Ocean mooring cable and anchor chain flaw detection inspection robot based on ocean temperature difference energy

Abstract

The invention discloses an ocean mooring cable and anchor chain flaw detection inspection robot based on ocean temperature difference energy. The underwater inspection robot comprises an underwater inspection robot platform charging pile and a terminal. The underwater inspection robot is penetrated by the anchor chain and attached to the anchor chain to do reciprocating motion, and the inspection work of the underwater inspection robot is completed through real-time detection of the damage detector; the platform charging pile is installed on the side portion of the platform and makes contact with an anchor point of the anchor chain platform, and when the underwater inspection robot inspects to the sea surface, energy is supplemented through the platform charging pile; the terminal serves as a signal receiving end and is used for receiving and processing information detected by the underwater inspection robot. The ocean temperature difference energy is converted into the motion kinetic energy of the underwater inspection robot, so that the energy consumption in the anchor chain flaw detection process is reduced; meanwhile, through routing inspection of the anchor chain, the fracture risk caused by local damage of the anchor chain can be avoided; in addition, the reciprocating motion of the underwater inspection robot solves the problem of biological attachment corrosion of the ocean anchor chain, and the life cycle of the anchor chain is prolonged.

Description

Technical Field

[0001] The present invention belongs to the field of health detection of marine mooring cables, and relates to an underwater inspection robot for detecting flaws in marine mooring cables and anchor chains based on ocean thermal energy difference. Background Art

[0002] With the rapid development of marine engineering technology, underwater inspection technology has gradually become an indispensable part of marine engineering. Especially in offshore floating platforms and deep-sea oil and gas development, the safety and stability of anchor chains are directly related to the operation safety of the platforms. Anchor chains are an important part of platform fixation. They are in the seawater environment for a long time and are easily affected by factors such as marine organism attachment and corrosion, and may even cause local damage or fracture, seriously affecting the safety of the platforms. Therefore, how to efficiently, real-time, and comprehensively monitor and inspect anchor chains has become one of the key technologies for ensuring the safety of marine platforms.

[0003] At present, the inspection of anchor chains usually relies on manual or traditional underwater robots for regular detection. However, these traditional inspection methods have many deficiencies. For example, manual inspection not only has a large work intensity and a long cycle, but also has certain safety hazards; while underwater robot inspection can improve work efficiency, but its energy supply problem still plagues the development of the technology. Traditional underwater robots usually rely on external batteries or power supplies, but during long-term inspection processes, the battery life is limited, and the need for frequent battery replacement or charging increases the cost and complexity of inspection.

[0004] In addition, traditional inspection technologies generally use direct contact methods for anchor chain detection, and often cannot monitor the full-cycle state of anchor chains in real time. Especially for anchor chains that are in seawater for a long time and are prone to corrosion and biological attachment, traditional flaw detection technologies often have difficulty obtaining timely and comprehensive detection results. Therefore, developing an efficient, energy-saving, and full-cycle real-time flaw detection underwater inspection technology has become a hot direction in current technological development. Summary of the Invention

[0005] In view of the above problems, the object of the present invention is to propose an underwater inspection robot for detecting flaws in marine mooring cables and anchor chains based on ocean thermal energy difference.

[0006] The technical solution of the present invention is as follows: An underwater inspection robot for detecting flaws in marine mooring cables and anchor chains based on ocean thermal energy difference according to the present invention includes a platform, and also includes an underwater inspection robot and a platform charging pile;

[0007] The underwater inspection robot is penetrated by the anchor chain where it is installed and attached to the anchor chain;

[0008] The platform charging pile is fixedly arranged on both sides of the platform and is in contact with the anchor point at the upper end of the anchor chain;

[0009] The lower end of the anchor chain is connected to the seabed on the ocean floor.

[0010] Furthermore, the underwater inspection robot includes a robot body, and gliding wings are symmetrically arranged on both sides of the outer end of the robot body.

[0011] The gliding wing includes an arc-shaped lower wing plate, a wing partition is arranged at the upper end of the arc-shaped lower wing plate, an oil pipe bracket, a high-strength upper wing film are arranged on the wing partition, and the wing partition simultaneously serves as a layout platform for the oil pipe bracket and the high-strength upper wing film.

[0012] Furthermore, a temperature difference energy conversion system is arranged inside the robot body. The temperature difference energy conversion system includes an internal oil bladder, a gas-liquid oil tank and a solid-liquid oil tank which are connected to each other through a plurality of oil pipes.

