Stripping type robot for underwater maintenance

Abstract

The invention relates to the technical field of robots, in particular to a leap-type robot for underwater maintenance, which comprises a trunk part and a plurality of supporting feet mounted and connected to the trunk part, and the supporting feet are rotatably connected to the trunk part through first rotating shafts so that the supporting feet can be close to or away from the trunk part. The trunk part is provided with an outer rotating sleeve capable of rotating, the axial direction of the outer rotating sleeve is perpendicular to the axial direction of the first rotating shaft and is parallel to the plane of the rotating direction of the outer rotating sleeve, the trunk part is provided with a high-definition camera, the supporting feet are also provided with high-definition cameras, and the robot is more flexible and good in overhauling capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a leaping robot for underwater maintenance. Background Art

[0002] In today's society, the development of robotics technology is becoming increasingly rapid. Robots with different functions are beginning to appear in various fields, and patented technologies are also common.

[0003] For example, the Chinese patent application number 202310392651.9 discloses an intelligent hexapod robot, including a hexapod robot. The hexapod robot consists of a robot shell and six mechanical legs arranged on the outside of the robot shell. A omnidirectional camera can be stored on one side of the top of the robot shell, and a storage groove is provided on one side of the top of the robot shell. A cavity is provided inside the robot shell, which relates to the technical field of hexapod robots. By providing a partition in the robot shell cavity, the robot shell cavity is separated to form a mechanical control cavity and a material transportation cavity, which is convenient for loading materials into the robot shell for transportation and avoiding the materials from falling during transportation. At the same time, a storage drive device for storing the omnidirectional camera is provided in the mechanical control cavity, which can protect the omnidirectional camera. At the same time, when the hexapod robot flips over, the hexapod robot can be flipped over by the flipping mechanism so that it can continue to move.

[0004] For example, the Chinese patent with application number 202011085892.1 discloses a modular self-reconfigurable hexapod robot, which solves the problem of poor environmental adaptability of single-configuration robots in the prior art, and has the beneficial effect of realizing the mutual conversion between the hexapod robot configuration, the quadruped robot configuration and the snake robot configuration. The specific plan is as follows: A modular self-reconfigurable hexapod robot includes a robot body, the robot body is fixed with at least four first legs, the first legs are arranged in two groups on both sides of the robot body, and the robot body is detachably installed with a second leg between the first legs on both sides, the second leg is arranged across the robot body to form the snake leg of the robot, and the second leg is fixed to the robot body through an intermediate docking structure.

[0005] Existing robots have modular structures and are compatible with each other. However, their structural flexibility is insufficient and their relatively large size makes them unsuitable for use in smaller ship cabins. Furthermore, their ability to navigate and transform within these confined spaces is limited. Positioning and support capabilities within the cabin are also lacking, and the stability and ability to perform maintenance are relatively poor or non-existent. Therefore, manual navigation and maintenance within the cabin are currently common. However, the biggest challenges with manual methods are safety and the quality of maintenance in confined spaces. These shortcomings urgently require improvement, especially in today's rapidly developing shipping and logistics world, where this type of work will become increasingly common. Summary of the Invention

[0006] The purpose of the present invention is to provide a leapfrog robot for underwater maintenance which is more dexterous and has better maintenance capability.

[0007] The above-mentioned object of the present invention is achieved through the following technical solutions: A leaping robot for underwater maintenance, comprising a torso part and a plurality of support feet installed and connected to the torso part, wherein the support feet are rotatably connected to the torso part through a first rotating shaft so that the support feet can be close to or away from the torso part, the torso part has a rotatable outer rotating sleeve, the first rotating shaft is connected to the outer rotating sleeve, the axial direction of the outer rotating sleeve is perpendicular to the axial direction of the first rotating shaft and parallel to the plane of the rotation direction of the outer rotating sleeve, a high-definition camera is installed on the torso part, and a high-definition camera is also installed on the support feet.

[0008] As a preferred embodiment of the present invention, the first rotating shaft is included on the first motor, the supporting foot includes a first leg segment fixedly connected to the first motor, the other end of the first leg segment is connected to the first joint, the other end of the first joint is connected to the second leg segment, the other end of the second leg segment is connected to the second joint, and the other end of the second joint is connected to the third leg segment.

