AUV crawling system and application thereof

Abstract

The invention relates to an AUV (Autonomous Underwater Vehicle) crawling system and application thereof. The plurality of translation mechanisms are mounted on the machine body; in the plurality of lifting mechanisms, the plurality of lifting mechanisms are respectively connected with the movable ends of the plurality of translation mechanisms and the machine body; the multiple wheel set opening and closing mechanisms are connected with the fixed ends of the multiple lifting mechanisms correspondingly. The plurality of walking wheel sets are respectively connected with the plurality of wheel set opening and closing mechanisms; the multiple auxiliary clamping mechanisms are connected with the multiple wheel set opening and closing mechanisms correspondingly. In the obstacle-avoiding crawling process of each obstacle-crossing unit on the pipe / cable, the walking wheel set and the auxiliary clamping mechanism are driven to swing in sequence, the height position of the wheel set opening and closing mechanism relative to an obstacle is adjusted through the lifting mechanism, and the lifting mechanism is driven to cross the obstacle through the translation mechanism. And the obstacle crossing units repeat the actions, so that the AUV crawling system completes inchworm type obstacle crossing on the pipe / cable. The AUV crawling system can adapt to crawling of pipes / cables in different environments, is high in obstacle crossing capacity and belongs to the technical field of pipe / cable inspection.

Description

Technical Field

[0001] This invention relates to the field of pipe / cable inspection technology, specifically to an AUV crawling system and its application. Background Technology

[0002] With the rapid development of marine engineering projects such as offshore oil and gas development and offshore wind power, the demand for operation and maintenance inspections of underwater and above-water pipelines / cables (such as submarine cables and oil and gas pipelines) is becoming increasingly urgent. In the oil and gas and offshore wind farm industries, pipelines and submarine dynamic cables are the "lifelines" connecting core equipment. These pipelines / cables are in a complex marine environment for a long time and require regular, full-coverage, blind-spot-free inspections to ensure operational safety—an operation that is costly. The application of autonomous underwater vehicles (AUVs) can significantly optimize this process.

[0003] Currently available technologies, while traditional wheeled inspection robots offer high mobility, they suffer from poor maneuverability, can only accommodate pipes / cables of specific diameters, and struggle to cross large attachments such as flanges and bend limiters, easily creating blind spots and limiting their operational range. Furthermore, they cannot simultaneously meet the inspection needs of underwater dynamic pipes / cables, above-water dynamic pipes / cables, and static pipes / cables at both ends. While biomimetic inchworm-like inspection robots possess some obstacle-crossing capabilities, their low structural redundancy makes them prone to detaching from pipes / cables during obstacle crossing, and they require manual intervention to switch between inspection and obstacle-crossing modes, resulting in low operational efficiency. Summary of the Invention

[0004] In view of the technical problems existing in the prior art, the purpose of this invention is to provide an AUV crawling system and its application, which can adapt to pipe / cable crawling in different environments and has strong obstacle crossing ability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An AUV crawling system, including a fuselage;

[0007] There are multiple translation mechanisms, all of which are mounted on the fuselage;

[0008] There are multiple lifting mechanisms. Among these multiple lifting mechanisms, the movable end of one lifting mechanism is connected to the machine body, and the other multiple lifting mechanisms are respectively connected to the movable ends of multiple translation mechanisms.

[0009] There are multiple wheel assembly opening and closing mechanisms, and each of these mechanisms is connected to the fixed end of a multiple lifting mechanism.

[0010] There are multiple sets of walking wheels, and each set of walking wheels is connected to a separate wheel opening and closing mechanism.

[0011] Multiple auxiliary clamping mechanisms are provided, and each auxiliary clamping mechanism is connected to a multiple wheel set opening and closing mechanism.

[0012] Using a walking wheel set, an auxiliary clamping mechanism, and a lifting mechanism connected to the same wheel set opening and closing mechanism as an obstacle-crossing unit, each obstacle-crossing unit, during obstacle avoidance and crawling on the pipe / cable, drives the walking wheel set and auxiliary clamping mechanism to swing, the auxiliary clamping mechanism to open, the lifting mechanism to adjust the height position of the wheel set opening and closing mechanism relative to the obstacle, and the translation mechanism to drive the lifting mechanism to cross the obstacle.