[0013] The internal oil bladder is used for storing the liquid oil inside the robot body.

[0014] Inert gas is stored in the gas-liquid oil tank away from the pipe orifice section.

[0015] The solid-liquid oil tank is arranged outside the robot body, and a phase change material is stored in the section away from the pipe orifice.

[0016] An electromagnetic three-way valve, a first one-way valve and a second one-way valve are arranged on the oil pipe.

[0017] Furthermore, the temperature difference energy conversion system is communicated with the oil pipe bracket of the gliding wing, and the floating and diving of the underwater inspection robot are realized by controlling the communication of the electromagnetic three-way valve during the reciprocating movement of the underwater inspection robot.

[0018] Furthermore, the specific operation of the reciprocating movement process is as follows:

[0019] Step (1), Sea surface floating state: The oil pipe bracket is filled with liquid oil, the internal oil bladder is not filled with oil, the solid phase change material expands under the action of warm seawater on the sea surface, and the electromagnetic three-way valve is closed.

[0020] Step (2), Starting to dive state: The electromagnetic three-way valve connects the oil pipe bracket and the internal oil bladder. Under the action of atmospheric pressure, the liquid oil enters the internal oil bladder and fills the pipeline. The oil pipe bracket becomes deflated and starts to dive.

[0021] Step (3), Diving to the seabed state: The electromagnetic three-way valve is closed. The solid phase change material shrinks under the action of cold seawater on the seabed. Under the action of atmospheric pressure, the liquid oil in the internal oil bladder enters the solid-liquid oil tank.

[0022] Step (4), Starting to float state: The electromagnetic three-way valve connects the oil pipe bracket and the gas-liquid oil tank. Under the action of atmospheric pressure, the liquid oil fills the oil pipe bracket and starts to float.

[0023] Step (5), Return to the floating state on the sea surface: The electromagnetic three-way valve is closed, the solid phase change material expands under the action of warm seawater on the sea surface, and the liquid oil enters the gas-liquid-oil tank under the action of atmospheric pressure.

[0024] Furthermore, a chain-holding pulley, an ultrasonic flaw detector, a storage battery, a positioning module, a single-chip microcomputer and an information transmission module are respectively installed inside the robot body;

[0025] The chain-holding pulleys are symmetrically installed above and below the anchor chain passing through the underwater inspection robot, and the two pairs are respectively installed at the front and rear ends inside the robot body through bearings;

[0026] The ultrasonic flaw detector is sleeved on the anchor chain and fixedly installed at the middle position of the robot body;

[0027] The storage battery is fixedly installed inside the robot body, near one of the chain-holding pulleys;

[0028] The positioning module, the single-chip microcomputer and the information transmission module are all installed inside the robot body and are interconnected and cooperate with each other.

[0029] Furthermore, a robot wireless charging head is installed inside the robot body, and the robot wireless charging head is installed at the top of the robot body near the platform end.

[0030] Furthermore, the cross-section of the arc-shaped lower wing plate is the same as the shape of an airplane wing.

[0031] Furthermore, it also includes a terminal. The terminal serves as the signal receiving end of the underwater inspection robot and is installed at the upper end of the platform.

[0032] Furthermore, the outer shell of the robot body is in a shuttle shape, including a robot outer shell and a layout platform for various devices in the underwater inspection robot, and is made of high-strength anti-corrosion materials;

[0033] The ultrasonic flaw detector is a cylindrical structure.

[0034] The basic principle of the present invention: 1. The present invention captures the seawater temperature difference through the temperature-sensitive phase change property of the phase change material. By utilizing the pressure generated during the phase change process and cooperating with the control of the electromagnetic three-way valve, the wing is filled and pumped with liquid oil, realizing the conversion of ocean thermal energy into the kinetic energy of the underwater inspection robot; 2. Based on Bernoulli's principle, the present invention designs a deformable gliding wing. The underwater inspection robot generates lift during the ascending process and generates a downward force during the descending process, improving the energy utilization efficiency; 3. The present invention utilizes the ultrasonic flaw detection principle and combines it with the underwater inspection robot to be able to perform full-cycle and low-energy flaw detection of the anchor chain.

