semi-annular rack (401); and the repair semi-annular rack (401) on one side is fixed to the outer surface of the repair gear shaft (405). 1) A repair plug (414) is fixedly connected, the repair plug (414) is inserted into the repair slot (413), the repair slot (413) is provided at the end of the repair semi-annular rack (401) on the other side, a clamping slot (417) is provided on the end wall of the repair slot (413), the clamping slot (417) extends to the repair plug (414), a spring rod (416) is fixedly connected to the end wall of the clamping slot (417), and a spherical clamping block (416) is fixedly connected to the lower end of the spring rod (416). (415), the spherical clamping block (415) is clamped into the clamping groove (417) on the repairing plug (414); the first lifting machine includes a grinding electric screw (428) 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), and the grinding nut block (422) is slidably connected to the grinding groove frame (409), and the front and rear telescopic machine includes a grinding electric screw (428) rotatably connected to the end wall of the grinding nut block (422). A push rod (421), the polishing electric push rod (421) is connected to the polishing motor fixedly installed in the polishing nut block (422), and the end of the polishing electric push rod (421) is fixedly connected to the polishing disc (410); the second elevator includes a cladding electric screw rod (411) rotatably connected to the cladding groove frame (408), the outer surface of the cladding electric screw rod (411) is threadedly connected to the cladding nut block (412), and the cladding nut block (412) is slidably connected to the cladding groove frame (408);The end wall of the cladding nut block (412) is fixedly connected to a connection box (406), the end wall of the connection box (406) is fixedly connected to a cladding head (407), 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), an extraction pipe (426) is connected to the cladding head (407), and the extraction pipe (426) extends into the connection box (406), a cladding material storage cavity (418) is symmetrically provided in the semi-wrapped part (202), and the A feed pump (402) is fixedly connected to the end wall of the cladding material storage chamber (418), a feed pipe (403) is fixedly connected to the feed pump (402), and 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 feed electric telescopic pipe (420) is fixedly connected to the end of the cladding feed pipe (419). The moving end of the cladding feed electric telescopic pipe (420) extends to the upper end wall of the repair groove (427), and the cladding feed electric telescopic pipe (420) is inserted into the injection channel (424).

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

6. The underwater inspection robot for offshore wind farms according to claim 1, characterized in that: The fixed axis gear train includes a crawling shaft (605) 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 part (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), and 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 the bevel gear cavity (621) provided in the semi-wrapped part (202). The end of the creeping shaft (605) is fixedly connected with a bevel gear 1 (607), the bevel gear 1 (607) is meshed with a bevel gear 2 (608), the bevel gear 2 (608) is fixedly mounted on the outer surface of a 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 a bevel gear 3 (610), the bevel gear 3 (610) is meshed with a bevel gear 4 (611), the bevel gear 4 (611) is fixedly mounted on the end of a rotating shaft (612), the rotating shaft (612) is rotatably mounted between the end walls of the bevel gear cavity (621), The bevel gear (617) is mounted on the end wall of the bevel gear cavity (621), the outer surface of the rotating shaft (612) is fixedly connected with a bevel gear (619), the bevel gear (619) is meshed with the bevel gear (618), the bevel gear (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-wrapped member (202), the lower end of the bevel gear shaft (617) is fixedly connected with a bevel gear (616) ), the bevel gear seven (616) is meshed with the 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 into the cleaning gear cavity (623) provided in the semi-wrapped member (202), the outer surface of the transmission cavity (622) in the cleaning gear cavity (623) is fixedly connected with a cleaning gear (613), and the cleaning gear (613) is meshed with the cleaning annular rack (601);The end of the cleaning ring rack (601) on one side is fixedly connected with a cleaning plug (630), and the cleaning plug (630) is inserted into the cleaning slot (626). The cleaning slot (626) is provided at the end of the cleaning ring 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 (630). The end wall of the card slot three (627) is fixedly connected with a spring rod three (628). The spring rod three (628) is provided on the end wall of the card slot three (627). 8) The lower end is fixedly connected with a spherical clamping block 3 (629), and the spherical clamping block 3 (629) is clamped into the clamping slot 3 (627) on the cleaning plug (630); the lower surface of the semi-wrapped member (202) is provided with a cleaning groove (625), and the end wall of the cleaning groove (625) is rotatably connected with a cleaning electric rotating shaft (602), and the outer surface of the cleaning electric rotating shaft (602) is fixedly connected with a cleaning rotating block (603), and the end of the cleaning rotating block (603) is fixedly connected to the cleaning knife (604).

7. The underwater inspection robot for offshore wind farms according to claim 1, characterized in that: The robot body (1) further comprises a multi-directional inspection mechanism, wherein the multi-directional inspection mechanism comprises an inspection gear cavity (704) arranged in the robot body (1), an inspection gear shaft (706) is rotatably connected between the end walls of the inspection gear cavity (704), the inspection gear shaft (706) is connected to the inspection motor power 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 the 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 cavities (807) arranged in the robot body (1). A motion main gear shaft (805) is rotatably connected between the end walls of the motion gear cavity (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 cavity (807). The lower end of the adjustable electric telescopic shaft (803) is fixedly connected to a mounting block (801). The mounting block (801) is fixedly connected to a propeller (802).

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), an inlet end of the water storage tank (901) being fixedly connected to a water pump, and a 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 support 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 realizing 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 is completed, the detection mechanism works to detect the surface of the supporting pipe 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 eight: 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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