[0009] As a preferred embodiment of the present invention, the trunk portion is equipped with a stator electromagnetic coil, the outer rotating sleeve is arranged on the periphery of the stator electromagnetic coil, and a circle of permanent magnets is fixed on the inner wall of the outer rotating sleeve to cooperate with the stator electromagnetic coil to enable it to rotate.

[0010] As a preferred embodiment of the present invention, at least one of the first leg segment, the second leg segment and the third leg segment is installed and connected with a vacuum suction cup.

[0011] As a preferred embodiment of the present invention, the torso portion is wrapped with a plurality of external anti-skid components spaced apart in the front and rear directions, and the external anti-skid components include anti-skid abutting rubber plates spaced apart in the circumferential direction, and the intervals between the circumferentially adjacent anti-skid abutting rubber plates form hidden intervals for the support foot to be placed after it approaches the torso portion.

[0012] As a preferred embodiment of the present invention, the anti-skid abutting rubber plate is fixed on a floating plate, and the floating plate can be supported on the trunk part in a vibration-damping floating manner.

[0013] As a preferred embodiment of the present invention, a fixed support reinforcement plate is fixedly connected to the trunk part, the floating plate is located radially on the outside of the fixed support reinforcement plate, a damping member is supported between the fixed support reinforcement plate and the floating plate, and the damping member is a magnetorheological damper. The fixed support reinforcement plate and the floating plate are provided with internal insertion grooves and external insertion grooves for inserting the two ends of the damping member respectively, and a member that can pass through the fixed support reinforcement plate and can move is fixed at the center position of the floating plate.

[0014] As a preferred embodiment of the present invention, the anti-slip rubber plate is arc-shaped and is detachably connected to the floating plate, the limit head is detachably fixed to the guide rod, a snakeskin pattern is formed on the anti-slip rubber plate, a reinforced iron core is assembled on the guide rod, and the damping members are multiple and distributed in a circular array on the periphery of the reinforced iron core.

[0015] As a preferred embodiment of the present invention, a maintenance component is installed and connected on the support foot, and the maintenance component includes at least one of a drilling component, a welding component, a cutting component, a screwing component, a painting component, and a polishing component, and the limit head is equipped with a standing acoustic wave vibration gyroscope.

[0016] As a preferred embodiment of the present invention, the trunk is divided into a snake-shaped robot component.

[0017] The beneficial effects of the present invention are as follows: the present application can better integrate the legged robot and the snake-like robot, with better walking ability, not only being able to cross but also crawling, and having good body shape change ability, being able to shuttle through small areas and positioning within large areas, making the robot more flexible.

[0018] It has stronger maintenance capabilities, higher stability, more reliable structural safety, and strong positioning capabilities, which are more helpful for the precision, accuracy, and reliability of maintenance operations. It also provides more comprehensive inspections inside the cabin and is very suitable for working in such a poor environment as the cabin, greatly improving the shortcomings of manual operations.

[0019] Of course, this robot can be used in many fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of a three-dimensional structure of one of the robots of the embodiment;

[0021] Figure 2 This is a schematic diagram of a three-dimensional structure of another type of robot in an upright state according to an embodiment;

[0022] Figure 3 yes Figure 2 Schematic diagram of the three-dimensional structure from the rear side perspective;

[0023] Figure 4 yes Figure 2 Schematic diagram of the three-dimensional structure of the middle structure in the crawling state;

[0024] Figure 5 yes Figure 2 A schematic diagram of the three-dimensional structure of one section of the structure;

[0025] Figure 6 yes Figure 5 Schematic diagram of the three-dimensional structure after removing one outer rotating sleeve from the middle structure;

[0026] Figure 7 yes Figure 2 Schematic diagram of the three-dimensional mechanism of the outer rotating sleeve;

[0027] Figure 8 yes Figure 5 Schematic diagram of the three-dimensional structure of the protective part of the structure;

[0028] Figure 9 yes Figure 8 Schematic diagram of the three-dimensional structure with the upper part of the structure disassembled;

[0029] Figure 10 yes Figure 9 Schematic diagram of the three-dimensional structure from the bottom perspective;

[0030] Figure 11 yes Figure 5 Schematic diagram of the three-dimensional structure after further optimization of the guide rod in the structure. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below with reference to the accompanying drawings.

