Underwater pile climbing robot

Abstract

The underwater pile climbing robot comprises a fixing mechanism, a bearing mechanism, an overhauling mechanism and a driving mechanism, and the fixing mechanism is used for being arranged on a pile foundation in a sleeving mode and detachably and fixedly connected with the pile foundation; the bearing mechanism is arranged below the fixing mechanism and used for being arranged on a pile foundation in a sleeving mode. The overhauling mechanism is arranged on the bearing mechanism, can annularly move around the pile foundation and is used for detecting the surface of the pile foundation; the driving mechanism is arranged on the fixing mechanism and connected with the bearing mechanism. The underwater pile-climbing robot has the beneficial effects that the underwater pile-climbing robot does not need to be subjected to underwater navigation and posture changing processes before pile climbing, the problem that unpredictable conditions are likely to occur in the underwater navigation and posture changing processes of the robot due to the complex underwater environment is solved, and the underwater pile-climbing robot is suitable for being popularized and applied. It is guaranteed that the robot can continuously complete pile climbing operation and detect the surface of the pile foundation, and the maintenance efficiency of the underwater pile foundation is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an underwater pile-climbing robot. Background Art

[0002] In the field of ocean engineering, various pile foundation structures are widely used in the construction of offshore oil and gas platforms, cross-sea bridges, port terminals and other facilities. These pile foundations are long-term in a complex marine environment, suffering from seawater corrosion, marine organism attachment, and the impact of waves and ocean currents. Their structural integrity and safety face severe challenges. To ensure the stable operation of ocean engineering facilities, it is necessary to regularly detect, maintain and repair the underwater piles.

[0003] Traditional underwater pile maintenance operations mainly rely on divers to complete, but there are many limitations in divers' underwater operations. For example, the diving depth is limited, the water pressure borne by divers increases sharply, and the operation time is greatly shortened, resulting in low efficiency. To solve this technical problem, underwater robots are used. Underwater robots improve the safety and efficiency of underwater operations to a certain extent. However, for the special operation scenario of underwater pile climbing, when the existing underwater pile-climbing robots (such as an underwater pile-climbing robot with application number 202411038349.4) are used, they first navigate autonomously in the water to the pile foundation to be detected, then flip from a horizontal state to a vertical state, and finally climb up along the pile foundation to the position to be detected or repaired. And the robot can realize the function of obstacle crossing during the process of climbing up along the pile foundation. The robot with the above structure needs to navigate a certain distance underwater and change its posture underwater before climbing the pile. Due to the complex underwater environment, unexpected situations are likely to occur during the process of the robot navigating and changing its posture underwater, resulting in the robot being unable to reach the pile foundation smoothly or unable to complete the posture change smoothly, thus causing the robot to be unable to detect the surface of the pile foundation. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above technical deficiencies, and propose an underwater pile-climbing robot to solve the technical problem that in the prior art, unexpected situations are likely to occur during the process of the robot navigating and changing its posture underwater, resulting in the robot being unable to detect the surface of the pile foundation.

[0005] To achieve the above technical purpose, the technical solution of the present invention provides an underwater pile-climbing robot, including: A fixing mechanism, which is used to be sleeved on the pile foundation and is detachably and fixedly connected to the pile foundation; A bearing mechanism, which is arranged below the fixing mechanism and is used to be sleeved on the pile foundation; An inspection mechanism, which is arranged on the bearing mechanism and can move in a circular motion around the pile foundation, and is used to detect the surface of the pile foundation; A driving mechanism is disposed on the fixing mechanism and connected to the bearing mechanism. It is used to drive the bearing mechanism to move up and down to adjust the water entry depth of the bearing mechanism.

[0006] Furthermore, the fixing mechanism includes a fixing ring body and a plurality of pressing components. The fixing ring body is used to be sleeved on a pile foundation. Each of the pressing components is disposed on the fixing ring body and is used to press or loosen the side wall of the pile foundation. The driving mechanism is disposed on the fixing ring body.

[0007] Furthermore, each pressing component includes a fixing seat, a pressing member, and a telescopic driving member. The fixing seat is disposed on the outer side of the fixing ring body and is detachably and fixedly connected to the fixing ring body. The pressing member is disposed on the inner side of the fixing ring body. The fixed end of the telescopic driving member is detachably and fixedly connected to the fixing seat. The output end of the telescopic driving member slides through the fixing ring body and is fixedly connected to the pressing member. It is used to drive the pressing member to approach or move away from the pile foundation so that the pressing member presses or loosens the side wall of the pile foundation.