[0013] Multiple obstacle-crossing units repeat the above actions, enabling the AUV crawling system to complete inchworm-like obstacle crossing on pipes / cables.

[0014] As a preferred embodiment, the translation mechanism includes a first drive motor, a first lead screw, a guide rod, and a moving component. The first lead screw is rotatably connected to the machine body. The output shaft of the first drive motor is connected to the first lead screw. The guide rod is fixedly connected to the machine body. The moving component is threadedly connected to the first lead screw and slidably connected to the guide rod. The movable end of the lifting mechanism is connected to the moving component.

[0015] As a preferred embodiment, the lifting mechanism includes a fixed frame, a second drive motor, a second lead screw, and a lifting seat. The second lead screw and the fixed frame are rotatably connected. The second drive motor is mounted on the fixed frame. The output shaft of the second drive motor is connected to the second lead screw. The lifting seat is threadedly connected to the second lead screw. The lifting seat is connected to the movable end of the translation mechanism. The wheel assembly opening and closing mechanism is connected to the fixed frame.

[0016] As a preferred embodiment, the wheel assembly opening and closing mechanism includes a mounting frame, a third drive motor, a first worm gear transmission assembly, a gear transmission assembly, and two swinging components. The mounting frame is connected to the lifting mechanism. The third drive motor is mounted on the mounting frame, and its output shaft is connected to the first worm gear transmission assembly for transmission. The first worm gear transmission assembly is rotatably connected to the mounting frame. There are two gear transmission assemblies, each connected to one of the two gear transmission assemblies. Both gear transmission assemblies are rotatably connected to the mounting frame. Both swinging components are rotatably connected to the mounting frame and connected to the two gear transmission assemblies respectively. Each swinging component is connected to a set of traveling wheels and an auxiliary clamping mechanism.

[0017] As a preferred embodiment, the first worm gear transmission assembly includes a first worm, a first worm wheel, and a first transmission gear. The first worm wheel is installed in the middle of the first worm, and there are two first transmission gears. The two first transmission gears are respectively connected to the two ends of the first worm. The output shaft of the third drive motor is connected to a driving worm, which meshes with the first worm wheel for transmission. The two first transmission gears are respectively connected to two gear transmission assemblies for transmission.

[0018] As a preferred embodiment, the gear transmission assembly includes a gear shaft, a helical gear, and a drive gear. The gear shaft is rotatably connected to the mounting bracket. The helical gear is installed in the middle of the gear shaft. There are two drive gears, which are installed at intervals on the gear shaft. The oscillating component includes an oscillating frame, an oscillating shaft, and driven gears. The two ends of the oscillating shaft are rotatably connected to the mounting bracket. There are two driven gears, which are installed at intervals on the oscillating shaft. The two drive gears mesh with the two driven gears respectively. The oscillating frame is fixedly connected to the oscillating shaft. The traveling wheel set and the auxiliary clamping mechanism are both connected to the oscillating frame.

[0019] As a preferred embodiment, the walking wheel set includes a fourth drive motor and a wheel body. The fourth drive motor is mounted on the wheel set opening and closing mechanism, and the wheel body is connected to the output shaft of the fourth drive motor.

[0020] As a preferred embodiment, the auxiliary clamping mechanism includes a clamping arm, a fifth drive motor, a second worm, a second worm wheel, and a transmission shaft. The fifth drive motor is mounted on the wheel set opening and closing mechanism, and the output shaft of the fifth drive motor is connected to the second worm. The second worm wheel is mounted on the transmission shaft, which is rotatably mounted on the wheel set opening and closing mechanism. The second worm and the second worm wheel mesh and drive each other, and the clamping arm is connected and fixed to the transmission shaft.