[0032] This specific embodiment is merely an explanation of the present invention and is not intended to limit the present invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed. However, as long as such modifications are within the scope of the claims of the present invention, they are protected by patent law.

[0033] Examples, such as Figure 1-11 As shown in the figure, a leaping robot for underwater maintenance is a newly developed robot by the applicant and is very suitable for the shipbuilding field. It is mainly used to perform tasks in the cabin below the water surface. Its development background is as follows:

[0034] In the field of shipbuilding, the inspection and maintenance of double-bottom tanks has always been a challenging task. Traditionally, this work has been primarily performed manually. Before entering the tank, all ballast water must be pumped out (when docking) or drained (when entering the dock). After completing the work, ballast water must be reloaded, a time-consuming and labor-intensive process (for example, a ship with a deadweight tonnage of 10,000 tons carries over 1,000 tons of ballast water). After draining the ballast water, workers must enter the relatively enclosed and humid cabin environment, which can be extremely stuffy in hot weather. Not only are the working conditions harsh, but they also present numerous safety hazards. Furthermore, manual inspections are inefficient and often require significant time and effort. Due to the limited interior space of a ship, especially a double-bottom tank, which is approximately 1.2 meters high and has partitions approximately every 3 meters, the circular manholes between the partitions also restrict access. Furthermore, pipes within the double bottom pass through the manholes, further limiting access. This makes manual movement within the cabin difficult, making it difficult to complete comprehensive and rapid inspection and maintenance work. Furthermore, the accuracy and reliability of manual inspections are susceptible to human error, potentially leading to missed or misidentified inspections. Furthermore, with the development of the shipping industry, the requirements for cabin inspection and maintenance are becoming increasingly stringent, and traditional manual methods are no longer sufficient to meet the demands of modern shipbuilding. The need arose for a robot capable of flexibly operating within the confined spaces of a cabin. The goal was to enable underwater inspections and defect repairs without draining the cabin.

[0035] In this context, a very targeted robot is very necessary. Specifically, the robot includes a trunk part and several support legs 1 installed and connected to the trunk part. Generally, more than 4 support legs are required, and 6-10 support legs are appropriate. It is a multi-legged robot, and the support legs 1 are rotatably connected to the trunk part through a first rotating shaft 11 so that the support legs 1 can be close to or away from the trunk part. The trunk part has a rotatable outer rotating sleeve 2, and the first rotating shaft 11 is connected to the outer rotating sleeve 2. The axial direction of the outer rotating sleeve 2 is perpendicular to the axial direction of the first rotating shaft 11 and parallel to the plane of the rotation direction of the outer rotating sleeve 2. The axial direction of the outer rotating sleeve 2 is basically consistent with the direction of travel of the robot, but it refers to the outer rotating sleeve 2. Regarding the travel direction of the trunk portion where the sleeve 2 is located, on the one hand, the support foot 1 rotates about the first rotation axis 11, forming an intersection with the trunk portion where the corresponding outer rotating sleeve 2 is located. The smaller the intersection angle, the closer they are, while the larger the intersection angle, the greater the separation. This significantly reduces or increases the three-dimensional span of the robot as a whole, thereby controlling the robot's deformation to adapt to different working conditions. Furthermore, the outer rotating sleeve 2 itself can rotate about the trunk portion, thereby improving the freedom of the support foot 1 in three-dimensional space and enabling 360-degree adjustment. This allows for greater flexibility and functionality in the position of the support foot 1 in space, whether for observation, positioning, or maintenance. Here, a support foot 1 is also equipped with an outer rotating sleeve 2. Furthermore, a high-definition camera 3 is mounted on the trunk portion, and a high-definition camera 3 is also mounted on the support foot 1. As can be seen, the high-definition cameras 3 installed on both the trunk portion and the support foot 1 allow for a wider range of imaging, eliminating blind spots, and enabling more real-time observation of the cabin's conditions, ensuring greater safety and reliability, and enabling appropriate measures to be taken. The robot's motor uses a waterproof motor, and the rotating parts (such as joints) and cable interfaces all adopt a waterproof and sealed design to meet the needs of underwater work.