[0008] Furthermore, the bearing mechanism includes a bearing ring body and a plurality of traveling components. The bearing ring body is used to be sleeved on a pile foundation. Each of the traveling components is disposed on the bearing ring body and is used to be slidably connected to the side wall of the pile foundation. The maintenance mechanism is disposed on the bearing ring body. The driving mechanism is connected to the bearing ring body.

[0009] Furthermore, each traveling component includes a mounting seat, a sliding rod, a traveling roller, and an elastic member. The mounting seat is disposed on the bearing ring body and is detachably and fixedly connected to the bearing ring body. The sliding rod is horizontally disposed and extends along the radial direction of the bearing ring body. The sliding rod slidably penetrates through the mounting seat. The traveling roller is disposed on the inner side of the bearing ring body. The wheel frame of the traveling roller is fixedly connected to the end of the sliding rod close to the pile foundation. The elastic member is sleeved on the sliding rod. The two ends of the elastic member are respectively connected to the mounting seat and the wheel frame of the traveling roller so that the traveling roller abuts against the side wall of the pile foundation.

[0010] Furthermore, the maintenance mechanism includes a motion component and a detection component. The motion component is connected to the bearing ring body and can perform circular motion along the bearing ring body. The detection component is disposed on the motion component and is used to detect the surface of the pile foundation.

[0011] Further, the moving component includes a guide rail ring body, a toothed ring, a moving seat, a plurality of guide rollers, a gear and a first rotation driving member. The guide rail ring body is fixedly connected to the bearing ring body, and the toothed ring is fixedly connected to the bearing ring body. Each of the guide rollers is arranged on both sides of the guide rail ring body. Each of the guide rollers is rotatably connected to the moving seat via a rotating shaft, and each of the guide rollers is also in rolling connection with the guide rail ring body. The gear is rotatably connected to the moving seat via a rotating shaft, and the gear is also meshed with the toothed ring. The first rotation driving member is arranged on the moving seat, and the output end of the first rotation driving member is fixedly connected to the rotating shaft of the gear for driving the gear to rotate.

[0012] Further, the detection component includes a camera and a nozzle. The camera is arranged on the moving seat and faces the pile foundation for photographing the surface of the pile foundation. The nozzle is arranged on the moving seat and faces the pile foundation for spraying a medium onto the surface of the pile foundation.

[0013] Further, the driving mechanism includes a plurality of driving components and a monitoring component. Each of the driving components is arranged circumferentially on the side of the fixed ring body and is connected to the bearing ring body for driving the bearing ring body to move up and down to adjust the water entry depth of the bearing mechanism. The monitoring component is arranged on the bearing ring body for monitoring the current inclination angle and the current water entry depth of the bearing ring body.

[0014] Further, each of the driving components includes a winding roller, a lifting ring, a lifting rope, a hook and a second rotation driving member. The winding roller is horizontally arranged, and both ends of the winding roller are rotatably connected to the fixed ring body. The lifting ring is fixedly connected to the bearing ring body. The upper end of the lifting rope is fixedly connected to the winding roller. The hook is fixedly connected to the lower end of the lifting rope, and the hook is also connected to the lifting ring. The second rotation driving member is arranged on the fixed ring body, and the output end of the second rotation driving member is connected to one end of the winding roller for driving the winding roller to rotate forward or backward to wind or unwind the lifting rope.