[0035] The beneficial effects of the present invention are as follows: 1. By converting ocean thermal energy into the kinetic energy of the underwater inspection robot, the present invention greatly reduces the energy consumption during the inspection of anchor chains and realizes real-time inspection of anchor chains throughout the entire cycle; 2. Through the inspection of anchor chains, the present invention can effectively avoid the risk of fracture caused by local damage to the anchor chains. In addition, the reciprocating movement of the underwater inspection robot solves the problem of biological attachment corrosion of ocean anchor chains and can extend the life cycle of the anchor chains. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0037] Figure 2 is a schematic diagram of the specific structural composition of the underwater inspection robot in the present invention;

[0038] Figure 3 is a working principle diagram of the gliding wing in the present invention;

[0039] Figure 4 is a schematic diagram of the composition of the thermal energy conversion system in the present invention;

[0040] Figure 5 is a working process and principle diagram of the thermal energy conversion system in the present invention;

[0041] Figure 6 is a inspection work flow chart of the underwater inspection robot in the present invention;

[0042] Figure 7 is a charging operation flow chart of the underwater inspection robot in the present invention;

[0043] In the figure: 1 is the underwater inspection robot, 10 is the robot main body, 11 is the gliding wing, 12 is the thermal energy conversion system, 13 is the chain-holding pulley, 14 is the ultrasonic flaw detector, 15 is the robot wireless charging head, 16 is the storage battery, 17 is the positioning module, 18 is the single-chip microcomputer, 19 is the information transmission module;

[0044] 111 is the arc-shaped lower wing plate, 112 is the wing partition board, 113 is the oil pipe bracket, 114 is the high-strength upper wing film;

[0045] 121 is the inner oil bladder, 122 is the gas-liquid oil tank, 123 is the solid-liquid oil tank, 124 is the electromagnetic three-way valve, 125 is the first one-way valve, 126 is the second one-way valve;

[0046] 2 is the platform charging pile;

[0047] 3 is the terminal. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] The following further elaborates on the specific technical solutions of the present invention in combination with specific examples.

[0049] As shown in the figure, an underwater mooring cable and anchor chain inspection robot based on ocean thermal energy difference of the present invention mainly consists of equipment such as an underwater inspection robot 1, a platform charging pile 2, and a terminal 3;

[0050] Among them, the underwater inspection robot 1 is penetrated by the anchor chain, attached to the anchor chain, reciprocates through the anchor chain, and completes the inspection work of the anchor chain by real-time detection with an ultrasonic flaw detector 14;

[0051] The platform charging pile 2 is installed on the side of the platform and contacts the anchor point of the anchor chain platform. When the underwater inspection robot 1 inspects to the sea surface, it can replenish energy through the platform charging pile 2;

[0052] The terminal 3, as the signal receiving end of the underwater inspection robot 1, is installed at the upper end of the platform and is used to receive and process the information detected by the underwater inspection robot 1.

[0053] As Figure 2-3 shown, the underwater inspection robot 1 mainly consists of a robot main body 10, a gliding wing 11, a thermal energy conversion system 12, a chain-holding pulley 13, an ultrasonic flaw detector 14, a robot wireless charging head 15, a storage battery 16, a positioning module 17, a single-chip microcomputer 18, and an information transmission module 19;

[0054] Among them, the robot main body 10 mainly includes a robot shell and a layout platform for various devices of the underwater inspection robot 1, which is made of high-strength anti-corrosion materials, mainly used to protect the internal components of the robot, provide space for the installation of components, and at the same time, the shell of the robot main body 10 is spindle-shaped to ensure a small resistance during the floating and diving processes;

[0055] The gliding wings 11 are symmetrically installed on both sides of the robot main body 10 and are composed of an arc-shaped lower wing plate 111, a wing partition 112, an oil pipe support 113, and a high-strength upper wing film 114. Among them, the cross-section of the arc-shaped lower wing plate 111 is the same as the shape of the wing. A wing partition 112 is installed at the upper end of the arc-shaped lower wing plate 111. The wing partition 112 also serves as a layout platform for the oil pipe support 113 and the high-strength upper wing film 114. When the oil pipe support 113 is filled with oil, it will support the high-strength upper wing film 114 to bulge, so that the bulging degree of the high-strength upper wing film 114 is greater than that of the arc-shaped lower wing plate 111, and the gliding wings 11 generate lift during the fluid movement process;