[0021] As a preferred option, the specific steps for the AUV crawling system to complete inchworm-like obstacle crossing on pipes / cables are as follows:

[0022] S1: Before crossing the obstacle, two translation mechanisms drive the two obstacle-crossing units closest to the obstacle to move toward the obstacle, and the first obstacle-crossing unit begins to cross the obstacle;

[0023] S2: The wheel assembly opening and closing mechanism drives the walking wheel assembly to swing, so that the distance between the walking wheel assembly and the pipe / cable surface is greater than the maximum outer diameter or maximum width of the obstacle relative to the pipe / cable surface. The auxiliary clamping mechanism connected to the same wheel assembly opening and closing mechanism as the walking wheel assembly also swings synchronously, and the distance between the auxiliary clamping mechanism and the pipe / cable surface is greater than the maximum outer diameter or maximum width of the obstacle relative to the pipe / cable surface. At the same time, the auxiliary clamping mechanisms of the other obstacle-crossing units clamp the pipe / cable surface.

[0024] S3: The lifting mechanism drives the wheel assembly opening and closing mechanism to rise, so that the distance between the wheel assembly opening and closing mechanism and the surface of the pipe / cable is greater than the maximum outer diameter or maximum width of the obstacle relative to the surface of the pipe / cable.

[0025] S4: The translation mechanism drives the lifting mechanism to pass over the obstacle. The wheel opening and closing mechanism, the walking wheel set and the auxiliary clamping mechanism connected to the lifting mechanism pass over the obstacle. As the lifting mechanism passes over the obstacle, the auxiliary clamping mechanism clamps the surface of the pipe / cable or other obstacle.

[0026] S5: Except for the obstacle-crossing unit that is furthest from the obstacle, the remaining obstacle-crossing units repeat steps S2-S4 to cross the obstacle;

[0027] S6: When the obstacle-crossing unit furthest from the obstacle crosses the obstacle, it repeats steps S2-S3. All translation mechanisms are activated synchronously, driving the obstacle-crossing unit furthest from the obstacle to cross the obstacle, completing the inchworm-like obstacle crossing of the entire AUV crawling system on the pipe / cable.

[0028] An application of an AUV crawling system, which is used for underwater dynamic pipes / cables, above-water dynamic pipes / cables, and static pipes / cables at both ends.

[0029] In summary, the present invention has the following advantages:

[0030] 1. The AUV crawling system of the present invention is designed with multiple obstacle-crossing units, which can not only cross obstacles in an inchworm-like manner on pipes / cables, but also crawl freely on pipes / cables for inspection. It can adapt to pipes / cables in multiple scenarios and obstacles of different specifications, greatly improving inspection efficiency, stability and spatial adaptability.

[0031] 2. The AUV crawling system of the present invention, through the design of the auxiliary clamping mechanism, enables the entire AUV crawling system to remain stable during obstacle crossing, counteracts the inertial force when the fuselage is lifted, and avoids slippage during clamping.

[0032] 3. In the AUV crawling system of the present invention, the wheel group opening and closing mechanism, through the dual transmission structure composed of the first worm gear transmission assembly and the gear transmission assembly, can provide stable clamping force and clamping force to the walking wheel group and the auxiliary clamping mechanism, and can effectively counteract the robot's own weight and the dynamic disturbance forces such as water flow impact and pipe / cable swaying in the marine environment. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of an AUV crawling system crawling on a pipe / cable.

[0034] Figure 2 This is an exploded view of the fuselage and two translation mechanisms.

[0035] Figure 3 This is an exploded view of the AUV crawling system.

[0036] Figure 4 This is the first-view exploded view of the obstacle crossing unit.

[0037] Figure 5 This is the second perspective exploded view of the obstacle-crossing unit.

[0038] Figure 6 This is the third-view exploded view of the obstacle-crossing unit.

[0039] Figure 7 This is the fourth exploded view of the obstacle-crossing unit.

[0040] Figure 8 This is a 3D diagram of the wheel assembly opening and closing mechanism.

[0041] Figure 9 This is a 3D view of the lifting mechanism.

[0042] Figure 10 This is a 3D diagram of the walking wheel assembly.

[0043] Figure 11 A three-dimensional view of the auxiliary clamping mechanism.

[0044] Figure 12 This is a schematic diagram of an AUV crawling system overcoming obstacles on a pipe / cable, with the first obstacle-crossing unit crossing an obstacle.

[0045] Figure 13 This is a schematic diagram of an AUV crawling system overcoming obstacles on a pipe / cable, where the first obstacle-crossing unit has completed the obstacle crossing and the second obstacle-crossing unit is crossing the obstacle.