[0015] Compared with the prior art, the beneficial effects of the present invention include: when in use, the fixing mechanism is sleeved on the pile foundation to be repaired, the bearing mechanism is sleeved on the pile foundation to be repaired, and the fixing mechanism is detachably and fixedly connected to the pile foundation. By controlling the driving mechanism, the driving mechanism can drive the bearing mechanism to move downward, so that the bearing mechanism can enter the water and reach the preset water entry depth. Then, by controlling the inspection mechanism, the inspection mechanism can move in a circular motion around the pile foundation, and the inspection mechanism can detect the surface of the pile foundation. By controlling the driving mechanism, the driving mechanism can drive the bearing mechanism to move upward to realize climbing the pile, which is convenient for repairing other heights of the pile foundation. This underwater pile-climbing robot does not need to go through the process of underwater navigation and attitude change before climbing the pile, avoiding the problem that due to the complex underwater environment, unexpected situations are likely to occur during the process of the robot's underwater navigation and attitude change, ensuring that the robot can continuously complete the pile-climbing operation and detect the surface of the pile foundation, effectively improving the inspection efficiency of underwater pile foundations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic three-dimensional structure diagram of an underwater pile-climbing robot provided by the present invention; Figure 2 is Figure 1 the schematic three-dimensional structure diagram of the fixing mechanism in Figure 3 is Figure 2 the schematic three-dimensional structure diagram of the fixing mechanism in another perspective in Figure 4 is Figure 2 the schematic three-dimensional structure diagram of the pressing component in Figure 5 is Figure 1 the schematic three-dimensional structure diagram of the connection relationship between the bearing mechanism and the inspection mechanism in Figure 6 is Figure 5 the schematic three-dimensional structure diagram of the inspection mechanism in Figure 7 is Figure 5 the schematic three-dimensional structure diagram of the inspection mechanism in another perspective in Figure 8 is Figure 5 the schematic three-dimensional structure diagram of the walking component in Figure 9 is a schematic three-dimensional structure diagram of a partial structure of the driving component provided by the present invention; In the figure: 1 - Pile foundation, 100 - Fixing mechanism, 110 - Fixing ring body, 120 - Pressing component, 121 - Fixing base, 122 - Pressing piece, 1221 - Iron block, 1222 - Rubber block, 123 - Telescopic driving part, 200 - Carrying mechanism, 210 - Carrying ring body, 220 - Walking component, 221 - Mounting seat, 222 - Sliding rod, 223 - Walking roller, 224 - Elastic part, 300 - Maintenance mechanism, 310 - Moving component, 311 - Guide rail ring body, 312 - Tooth ring, 313 - Moving seat, 314 - Guide roller, 315 - Gear, 316 - First rotation driving part, 320 - Detection component, 321 - Camera, 322 - Nozzle, 400 - Driving mechanism, 410 - Driving component, 411 - Winding roller, 412 - Suspension ring, 413 - Suspension rope, 414 - Hook, 415 - Second rotation driving part, 420 - Monitoring component, 421 - Inclination sensor, 422 - Depth sensor. Specific implementation manner

[0017] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0018] The present invention provides an underwater pile-climbing robot, and its structure is as Figure 1 - Figure 6 shown, including a fixing mechanism 100, a carrying mechanism 200, a maintenance mechanism 300 and a driving mechanism 400. The fixing mechanism 100 is used to be sleeved on the pile foundation 1 and is detachably and fixedly connected to the pile foundation 1; the carrying mechanism 200 is arranged below the fixing mechanism 100 and is used to be sleeved on the pile foundation 1; the maintenance mechanism 300 is arranged on the carrying mechanism 200 and can perform circular motion around the pile foundation 1, and is used to detect the surface of the pile foundation 1; the driving mechanism 400 is arranged on the fixing mechanism 100 and is connected to the carrying mechanism 200, and is used to drive the carrying mechanism 200 to move up and down to adjust the water entry depth of the carrying mechanism 200.

[0019] During use, the fixing mechanism 100 is sleeved on the pile foundation 1 to be overhauled, the bearing mechanism 200 is sleeved on the pile foundation 1 to be overhauled, and the fixing mechanism 100 is detachably and fixedly connected to the pile foundation 1. By controlling the driving mechanism 400, the driving mechanism 400 can drive the bearing mechanism 200 to move downward, so that the bearing mechanism 200 can enter the water and reach the preset underwater depth. Then, by controlling the overhaul mechanism 300, the overhaul mechanism 300 can perform a circular motion around the pile foundation 1, and the overhaul mechanism 300 can detect the surface of the pile foundation 1. By controlling the driving mechanism 400, the driving mechanism 400 can drive the bearing mechanism 200 to move upward to achieve pile climbing, which is convenient for overhauling other heights of the pile foundation 1. This underwater pile-climbing robot does not need to experience the process of underwater navigation and attitude change before pile climbing, avoiding the problem that due to the complex underwater environment, unexpected situations are likely to occur during the process of the robot's underwater navigation and attitude change, ensuring that the robot can continuously complete the pile-climbing operation and detect the surface of the pile foundation 1, and effectively improving the overhaul efficiency of the underwater pile foundation 1.

[0020] As a preferred embodiment, please refer to Figure 1 and Figure 2 , the fixing mechanism 100 includes a fixing ring body 110 and a plurality of pressing components 120. The fixing ring body 110 is used to be sleeved on the pile foundation 1. Each of the pressing components 120 is arranged on the fixing ring body 110 and is used to press or loosen the side wall of the pile foundation 1. The driving mechanism 400 is arranged on the fixing ring body 110. When each of the pressing components 120 presses the side wall of the pile foundation 1, the fixing ring body 110 can be fixed to the pile foundation 1. When each of the pressing components 120 loosens the side wall of the pile foundation 1, the fixing ring body 110 can be separated from the pile foundation 1.