[0036] Preferably, the first rotating shaft 11 is included in the first motor 110. The first motor 110 can be an existing motor. The motor shaft of the first motor 110 can be directly used as the first rotating shaft 11 and fixedly connected to the outer rotating sleeve 2. Of course, another shaft can be assembled and connected to the motor shaft of the first motor 110 to serve as the first rotating shaft 11 and fixedly connected to the outer rotating sleeve 2. The first rotating shaft 11 is used as the fulcrum at the source of the supporting foot 1, which is similar to the human shoulder joint or hip joint for the entire upper limb or lower limb to swing to achieve various large-scale movements, and can be close to or away from the body. We use this idea in ourselves.

[0037] Furthermore, the support foot 1 includes a first leg segment 41 fixedly connected to the first motor 110, and the body of the first motor 110 and the first leg segment 41 are fixed. The other end of the first leg segment 41 is connected to the first joint 401, the other end of the first joint 401 is connected to the second leg segment 42, the other end of the second leg segment 42 is connected to the second joint 402, and the other end of the second joint 402 is connected to the third leg segment 43. The joints here can be made of existing robot joint motors. Robot joint motors are a high-performance drive device designed specifically for robot joints. They integrate motors, reducers and controllers into one, and can achieve precise position control, torque output and dynamic response. Joint motors play a vital role in robots. They are the muscles and power source of robots and can perform complex movements such as jumping, dancing, climbing, etc. The joint motors not only determine the range of motion, speed and accuracy of the robot, but also directly affect its load capacity and stability. The leg segments here can adopt the existing leg segment structure. The design of two joints ensures mobility. Combined with the design of the first motor 110 and the first rotating shaft 11, not only is mobility sufficient, but also deformation is better. The extension in space can be large or small, allowing it to walk close to the torso in a narrow space, or to unfold in a large space, allowing for shooting without blind spots. Furthermore, the multiple support legs provide stronger walking capabilities, allowing them to cross high hole structures and provide support, thus preventing the robot from falling and providing better safety. The high-definition camera 3 can be connected to the first leg segment 41 or the second leg segment 42 using existing installation and connection methods, or both leg segments can be equipped with high-definition cameras 3.

[0038] Preferably, the trunk portion is equipped with a stator electromagnetic coil 21, and the outer rotating sleeve 2 is arranged around the stator electromagnetic coil 21. A circle of permanent magnets 22 is fixed to the inner wall of the outer rotating sleeve 2 to cooperate with the stator electromagnetic coil 21 to enable rotation. This design forms the stator and rotor structure of a motor. The stator electromagnetic coil 21 forms the stator structure when driven, and the outer rotating sleeve 2 is the structure of the rotor outer ring. It can be subjected to different currents of the stator electromagnetic coil 21 to form different magnetic fields to achieve rotation and control the direction and amplitude of rotation. The existing structure can be used, but in this embodiment, the outer rotating sleeve 2 can be flexibly rotated to control the large-scale orientation of the support foot 1 in space for supporting, retracting, and other actions. The overall support will also be better.

[0039] In order to better perform actions such as crawling or positioning, we have made the following optimization, that is, at least one of the first leg segment 41, the second leg segment 42 and the third leg segment 43 is installed with a vacuum suction cup 44. Here, each leg segment can be installed with a vacuum suction cup and the vacuum suction cup 44 can be connected through the existing connection method. Of course, the number of vacuum suction cups on each leg segment is not limited. The main disk part of the vacuum suction cup 44 can be positioned and fixed to the leg segment, and the soft vacuum pipe connected to the disk part can be set close to the leg segment and the trunk and extended to the tail position of the trunk. A vacuum pump is assembled at the tail position of the trunk and connected to the vacuum pipe. Of course, the vacuum pump can also be small and directly embedded in the leg segment, so that the length of the vacuum pipe can be reduced, which can be achieved as needed. In this way, by pumping out air, the vacuum pipe can be adsorbed and separated from the corresponding position of the internal space of the cabin to achieve various complex walking or positioning actions. The ability to walk and position in space is stronger. Especially when working in a complex environment like inside a cabin, the robot can stretch to various positions in the cabin like a spider's or octopus's legs, and can be sucked together by vacuum and then detached by deflation.