[0056] When the oil pipe support 113 is not filled with oil, the bulging degree of the high-strength upper wing film 114 is less than that of the arc-shaped lower wing plate 111, and a downward force is generated during the fluid movement of the gliding wing 11. At the same time, the design of the gliding wing 11 needs to ensure that when the oil pipe support 113 is filled with oil and supports the high-strength upper wing film 114 to bulge, the mass of the water displaced by the underwater inspection robot 1 is greater than the underwater inspection robot 1 itself, generating an upward buoyancy force;

[0057] When the oil pipe support 113 is not filled with oil, the mass of the water displaced by the underwater inspection robot 1 is less than the underwater inspection robot 1 itself, generating a downward potential force. Here, the shape of the gliding wing 11 changes to cooperate with the upward and downward potential forces to improve the energy utilization efficiency during the inspection process;

[0058] The thermoelectric energy conversion system 12 is used to collect the temperature difference energy of seawater during the inspection process and convert the energy into the kinetic energy of the liquid oil circulation to ensure the reciprocating process of the underwater inspection robot 1 for floating and diving;

[0059] The chain-holding pulleys 13 are symmetrically arranged up and down on the underwater inspection robot 1 and penetrate the upper and lower sides of the anchor chain. Two pairs of chain-holding pulleys 13 are respectively arranged at the front and rear ends inside the robot main body 10 and are arranged inside the robot main body 10 through bearings. They can hold the anchor chain and rotate, enabling the underwater inspection robot 1 to always stably hold the chain for floating and diving movements. At the same time, they can play a certain role in cleaning the anchor chain to prevent corrosion caused by marine organisms attaching to the anchor chain;

[0060] The ultrasonic damage detector 14 has a cylindrical structure. It is sleeved on the anchor chain and fixedly arranged in the middle of the robot main body 10 to detect the damage condition of the anchor chain in real time during the reciprocating movement of the underwater inspection robot 1 along the anchor chain;

[0061] The robot wireless charging head 15 is installed at the top of the robot main body 10 near the platform end. When the underwater inspection robot 1 patrols to the sea surface, it can dock with the platform charging pile 2 to replenish energy;

[0062] The storage battery 16 is fixedly installed inside the underwater inspection robot 1, used to store electrical energy, and used for the energy supply of the damage detection, signal processing and transmission of the underwater inspection robot 1, as well as other electrical components;

[0063] The positioning module 17, the single-chip microcomputer 18, and the information transmission module 19 are installed inside the robot main body 10 and are interconnected and coordinated. When the ultrasonic damage detector 14 detects damage to the anchor chain, it transmits the damage location information to the terminal 3 for the next maintenance work.

[0064] As Figure 4As shown, the thermoelectric energy conversion system 12 mainly consists of an inner oil bladder 121, a gas-liquid oil tank 122, a solid-liquid oil tank 123, an electromagnetic three-way valve 124, a first check valve 125, a second check valve 126, and several connected oil pipes.

[0065] Among them, the inner oil bladder 121 is used to store the liquid oil inside the robot body 10.

[0066] The gas-liquid oil tank 122 stores some inert gas at the section away from the pipe orifice, providing air pressure for the liquid oil circulation of the thermoelectric energy conversion system 12.

[0067] The solid-liquid oil tank 123 is installed on the outside of the robot body 10. It is fully in contact with seawater and stores phase change materials at the section away from the pipe orifice. It solidifies and shrinks at low temperatures and liquefies and expands at high temperatures to capture thermoelectric energy during the reciprocating motion of the underwater inspection robot 1.

[0068] As Figure 5 shown, the thermoelectric energy conversion system 12 is connected to the oil pipe framework 113 of the gliding wing 11. By controlling the connection of the electromagnetic three-way valve 124 during the reciprocating motion of the underwater inspection robot 1, the underwater inspection robot 1 can float and dive.

[0069] The stages and steps during its reciprocating motion include:

[0070] 1. Sea surface floating state: The oil pipe support 113 is filled with liquid oil, the inner oil bladder 121 is not filled with oil, the solid phase change material expands under the action of warm seawater on the sea surface, and the electromagnetic three-way valve 124 is closed.

[0071] 2. Starting to dive state: The electromagnetic three-way valve 124 connects the oil pipe support 113 and the inner oil bladder 121. Under the action of atmospheric pressure, the liquid oil enters the inner oil bladder 121 and fills the pipeline. The oil pipe support 113 collapses and starts to dive.