[0021] As a preferred embodiment, please refer to Figure 2 and Figure 3 , the fixing ring body 110 includes two fixing semi-ring bodies, and the two fixing semi-ring bodies are detachably and fixedly connected by bolts. The bolts connecting the two fixing semi-ring bodies are disassembled one by one, so that the two fixing semi-ring bodies are separated. Then, the two fixing semi-ring bodies are surrounded by the pile foundation 1, and after the two fixing semi-ring bodies are butted, they are connected by bolts, so that the fixing ring body 110 can be sleeved on the pile foundation 1.

[0022] As a preferred embodiment, please refer to Figure 2 and Figure 3 , each of the pressing components 120 is distributed in a circular array to ensure the stability of the fixing strength between the fixing ring body 110 and the pile foundation 1.

[0023] As a preferred embodiment, please refer toFigure 3 and Figure 4 Each of the pressing assemblies 120 includes a fixed seat 121, a pressing member 122 and a telescopic driving member 123. The fixed seat 121 is arranged on the outer side of the fixed ring body 110 and is detachably and fixedly connected to the fixed ring body 110. The pressing member 122 is arranged on the inner side of the fixed ring body 110. The fixed end of the telescopic driving member 123 is detachably and fixedly connected to the fixed seat 121. The output end of the telescopic driving member 123 slidably passes through the fixed ring body 110 and is fixedly connected to the pressing member 122, and is used to drive the pressing member 122 to approach or move away from the pile foundation 1, so that the pressing member 122 presses or loosens the side wall of the pile foundation 1. By controlling each of the telescopic driving members 123, the output ends of the telescopic driving members 123 can drive the corresponding pressing members 122 to press or loosen the side wall of the pile foundation 1, so that the fixed ring body 110 is fixed to or separated from the pile foundation 1.

[0024] As a preferred embodiment, each of the pressing assemblies 120 further includes a pressure sensor and a displacement sensor. The pressure sensor is connected to the pressing member 122 and is used to monitor the output pressure of the output end of the telescopic driving member 123. The displacement sensor is connected to the pressing member 122 and is used to monitor the output stroke of the output end of the telescopic driving member 123. The pressure sensor and the displacement sensor are electrically connected to an external control unit. The control unit uses a PLC or an embedded controller, receives the feedback signals of the pressure sensor and the displacement sensor, and adjusts the output pressure and output stroke of the output end of the telescopic driving member 123 in real time based on the PID algorithm to adapt to the attachments or deformations on the surface of the pile foundation 1. In addition, the output stroke deviations of the output ends of the telescopic driving members 123 can be calibrated through the displacement sensors, ensuring balanced clamping and synchronous control. When the air pressure of the telescopic driving member 123 is insufficient, an alarm is triggered, and when the telescopic driving member 123 is stuck, reverse ventilation can be used for resetting.

[0025] As a preferred embodiment, the telescopic driving member 123 is a cylinder. An air pressure is provided into the cylinder by an external air pump to drive the pressing member 122 to approach or move away from the pile foundation 1. In this underwater pile-climbing robot, the pressing assembly 120 is pneumatic, having the characteristics of high stability, strong self-adaptability and redundant protection. Through closed-loop control and multi-sensor collaboration, it ensures stable clamping and efficient operation of the underwater pile-climbing robot in a complex surface environment. The air circuit system includes a main air pipe, four branch air pipes, waterproof quick-connect joints and a stainless steel braided sheath. The air pump supplies air to each cylinder through a pneumatic distribution module. One-way valves and pressure relief valves are integrated in the air circuit to prevent water backflow and overpressure damage respectively, as safety protection. As a preferred embodiment, please refer to Figure 4, the pressing member 122 includes an iron block 1221 and a rubber block 1222 which are fixedly connected. The iron block 1221 is fixedly connected to the output end of the telescopic driving member 123. The rubber block 1222 is used to press or loosen the side wall of the pile foundation 1. By using the rubber block 1222 to contact the side wall of the pile foundation 1, the friction generated when contacting the surface of the pile foundation 1 can be increased, the clamping stability can be improved, and the telescopic driving member 123 can drive the pressing member 122 to approach or move away from the pile foundation 1, so that the clamping force can be adjusted in real time to adapt to the surface topography of steel, concrete or composite material pile foundations 1, and overcome the influence of underwater attachments and water flow disturbance on the clamping stability.