[0040] Furthermore, the trunk is divided into snake-like robot components, which can be constructed using existing snake-like robot structures. These typically include a head 61, a tail 62, and several body segments 63. The head 61 and body segments 63, the body segments 63, and the tail 62 are all connected by snake-like robot joints 64. These existing structures can be used. A unique feature of this embodiment is that the stator electromagnetic coil 21 is mounted on the body segments 63 and is surrounded by an outer rotating sleeve 2. Of course, the body segments 63 located at the front and rear require support bearings for the outer rotating sleeve 2 to rotate. The head 61, body segments 63, and tail 62 can all be equipped with high-definition cameras 3. The tail 62 can be used to connect a vacuum pump and can also be connected to a power supply and controller to control the entire robot's movements. All of these can be constructed using existing systems. The outer rotating sleeve 2 and stator electromagnetic coil 21 are new design features, enabling the robot's powerful walking capabilities.

[0041] Furthermore, the trunk portion is wrapped with several external anti-skid components spaced apart in the front and rear directions, and the external anti-skid components include anti-skid abutting rubber plates 51 spaced apart in the circumferential direction. The external anti-skid components have more than two anti-skid abutting rubber plates 51, generally three or four are appropriate. The intervals between the circumferentially adjacent anti-skid abutting rubber plates 51 form a hidden interval 510 for the support foot 1 to be placed after it approaches the trunk portion. Here, an external anti-skid assembly is provided at the snake body segment 63. This is a new three-dimensional structural design. Some areas in the cabin may be oily or very slippery, making the serpentine movement of the torso difficult. This requires a better anti-skid design. This embodiment forms a plurality of discretely distributed anti-skid abutting rubber plates 51 arranged in a circular array at intervals along the outer circumference of the snake body segment 63. A circle of anti-skid abutting rubber plates 51 constitutes a group, i.e., an external anti-skid assembly. At least one external anti-skid assembly can be provided on each snake body segment 63. Furthermore, the radially outward side of the anti-skid abutting rubber plate 51 must be further outward than the outer wall of the outer rotating sleeve 2. This is so that the anti-skid abutting rubber plate 51 can function effectively. Furthermore, the external anti-skid assembly is an external protective structure and must be radially very far outward to function. Furthermore, the design of the hidden spacer 510 allows the leg segment of the support foot 1 to be retracted into the hidden spacer 510, close to the torso. Here, the supporting foot 1 can adopt a slender structure and a structure with multiple leg segments and multiple leg segment joints, which will be better. The leg segments are thin and numerous, and can follow the movements of the torso to a greater extent and more flexibly.

[0042] Furthermore, the anti-slip rubber plate 51 is fixed to a floating plate 52. The floating plate 52 provides a vibration-damping floating support on the trunk portion, allowing the floating plate 52 to buffer elastic forces and float. The trunk portion, in this case, is the snake segment 63. The floating plates 52 and anti-slip rubber plates 51 are identical in number and are also distributed at discrete circumferential intervals. The shapes of the floating plates 52 and the anti-slip rubber plates 51 are also preferably identical, with an arc-shaped plate structure. They can be fixed using existing detachable mounting methods, such as a removable pin or bolt-type fixing method, or by forming a latch on the floating plate 52 and a corresponding latch on the anti-slip rubber plate 51, which is then latched onto the anti-slip rubber plate 51 via the latch and latch, etc. In this manner, circumferentially adjacent floating plates 52 are also spaced apart from each other, forming a hidden gap into which the support foot 1 is inserted after being brought into close proximity with the trunk portion. The hidden gap has a greater radial depth.