[0046] Figure 14 This is a schematic diagram of an AUV crawling system overcoming obstacles on a pipe / cable, where two obstacle-crossing units have already completed their crossings.

[0047] Figure 15 This is a schematic diagram of the AUV crawling system after it has successfully crossed the obstacle in the pipe / cable.

[0048] In this diagram, 1 represents the pipe / cable, 2 represents the obstacle, 3 represents the fuselage, 31 represents the first frame, 32 represents the second frame, 33 represents the hollow structure, 4 represents the translation mechanism, 41 represents the first drive motor, 42 represents the first lead screw, 43 represents the guide rod, 44 represents the moving part, 45 represents the nut, 46 represents the linear bearing, 47 represents the coupling, 5 represents the lifting mechanism, 51 represents the second drive motor, 52 represents the fixed frame, 53 represents the lifting seat, 54 represents the second lead screw, 6 represents the wheel assembly opening and closing mechanism, and 61 represents the third drive motor. 611 is the driving worm gear, 62 is the mounting bracket, 63 is the first worm wheel, 64 is the first worm gear, 65 is the first transmission gear, 66 is the helical gear, 67 is the swing frame, 68 is the drive gear, 69 is the driven gear, 7 is the walking wheel set, 71 is the fourth drive motor, 72 is the wheel body, 73 is the upper mounting plate, 74 is the lower mounting plate, 8 is the auxiliary clamping mechanism, 81 is the fifth drive motor, 82 is the second worm gear, 83 is the second worm wheel, 84 is the transmission shaft, and 85 is the clamping arm. Detailed Implementation

[0049] The present invention will now be described in further detail with reference to specific embodiments.

[0050] Example 1

[0051] like Figure 1-11 As shown, this embodiment provides an AUV crawling system, including a fuselage 3;

[0052] There are multiple translation mechanisms 4, and all of the multiple translation mechanisms 4 are installed on the fuselage 3;

[0053] There are multiple lifting mechanisms 5. Among the multiple lifting mechanisms 5, the movable end of one lifting mechanism 5 is connected to the machine body 3, and the other multiple lifting mechanisms 5 are respectively connected to the movable ends of multiple translation mechanisms 4.

[0054] There are multiple wheel group opening and closing mechanisms 6, and each of the multiple wheel group opening and closing mechanisms 6 is connected to the fixed end of a multiple lifting mechanism 5.

[0055] There are multiple sets of walking wheels 7, and each set of walking wheels 7 is connected to a multiple wheel opening and closing mechanism 6.

[0056] There are multiple auxiliary clamping mechanisms 8, and each of the multiple auxiliary clamping mechanisms 8 is connected to multiple wheel set opening and closing mechanisms 6;

[0057] Using the same wheel assembly opening and closing mechanism 6 as the obstacle crossing unit, each obstacle crossing unit, during the obstacle avoidance crawling process on the pipe / cable 1, drives the walking wheel assembly 7 and the auxiliary clamping mechanism 8 to swing, the auxiliary clamping mechanism 8 to open, the lifting mechanism 5 to adjust the height position of the wheel assembly opening and closing mechanism 6 relative to the obstacle, and the translation mechanism 4 to drive the lifting mechanism 5 to cross the obstacle.

[0058] Multiple obstacle-crossing units repeat the above actions, enabling the AUV crawling system to complete inchworm-like obstacle crossing on pipe / cable 1.