[0026] As a preferred embodiment, please refer to Figure 1 and Figure 5 , the bearing mechanism 200 includes a bearing ring body 210 and a plurality of traveling components 220. The bearing ring body 210 is used to be sleeved on the pile foundation 1. Each of the traveling components 220 is arranged on the bearing ring body 210 and is used to be slidably connected to the side wall of the pile foundation 1. The maintenance mechanism 300 is arranged on the bearing ring body 210. The driving mechanism 400 is connected to the bearing ring body 210. When the driving mechanism 400 drives the bearing ring body 210 to move up and down, the bearing ring body 210 can move up and down through the sliding of each of the traveling components 220 along the surface of the pile foundation 1, improving the stability of the up and down movement of the bearing ring body 210.

[0027] As a preferred embodiment, please refer to Figure 5 , the bearing ring body 210 includes two bearing semi - ring bodies, and the two bearing semi - ring bodies are detachably fixedly connected by bolts. The bolts connecting the two bearing semi - ring bodies are disassembled one by one, so that the two bearing semi - ring bodies are separated. Then the two bearing semi - ring bodies are arranged around the pile foundation 1, and after the two bearing semi - ring bodies are butted, they are connected by bolts, so that the bearing ring body 210 can be sleeved on the pile foundation 1.

[0028] As a preferred embodiment, please refer to Figure 5 , each of the traveling components 220 is distributed in a circular array, ensuring the stability of the sliding connection between the bearing semi - ring and the pile foundation 1.

[0029] As a preferred embodiment, please refer to Figure 5 and Figure 8, each of the walking components 220 includes a mounting base 221, a sliding rod 222, a walking roller 223 and an elastic member 224. The mounting base 221 is disposed on the bearing ring body 210 and is detachably and fixedly connected to the bearing ring body 210. The sliding rod 222 is horizontally disposed and extends along the radial direction of the bearing ring body 210. The sliding rod 222 slidably penetrates through the mounting base 221. The walking roller 223 is disposed inside the bearing ring body 210. The wheel frame of the walking roller 223 is fixedly connected to the end of the sliding rod 222 close to the pile foundation 1. The elastic member 224 is sleeved on the sliding rod 222. Two ends of the elastic member 224 are respectively connected to the mounting base 221 and the wheel frame of the walking roller 223, so that the walking roller 223 abuts against the side wall of the pile foundation 1. Since there may be complex conditions such as marine organism attachment and corrosion pits on the surface of the pile foundation 1, the setting of the elastic member 224 enables the walking roller 223 to well adapt to the complex conditions such as marine organism attachment and corrosion pits on the surface of the pile foundation 1, and can continuously complete the pile climbing operation, effectively improving the maintenance effect of the underwater pile foundation 1.

[0030] As a preferred embodiment, please refer to Figure 5 and Figure 6 , the maintenance mechanism 300 includes a motion component 310 and a detection component 320. The motion component 310 is connected to the bearing ring body 210 and can perform circular motion along the bearing ring body 210. The detection component 320 is disposed on the motion component 310 and is used to detect the surface of the pile foundation 1. When the motion component 310 performs circular motion along the bearing ring body 210, it will drive the detection component 320 to perform circular motion along the bearing ring body 210, so that the surface of the pile foundation 1 for one week can be maintained through the maintenance component.

[0031] As a preferred embodiment, please refer to Figure 6 and Figure 7, the motion component 310 includes a guide rail ring body 311, a gear ring 312, a moving seat 313, a plurality of guide rollers 314, a gear 315 and a first rotation driving member 316. The guide rail ring body 311 is fixedly connected to the bearing ring body 210, the gear ring 312 is fixedly connected to the bearing ring body 210, each of the guide rollers 314 is respectively arranged on both sides of the guide rail ring body 311, each of the guide rollers 314 is rotatably connected to the moving seat 313 via a rotating shaft, and each of the guide rollers 314 is also in rolling connection with the guide rail ring body 311. The gear 315 is rotatably connected to the moving seat 313 via a rotating shaft, the gear 315 is also engaged with the gear ring 312, the first rotation driving member 316 is arranged on the moving seat 313, and the output end of the first rotation driving member 316 is fixedly connected to the rotating shaft of the gear 315 for driving the gear 315 to rotate. By controlling the first rotation driving member 316, the first rotation driving member 316 drives the gear 315 to rotate. Since the gear 315 is engaged with the gear ring 312, when the gear 315 rotates, the gear 315 will rotate along the gear ring 312, thereby driving the moving seat 313 to perform a circular motion around the bearing ring body 210. The guide rollers 314 are in rolling connection with the guide rail ring body 311, which can guide the movement of the moving seat 313 and improve the stability of the circular motion of the moving seat 313.