[0072] 3. Diving to the seabed state: The electromagnetic three-way valve 124 is closed. The solid phase change material shrinks under the action of cold seawater on the seabed. Under the action of atmospheric pressure, the liquid oil in the inner oil bladder 121 enters the solid-liquid oil tank 123.

[0073] 4. Starting to float state: The electromagnetic three-way valve 124 connects the oil pipe support 113 and the gas-liquid oil tank 122. Under the action of atmospheric pressure, the liquid oil fills the oil pipe support 113 and starts to float.

[0074] 5. Returning to the sea surface floating state: The electromagnetic three-way valve 124 is closed. The solid phase change material expands under the action of warm seawater on the sea surface. The liquid oil enters the gas-liquid oil tank 122 under the action of atmospheric pressure.

[0075] As Figure 6As shown in the figure, the inspection work process of the mooring cable and anchor chain flaw detection and inspection robot based on ocean thermal energy includes the following steps:

[0076] S1. The underwater inspection robot 1 moves along the anchor chain, and the ultrasonic flaw detector 14 detects in real time whether the anchor chain is damaged;

[0077] S2. After the ultrasonic flaw detector 14 detects damage to the anchor chain, the single-chip microcomputer 18 obtains the position of the underwater inspection robot 1 from the positioning module 17, and sends the damage position information to the terminal 3 through the information transmission module 19.

[0078] As Figure 7 shown in the figure, the charging and endurance work process of the mooring cable and anchor chain flaw detection and inspection robot based on ocean thermal energy includes the following steps:

[0079] S11. The underwater inspection robot 1 moves along the anchor chain;

[0080] S12. When the underwater inspection robot 1 reaches the water surface, connect the robot wireless charging head 15 and the platform charging pile 2 to start charging;

[0081] S13. After the charging is completed, the underwater inspection robot 1 continues to move back and forth along the anchor chain.

[0082] The present invention aims to solve the problems of high energy consumption and short endurance time of the underwater inspection robot 1 by using ocean thermal energy to be converted into the kinetic energy of the underwater inspection robot 1; specifically, the present invention converts the temperature difference of seawater into power through the temperature-sensitive phase change property of the phase change material, controls the liquid filling and pumping of the wing through the electromagnetic three-way valve 124, and drives the underwater inspection robot 1 to move, realizing the efficient utilization of energy; based on Bernoulli's principle, the deformable gliding wing 11 is designed, so that the underwater inspection robot 1 generates lift during the upward floating process and downward force during the downward process, thereby improving the energy utilization efficiency and extending the inspection time of the underwater inspection robot 1.

[0083] In addition, the present invention also combines the ultrasonic flaw detection principle, so that the underwater inspection robot 1 can perform full-cycle and low-energy flaw detection on the anchor chain; it can effectively avoid the risk of local damage or fracture of the anchor chain, and through the reciprocating movement of the underwater inspection robot 1, remove the biological attachments on the anchor chain, reduce the corrosion problem, and further improve the service life of the anchor chain; it can not only effectively reduce the energy consumption during the inspection process, improve the safety and reliability of the anchor chain, but also promote the more intelligent and sustainable development of the ocean engineering field.

Claims

1. An ocean mooring cable and anchor chain flaw detection and inspection robot based on ocean thermal energy difference, comprising a platform, characterized in that, It also includes an underwater inspection robot (1) and a platform charging pile (2); The underwater inspection robot (1) is penetrated by the installed anchor chain and attached to the anchor chain; The platform charging pile (2) is fixedly mounted on both sides of the platform and is in contact with the anchor point at the upper end of the anchor chain; The lower end of the anchor chain is connected to the seabed.

2. The marine mooring cable and anchor chain flaw detection and inspection robot based on ocean thermal energy according to claim 1, characterized in that, The underwater inspection robot (1) comprises a robot body (10), and gliders (11) are symmetrically arranged on both sides of the outer ends of the robot body (10). The hang glider (11) comprises a curved lower wing panel (111), a wing partition (112) is arranged at the upper end of the curved lower wing panel (111), an oil pipe support (113) and a high-strength upper wing membrane (114) are arranged on the wing partition (112), and the wing partition (112) also serves as a platform for arranging the oil pipe support (113) and the high-strength upper wing membrane (114).