[0043] Preferably, a fixed support reinforcement plate 53 is fixedly connected to the trunk portion, and the fixed support reinforcement plate 53 is also preferably fixed to the snake body section 63. The snake body section 63 is also preferably cylindrical in structure. The aforementioned circumferential and radial directions are also referenced to the snake body section 63, and the axial direction of the snake body section 63 is also in its direction of travel. The floating plate 52 is located on the outside of the fixed support reinforcement plate 53 in the radial direction of the snake body section 63. A damping member 54 is supported between the fixed support reinforcement plate 53 and the floating plate 52. The damping member 54 acts in the radial direction. The damping member 54 is a magnetorheological damper. The fixed support reinforcement plate 53 and the floating plate 52 are provided with an internal insertion groove 530 and an external insertion groove 520 for inserting the two ends of the damping member 54 respectively. The center position of the floating plate 52 is fixed with a A guide rod 55, which can pass through the fixed support reinforcement plate 53 and move radially, has a stopper 56 fixed to its other end. The fixed support reinforcement plate 53 has a through-hole for the guide rod 55 to pass through. The stopper 56 is positioned radially inward of the fixed support reinforcement plate 53 and is larger than the through-hole. This ensures that the stopper 56 is radially inward of the fixed support reinforcement plate 53 and prevents the guide rod 55 from separating from the fixed support reinforcement plate 53. The magnetorheological damper can adjust the spring rate. This allows for different maintenance operations, different walking environments, and other factors to be controlled by the magnetorheological damper, resulting in better performance, better protection, and reduced resonance and hard damage. Since the fixed support reinforcement plate 53 is fixed to the serpentine section 63, a monolithic annular sleeve structure can be employed, secured to the serpentine section 63 via existing support structures such as radial fixing rods. Of course, the fixed support reinforcement plate 53 can also be a discrete structure of multiple arc-shaped plates, or it can be fixedly connected to the snake body segment 63 through a radial fixing rod, and distributed at intervals in the circumferential direction. The circumferentially adjacent fixed support reinforcement plates 53 are also spaced from each other and also form a hidden gap for the support foot 1 to be placed after it is close to the torso part.

[0044] As previously mentioned, the anti-slip rubber plate 51 is arc-shaped and detachably connected to the floating plate 52. The stopper 56 is detachably secured to the guide rod 55, both employing conventional detachable securing methods, such as bolts or pins. The floating plate 52 and the fixed support reinforcement plate 53 can be constructed of lightweight metal plates, such as aluminum alloy or existing lightweight materials such as carbon fiber. The snakeskin pattern formed on the anti-slip rubber plate 51 primarily extends radially outward, providing enhanced anti-slip performance. Furthermore, a reinforcing core 550 is secured to the guide rod 55. The damping elements 54 comprise multiple elements distributed in a circular array around the reinforcing core 550. The reinforcing core 550 enhances the sensitivity of the magnetorheological damper, specifically its sensitivity to magnetic field effects. The reinforcing core 550 can be directly embedded within the guide rod 55, or the guide rod 55 itself can serve as the reinforcing core 550.

[0045] Through the above design, the protection, vibration reduction, walking, maintenance and other aspects of the ability are better, safe and stable, not easy to be damaged, malfunction, etc. It is very suitable for use in complex and harsh environments such as ship cabins.

[0046] In addition, the support foot 1 in this embodiment is also used as a robotic arm, which can perform various maintenance operations. In addition to high-definition camera shooting to analyze and detect the internal environment of the cabin, etc., further, the support foot 1 is installed with a maintenance component, which includes at least one of a drilling component, a welding component, a cutting component, a screwing component, a painting component, and a grinding component. These components can use existing equipment, that is, the robot can directly perform the operation. For example, if there is a need for coating repair, the painting component is used, and if there is a need for welding, the welding component is used. These maintenance components are mainly installed on the leg section, and when these components are working, the support foot 1 will vibrate with different vibration frequencies. The above-mentioned design can well reduce the adverse effects of vibration. The support foot 1 with a vacuum suction cup can be adsorbed on the ground or vertical surface to ensure the stability of the robot's position and the stability of the positioning of the maintenance operation. Then this positioning can also achieve a vibration reduction effect and avoid damage to the leg section.

[0047] Furthermore, the robot can be equipped with various sensors, such as infrared sensors, temperature and humidity sensors, pressure sensors, and lidar, all controlled by a controller. Furthermore, various motors, vacuum pumps, and maintenance components can be controlled by the controller and powered by a power supply. The control and power supply circuits can be based on existing circuits, but the algorithms involved can be selected from different existing ones based on the specific device model and type, and can also be updated to improve the compatibility of the entire system.

[0048] In addition, the stopper head 56 is preferably spherical or curved, and can be equipped with a standing acoustic wave vibrating gyroscope, a vibrating gyroscope with significant advantages in both vibration mode and structure. Its accuracy has the potential to reach inertial-level performance, and its use in the structure of this embodiment has been very effective. Position detection and control are more accurate and safe, which is a significant advantage in a cabin environment and also ensures safe and reliable position maintenance. It can also detect vibration conditions and analyze whether there are any abnormalities in the robot.