[0032] As a preferred embodiment, please refer to Figure 5 and Figure 6 , the guide rail ring body 311 includes two guide rail half rings, and the two guide rail half rings are fixedly connected to the two bearing half rings in one-to-one correspondence. When the two bearing half rings are butted, the two corresponding guide rail half rings will also be butted.

[0033] As a preferred embodiment, please refer to Figure 5 and Figure 6 , the gear ring 312 includes two half gear rings, and the two half gear rings are fixedly connected to the two bearing half rings in one-to-one correspondence. When the two bearing half rings are butted, the two corresponding half gear rings will also be butted.

[0034] As a preferred embodiment, please refer to Figure 6 and Figure 7, the detection component 320 includes a camera 321 and a nozzle 322. The camera 321 is disposed on the moving seat 313 and faces the pile foundation 1 for photographing the surface of the pile foundation 1. The nozzle 322 is disposed on the moving seat 313 and faces the pile foundation 1 for spraying a medium onto the surface of the pile foundation 1. The surface of the pile foundation 1 can be photographed by the camera 321, and the photographed image is transmitted to an external control unit. After analysis by the external control unit, an instruction can be sent to the nozzle 322, and the nozzle 322 can spray the medium onto the surface of the pile foundation 1, so that the marine organisms attached to the surface of the pile foundation 1 can be blown off, and the maintenance work on the surface of the pile foundation 1 can be completed.

[0035] As a preferred embodiment, please refer to Figure 1 and Figure 5 , the driving mechanism 400 includes a plurality of driving components 410 and a monitoring component 420. Each of the driving components 410 is circumferentially disposed on the side of the fixed ring body 110 and is connected to the bearing ring body 210, and is used to drive the bearing ring body 210 to move up and down to adjust the water entry depth of the bearing mechanism 200. The monitoring component 420 is disposed on the bearing ring body 210 for monitoring the current inclination angle and the current water entry depth of the bearing ring body 210. By controlling each of the driving components 410, each of the driving components 410 can synchronously drive the bearing ring body 210 to move up and down to adjust the water entry depth of the bearing mechanism 200. The current inclination angle and the current water entry depth of the bearing ring body 210 can be monitored in real time through the monitoring component 420, so as to adjust the inclination angle and the water entry depth of the bearing ring body 210 in real time by controlling each of the driving components 410.

[0036] As a preferred embodiment, please refer to Figure 3 and Figure 9, each of the driving components 410 includes a winding roller 411, a lifting ring 412, a lifting rope 413, a hook 414 and a second rotation driving member 415. The winding roller 411 is horizontally arranged, and both ends of the winding roller 411 are rotatably connected to the fixed ring body 110. The lifting ring 412 is fixedly connected to the bearing ring body 210. The upper end of the lifting rope 413 is fixedly connected to the winding roller 411. The hook 414 is fixedly connected to the lower end of the lifting rope 413. The hook 414 is also connected to the lifting ring 412. The second rotation driving member 415 is arranged on the fixed ring body 110. The output end of the second rotation driving member 415 is connected to one end of the winding roller 411 for driving the winding roller 411 to rotate forward or backward to wind or unwind the lifting rope 413. By controlling the second rotation driving member 415, the second rotation driving member 415 drives the winding roller 411 to rotate forward or backward. When the winding roller 411 rotates forward, the winding roller 411 will wind the lifting rope 413, thereby driving the bearing ring body 210 to move upward. When the winding roller 411 rotates backward, the winding roller 411 will unwind the lifting rope 413, thereby driving the bearing ring body 210 to move downward.

[0037] As a preferred embodiment, please refer to Figure 5 , the monitoring component 420 includes an inclination sensor 421 and a depth sensor 422. The inclination sensor 421 is arranged on the bearing ring body 210 for monitoring the current inclination angle of the bearing ring body 210. The depth sensor 422 is arranged on the bearing ring body 210 for monitoring the current water entry depth of the bearing ring body 210. Thus, the current inclination angle of the bearing ring body 210 can be monitored in real time through the inclination sensor 421, and the current water entry depth of the bearing ring body 210 can be monitored in real time through the depth sensor 422, which is convenient for adjusting the inclination angle and water entry depth of the bearing ring body 210 in real time by controlling each driving component 410.