[0059] Specifically, the fuselage 3 includes a first frame 31 and a second frame 32. There are three lifting mechanisms 5, two translation mechanisms 4, three wheel assembly opening and closing mechanisms 6, six walking wheel assemblies 7, and six auxiliary clamping mechanisms 8. The lifting mechanisms 5, two walking wheel assemblies 7, and two auxiliary clamping mechanisms 8 connected to the wheel assembly opening and closing mechanisms 6 constitute an obstacle-crossing unit. In this embodiment, there are three obstacle-crossing units. The movable end (lifting seat 53) of one lifting mechanism 5 is connected to the first frame 31, and the movable ends of the other two lifting mechanisms 5 are respectively connected to the movable ends (moving parts 44) of the two translation mechanisms 4. The three wheel assembly opening and closing mechanisms 6 are respectively connected to the bottom of the fixed frame 52 of the three lifting mechanisms 5. Each wheel assembly opening and closing mechanism 6 connects two walking wheel assemblies 7 and two auxiliary clamping mechanisms 8. The two walking wheel assemblies 7 are symmetrically distributed on the wheel assembly opening and closing mechanism 6, and the two auxiliary clamping mechanisms 8 are symmetrically distributed on the wheel assembly opening and closing mechanism 6. The three obstacle-crossing units are arranged at the front, middle and rear of the fuselage 3, forming a three-section distributed clamping tube / cable 1, which always maintains at least two sets of wheel sets in a clamped state to avoid detachment; ensuring the redundancy and stability of the AUV crawling system during operation.

[0060] Each translation mechanism 4 includes a first drive motor 41, a first lead screw 42, a guide rod 43, and a moving part 44. The first lead screw 42 is rotatably connected to the machine body 3. The output shaft of the first drive motor 41 is connected to the first lead screw 42. The guide rod 43 is fixedly connected to the machine body 3. The moving part 44 is threadedly connected to the first lead screw 42 and slidably connected to the guide rod 43. The movable end of the lifting mechanism 5 is connected to the moving part 44.

[0061] Specifically, this embodiment takes two translation mechanisms 4 as an example. In the two translation mechanisms 4, the two first lead screws 42 are parallel to each other, and the two guide rods 43 are parallel to each other, and the two first lead screws 42 and the two guide rods 43 are all in the same plane; the two ends of the two first lead screws 42 are respectively rotatably connected to the first frame 31 and the second frame 32 (one end is rotatably connected to the second frame 32 through a bearing seat, and the other end is rotatably connected relative to the first frame 31). The output shaft of the first drive motor 41 passes through the first frame 31 and is connected to the first drive motor 41 through a coupling 47. The ends of the lead screw 42 are connected, allowing the first lead screw 42 to rotate relative to the first frame 31; alternatively, both ends can be rotatably connected to the first frame 31 and the second frame 32 respectively via bearing seats. The two first lead screws 42 are respectively connected to the output shafts of the two first drive motors 41 via two couplings 47. The middle part of the first frame 31 is a hollow structure 33, and the two first drive motors 41 are mounted in the hollow structure 33 of the first frame 31. The lifting mechanism 5 connected to the body 3 also passes through the hollow structure 33 of the first frame 31. The two ends of the two guide rods 43 are slidably connected to the two moving parts 44 via linear bearings 46. The moving parts 44 are flat plate structures with four through holes. Two through holes on each moving part 44 are connected to nuts 45 and linear bearings 46 respectively. One through hole is left empty to allow the first lead screw 42 to pass through, effectively avoiding interference between different moving parts and ensuring that each translation mechanism 4 can drive the moving part 44 to achieve independent linear movement along the first lead screw 42. The two guide rods 43 and the two first lead screws 42 together form a stable support and guiding structure, improving the overall resistance to deformation. By setting the translation mechanism 4 in this way, the three obstacle-crossing units can cross obstacles independently, completing the inchworm-like obstacle crossing.

[0062] The lifting mechanism 5 includes a fixed frame 52, a second drive motor 51, a second lead screw 54, and a lifting seat 53. The second lead screw 54 is rotatably connected to the fixed frame 52. The second drive motor 51 is mounted on the fixed frame 52, and the output shaft of the second drive motor 51 is connected to the second lead screw 54. The lifting seat 53 is threadedly connected to the second lead screw 54 and is connected to the movable end of the translation mechanism 4. The wheel assembly opening and closing mechanism 6 is connected to the fixed frame 52. The fixed frame 52 is fixedly connected to the mounting bracket 62 of the wheel assembly opening and closing mechanism 6, and the lifting seat 53 is fixedly connected to the moving part 44 of the translation mechanism 4. The fixed frame 52 is formed by connecting three cubic plates in sequence. The two cubic plates at both ends are perpendicular to the cubic plate in the middle. The two cubic plates at both ends face the same direction and are parallel to each other. A guide groove can be set in the cubic plate in the middle. A guide block is set on the lifting seat 53. The guide block is slidably connected to the guide groove. Through the cooperation of the guide block and the guide groove, the lifting seat 53 is restricted to move only along the axial direction of the second lead screw 54 and cannot rotate circumferentially relative to the second lead screw 54.