[0049] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A leaping robot for underwater maintenance, characterized in that: The invention comprises a trunk portion and a plurality of support feet (1) mounted on the trunk portion, wherein the support feet (1) are rotatably connected to the trunk portion via a first rotating shaft (11) so that the support feet (1) can be moved closer to or farther from the trunk portion, the trunk portion is provided with a rotatable outer rotating sleeve (2), the first rotating shaft (11) is connected to the outer rotating sleeve (2), the axial direction of the outer rotating sleeve (2) is perpendicular to the axial direction of the first rotating shaft (11) and parallel to the plane of the rotation direction of the outer rotating sleeve (2), a high-definition camera (3) is mounted on the trunk portion, and a high-definition camera (3) is also mounted on the support feet (1).

2. The leaping robot for underwater maintenance according to claim 1, characterized in that: The first rotating shaft (11) is included on the first motor (110), and the supporting foot (1) includes a first leg segment (41) fixedly connected to the first motor (110), the other end of the first leg segment (41) is connected to the first joint (401), the other end of the first joint (401) is connected to the second leg segment (42), the other end of the second leg segment (42) is connected to the second joint (402), and the other end of the second joint (402) is connected to the third leg segment (43).

3. The leaping robot for underwater maintenance according to claim 1, characterized in that: The trunk portion is equipped with a stator electromagnetic coil (21), the outer rotating sleeve (2) is arranged on the periphery of the stator electromagnetic coil (21), and a circle of permanent magnets (22) is fixed on the inner wall of the outer rotating sleeve (2) to cooperate with the stator electromagnetic coil (21) to enable it to rotate.

4. The leaping robot for underwater maintenance according to claim 2, characterized in that: At least one of the first leg segment (41), the second leg segment (42) and the third leg segment (43) is connected to a vacuum suction cup (44).

5. The leaping robot for underwater maintenance according to claim 1, characterized in that: The trunk portion is wrapped with a plurality of outer anti-skid components spaced apart in front and back directions, wherein the outer anti-skid components include anti-skid abutting rubber plates (51) spaced apart in the circumferential direction, and the intervals between the circumferentially adjacent anti-skid abutting rubber plates (51) form hidden intervals for the support foot (1) to be placed after it approaches the trunk portion.

6. The leaping robot for underwater maintenance according to claim 5, characterized in that: The anti-slip abutting rubber plate (51) is fixed on a floating plate (52), and the floating plate (52) can be supported on the trunk part in a vibration-damping floating manner.

7. The leaping robot for underwater maintenance according to claim 6, characterized in that: A fixed support reinforcement plate (53) is fixedly connected to the trunk portion, and the floating plate (52) is located radially outside the fixed support reinforcement plate (53). A damping member (54) is supported between the fixed support reinforcement plate (53) and the floating plate (52), and the damping member (54) is a magnetorheological damper. The fixed support reinforcement plate (53) and the floating plate (52) are provided with an internal insertion groove (530) and an external insertion groove (520) for inserting the two ends of the damping member (54) respectively. A guide rod (55) that can pass through the fixed support reinforcement plate (53) and can move is fixed at the center position of the floating plate (52), and a limiting head (56) is fixed at the other end of the guide rod (55).

8. The leaping robot for underwater maintenance according to claim 7, characterized in that: The anti-slip abutting rubber plate (51) is arc-shaped and detachably connected to the floating plate (52); the limiting head (56) is detachably fixed to the guide rod (55); a snakeskin pattern is formed on the anti-slip abutting rubber plate (51); a reinforcing iron core (550) is assembled on the guide rod (55); and the damping member (54) has a plurality of members distributed in a circumferential array on the periphery of the reinforcing iron core (550).

9. The leaping robot for underwater maintenance according to claim 7, characterized in that: The support foot (1) is connected to a maintenance component, which includes at least one of a drilling component, a welding component, a cutting component, a screwing component, a painting component, and a polishing component. The limit head (56) is equipped with a standing acoustic wave vibration gyroscope.

10. The leaping robot for underwater maintenance according to claim 1, characterized in that: The trunk is divided into snake-like robot components.

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