[0038] To better understand the present invention, the working principle of the technical solution of the present invention will be described in detail below in conjunction with Figure 1 - Figure 9 : In use, the bolts connecting the two fixed semi - ring bodies are disassembled one by one, so that the two fixed semi - ring bodies are separated. Then, the two fixed semi - ring bodies are arranged around the pile foundation 1, and after the two fixed semi - ring bodies are butted, they are connected by bolts, so that the fixed ring body 110 can be sleeved on the pile foundation 1. The bolts connecting the two load - bearing semi - ring bodies are disassembled one by one, so that the two load - bearing semi - ring bodies are separated. Then, the two load - bearing semi - ring bodies are arranged around the pile foundation 1, and after the two load - bearing semi - ring bodies are butted, they are connected by bolts, so that the load - bearing ring body 210 can be sleeved on the pile foundation 1. By controlling each telescopic driving member 123, the output end of each telescopic driving member 123 can drive the corresponding pressing member 122 to press against the side wall of the pile foundation 1, so that the fixed ring body 110 is fixed to the pile foundation 1. By controlling the second rotation driving member 415, the second rotation driving member 415 drives the winding roller 411 to rotate in the reverse direction. When the winding roller 411 rotates in the reverse direction, the winding roller 411 will pay out the lifting rope 413, so as to drive the load - bearing ring body 210 to move downward, enabling the load - bearing ring body 210 to enter the water and reach the preset underwater depth. Then, by controlling the first rotation driving member 316, the first rotation driving member 316 drives the gear 315 to rotate. Since the gear 315 meshes with the toothed ring 312, when the gear 315 rotates, the gear 315 will rotate along the toothed ring 312, thereby driving the moving seat 313 to perform a circular motion around the load - bearing ring body 210. When the moving seat 313 performs a circular motion along the load - bearing ring body 210, it will drive the camera 321 and the nozzle 322 to perform a circular motion along the load - bearing ring body 210. The surface of the pile foundation 1 can be photographed by the camera 321, and the photographed image is transmitted to an external control unit. After analysis by the external control unit, an instruction can be sent to the nozzle 322, and the nozzle 322 can spray a medium onto the surface of the pile foundation 1, so as to blow off the marine organisms attached to the surface of the pile foundation 1 and complete the maintenance work on the surface of the pile foundation 1. By controlling the second rotation driving member 415, the second rotation driving member 415 drives the winding roller 411 to rotate in the forward direction. When the winding roller 411 rotates in the forward direction, the winding roller 411 will wind up the lifting rope 413, so as to drive the load - bearing ring body 210 to move upward, realizing pile climbing, which is convenient for maintaining other heights of the pile foundation 1. This underwater pile - climbing robot does not need to experience the processes of underwater navigation and attitude change before pile climbing, avoiding the problem that due to the complex underwater environment, unexpected situations are likely to occur during the processes of underwater navigation and attitude change of the robot, ensuring that the robot can continuously complete the pile - climbing operation and detect the surface of the pile foundation 1, effectively improving the maintenance efficiency of the underwater pile foundation 1.

[0039] An underwater pile - climbing robot provided by the present invention has the following beneficial effects: (1)This underwater pile-climbing robot is fixed to the pile foundation 1 by means of starting and pressing, and has the characteristics of high stability, strong self-adaptability and redundant protection. The robot is not easy to fall off and can continuously complete the pile-climbing operation. (2)Due to the possible complex conditions such as marine organism attachment and corrosion pits on the surface of the pile foundation 1, the elastic member 224 provided in the walking assembly 220 enables the walking roller 223 to well adapt to the possible complex conditions such as marine organism attachment and corrosion pits on the surface of the pile foundation 1, and can stably perform the pile-climbing operation on the vertical pile surface, effectively improving the inspection effect of the underwater pile foundation 1. (3)This underwater pile-climbing robot does not need to experience the process of underwater navigation and attitude change before pile climbing, avoiding the problem that due to the complex underwater environment, unexpected situations are likely to occur during the process of underwater navigation and attitude change of the robot, ensuring that the robot can continuously complete the pile-climbing operation and detect the surface of the pile foundation 1, and effectively improving the inspection efficiency of the underwater pile foundation 1.

[0040] The specific embodiments of the present invention described above do not constitute a limitation to the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An underwater pile-climbing robot, characterized in that, Comprising: A fixing mechanism, which is used to be sleeved on a pile foundation and is detachably and fixedly connected to the pile foundation; A bearing mechanism, which is arranged below the fixing mechanism and is used to be sleeved on the pile foundation; An inspection mechanism, which is arranged on the bearing mechanism and can move in a circular motion around the pile foundation, and is used to detect the surface of the pile foundation; A driving mechanism, which is arranged on the fixing mechanism and is connected to the bearing mechanism, and is used to drive the bearing mechanism to move up and down to adjust the water entry depth of the bearing mechanism.