3. The marine mooring cable and anchor chain flaw detection and inspection robot based on ocean thermal energy according to claim 2, characterized in that, A temperature difference energy conversion system (12) is installed inside the robot body (10), and the temperature difference energy conversion system (12) includes an inner oil bag (121), a gas-liquid oil tank (122), and a solid-liquid oil tank (123) which are interconnected through a plurality of oil pipes. The inner oil bag (121) is used to store liquid oil inside the robot body (10); Inert gas is stored in the gas-liquid-oil tank (122) away from the pipe mouth section; The solid-liquid oil tank (123) is arranged outside the robot body (10) and stores phase change material in a section away from the pipe mouth; An electromagnetic three-way valve (124), a first one-way valve (125) and a second one-way valve (126) are installed on the oil pipe.

4. The marine mooring cable and anchor chain flaw detection and inspection robot based on ocean thermal energy according to claim 3, characterized in that The temperature difference energy conversion system (12) is connected to the oil pipe support (113) of the glider (11), and the underwater inspection robot (1) is made to float up and dive down by controlling the connection of the electromagnetic three-way valve (124) during the reciprocating motion of the underwater inspection robot (1).

5. The marine mooring cable and anchor chain flaw detection and inspection robot based on ocean thermal energy according to claim 4, characterized in that, The specific operation of the reciprocating motion process is as follows: Step (1), floating state on the sea surface: the oil pipe support (113) is filled with liquid oil, the inner oil bag (121) is not filled with oil, the solid phase change material expands under the action of sea water at the sea surface temperature, and the electromagnetic three-way valve (124) is closed; Step (2), start diving: the electromagnetic three-way valve (124) connects the oil pipe support (113) and the inner oil bag (121), and under the action of atmospheric pressure, the liquid oil enters the inner oil bag (121) and fills the pipe, the oil pipe support (113) is deflated, and the diving begins; Step (3), diving to the seabed: the electromagnetic three-way valve (124) is closed, the solid phase change material shrinks under the action of the cold seawater on the seabed, and the liquid oil in the inner oil bag (121) enters the solid-liquid oil tank (123) under the action of atmospheric pressure; Step (4), start floating state: the electromagnetic three-way valve (124) connects the oil pipe support (113) and the gas-liquid oil tank (122), and under the action of atmospheric pressure, the liquid oil fills the oil pipe support (113) and starts floating; Step (5), returning to the floating state on the sea surface: the electromagnetic three-way valve (124) is closed, the solid phase change material expands under the action of the sea surface temperature seawater, and the liquid oil enters the gas-liquid oil tank (122) under the action of atmospheric pressure.

6. The inspection robot for mooring cables and anchor chains in the ocean based on ocean thermal energy according to claim 4, wherein Inside the robot body (10), there are also respectively installed a chain-holding pulley (13), an ultrasonic flaw detector (14), a storage battery (16), a positioning module (17), a single-chip microcomputer (18) and an information transmission module (19); The chain-holding pulley (13) is symmetrically installed above and below the anchor chain passing through the underwater inspection robot (2), and the two pairs are respectively installed at the front and rear ends inside the robot body (10) through bearings; The ultrasonic flaw detector (14) is sleeved on the anchor chain and fixedly installed at the middle position of the robot body (10); The storage battery (16) is fixedly installed inside the robot body (10), near one of the chain-holding pulleys (13); The positioning module (17), the single-chip microcomputer (18) and the information transmission module (19) are all installed inside the robot body (10) and are interconnected and cooperate with each other.

7. The inspection robot for mooring cables and anchor chains in the ocean based on ocean thermal energy according to claim 6, wherein, Inside the robot body (10), there is also installed a robot wireless charging head (15), and the robot wireless charging head (15) is installed at the top of the robot body (10) near the platform end; 8. The inspection robot for mooring cables and anchor chains in the ocean based on ocean thermal energy according to claim 2, wherein, The cross-section of the arc-shaped lower wing plate (111) is the same as the shape of an airplane wing; 9. The ocean mooring cable and anchor chain flaw detection and inspection robot based on ocean thermal energy according to claim 1, characterized in that, It further includes a terminal (3), and the terminal (3) serves as the signal receiving end of the underwater inspection robot (1), and is installed at the upper end of the platform; 10. The inspection robot for mooring cables and anchor chains in the ocean based on ocean thermal energy according to claim 6, characterized in that, The outer shell of the robot body (10) is in a shuttle shape, including the robot outer shell and the layout platform of various devices in the underwater inspection robot (1), and is made of high-strength anti-corrosion material; The ultrasonic flaw detector (14) is of a cylindrical structure.

Images