2. The underwater pile-climbing robot according to claim 1, characterized in that, The fixing mechanism includes a fixing ring body and a plurality of pressing components. The fixing ring body is used to be sleeved on the pile foundation. Each of the pressing components is arranged on the fixing ring body and is used to press or loosen the side wall of the pile foundation. The driving mechanism is arranged on the fixing ring body.

3. The underwater pile-climbing robot according to claim 2, characterized in that, Each pressing component includes a fixing seat, a pressing member and a telescopic driving member. The fixing seat is arranged on the outer side of the fixing ring body and is detachably and fixedly connected to the fixing ring body. The pressing member is arranged on the inner side of the fixing ring body. The fixed end of the telescopic driving member is detachably and fixedly connected to the fixing seat. The output end of the telescopic driving member slides through the fixing ring body and is fixedly connected to the pressing member, and is used to drive the pressing member to approach or move away from the pile foundation so that the pressing member presses or loosens the side wall of the pile foundation.

4. The underwater pile-climbing robot according to claim 2, wherein The bearing mechanism includes a bearing ring body and a plurality of traveling components. The bearing ring body is used to be sleeved on the pile foundation. Each of the traveling components is arranged on the bearing ring body and is used to be slidably connected to the side wall of the pile foundation. The inspection mechanism is arranged on the bearing ring body. The driving mechanism is connected to the bearing ring body.

5. The underwater pile-climbing robot according to claim 4, wherein Each traveling component includes a mounting seat, a sliding rod, a traveling roller and an elastic member. The mounting seat is arranged on the bearing ring body and is detachably and fixedly connected to the bearing ring body. The sliding rod is horizontally arranged and extends along the radial direction of the bearing ring body. The sliding rod slidably penetrates through the mounting seat. The traveling roller is arranged on the inner side of the bearing ring body. The wheel frame of the traveling roller is fixedly connected to the end of the sliding rod close to the pile foundation. The elastic member is sleeved on the sliding rod. The two ends of the elastic member are respectively connected to the mounting seat and the wheel frame of the traveling roller so that the traveling roller abuts against the side wall of the pile foundation.

6. The underwater pile-climbing robot according to claim 4, characterized in that, The inspection mechanism includes a motion component and a detection component. The motion component is connected to the bearing ring body and can move in a circular motion along the bearing ring body. The detection component is arranged on the motion component and is used to detect the surface of the pile foundation.

7. The underwater pile-climbing robot according to claim 6, characterized in that, The moving component includes a guide rail ring body, a toothed ring, a moving seat, a plurality of guide rollers, a gear and a first rotation driving member. The guide rail ring body is fixedly connected to the bearing ring body. The toothed ring is fixedly connected to the bearing ring body. Each of the guide rollers is arranged on both sides of the guide rail ring body. Each of the guide rollers is rotatably connected to the moving seat via a rotating shaft, and each of the guide rollers is also in rolling connection with the guide rail ring body. The gear is rotatably connected to the moving seat via a rotating shaft, and the gear is also meshed with the toothed ring. The first rotation driving member is arranged on the moving seat, and the output end of the first rotation driving member is fixedly connected to the rotating shaft of the gear for driving the gear to rotate.

8. The underwater pile-climbing robot according to claim 7, wherein, The detection component includes a camera and a nozzle. The camera is arranged on the moving seat and faces the pile foundation for photographing the surface of the pile foundation. The nozzle is arranged on the moving seat and faces the pile foundation for spraying a medium onto the surface of the pile foundation.

9. The underwater pile-climbing robot according to claim 4, wherein, The driving mechanism includes a plurality of driving components and a monitoring component. Each of the driving components is arranged circumferentially on the side of the fixed ring body and is connected to the bearing ring body, and is used for driving the bearing ring body to move up and down to adjust the water entry depth of the bearing mechanism. The monitoring component is arranged on the bearing ring body for monitoring the current inclination angle and the current water entry depth of the bearing ring body.

10. The underwater pile-climbing robot according to claim 9, characterized in that, Each of the driving components includes a winding roller, a lifting ring, a lifting rope, a hook and a second rotation driving member. The winding roller is horizontally arranged, and both ends of the winding roller are rotatably connected to the fixed ring body. The lifting ring is fixedly connected to the bearing ring body. The upper end of the lifting rope is fixedly connected to the winding roller. The hook is fixedly connected to the lower end of the lifting rope, and the hook is also connected to the lifting ring. The second rotation driving member is arranged on the fixed ring body, and the output end of the second rotation driving member is connected to one end of the winding roller for driving the winding roller to rotate forward or backward to wind or unwind the lifting rope.

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