[0063] After the first drive motor 41 starts, the torque is transmitted to the first lead screw 42 through the coupling 47. The rotational motion of the first lead screw 42 is converted into the horizontal linear motion of the moving part 44 by the nut 45 under the limit of the linear bearing 46. At the same time, the second drive motor 51 drives the second lead screw 54 to rotate, so that the wheel set opening and closing mechanism 6 realizes the vertical lifting motion. The two work together to realize the two-dimensional translational motion of the wheel set opening and closing mechanism 6, which meets the position adjustment requirements during obstacle crossing.

[0064] The wheel assembly opening and closing mechanism 6 includes a mounting frame 62, a third drive motor 61, a first worm gear transmission assembly, a gear transmission assembly, and two swinging members. The mounting frame 62 is connected to the lifting mechanism 5. The third drive motor 61 is mounted on the mounting frame 62, and its output shaft is connected to the first worm gear transmission assembly for transmission. The first worm gear transmission assembly is rotatably connected to the mounting frame 62. There are two gear transmission assemblies, each connected to one of the two gear transmission assemblies. Both gear transmission assemblies are rotatably connected to the mounting frame 62. Both swinging members are rotatably connected to the mounting frame 62 and connected to the two gear transmission assemblies respectively. Each swinging member is connected to a walking wheel assembly 7 and an auxiliary clamping mechanism 8. Specifically, the mounting frame 62 adopts a high-strength aluminum alloy forming structure, which combines lightweight and deformation resistance. The third drive motor 61 is mounted on the top of the mounting frame 62, and its output shaft passes through the top of the mounting frame 62 and meshes with the first worm gear 63 of the first worm gear transmission assembly through the driving worm 611.

[0065] The first worm gear transmission assembly includes a first worm 64, a first worm wheel 63, and a first transmission gear 65. The first worm wheel 63 is installed in the middle of the first worm 64. There are two first transmission gears 65, which are respectively connected to the two ends of the first worm 64. The output shaft of the third drive motor 61 is connected to a driving worm 611, which meshes with the first worm wheel 63 for transmission. The two first transmission gears 65 are respectively connected to two gear transmission assemblies for transmission. It should be noted that the first worm 64 extends along the length of the mounting bracket 62.

[0066] The gear transmission assembly includes a gear shaft, a helical gear 66, and a drive gear 68. The gear shaft is rotatably connected to the mounting bracket 62. The helical gear 66 is installed in the middle of the gear shaft. There are two drive gears 68, which are installed on the gear shaft at intervals. The swing component includes a swing frame 67, a swing shaft, and driven gears 69. The two ends of the swing shaft are rotatably connected to the mounting bracket 62. There are two driven gears 69, which are installed on the swing shaft at intervals. The two drive gears 68 mesh with the two driven gears 69 respectively. The swing frame 67 is fixedly connected to the swing shaft. The traveling wheel set 7 and the auxiliary clamping mechanism 8 are both connected to the swing frame 67. It should be noted that the gear shaft extends along the width of the mounting bracket 62, and the helical gear 66 meshes with the first transmission gear 65. The helical gear 66 drives the gear shaft to rotate through the first transmission gear 65. The gear shaft drives the two drive gears 68 to rotate, the two drive gears 68 drive the two driven gears 69 to rotate, the two driven gears 69 drive the swing shaft to rotate relative to the mounting bracket 62, and the swing shaft drives the swing frame 67 to rotate relative to the mounting bracket 62.

[0067] The dual-transmission structure, consisting of a first worm gear transmission assembly and a gear transmission assembly, allows the torque to be reduced and amplified by the first worm 64 and the first worm wheel 63 before being transmitted to the outermost swing shaft via the gear transmission assembly when the motor starts. This drives the swing frame 67 to fold and open around the swing shaft at a angle of more than 90°, adapting to the clamping requirements of pipes / cables 1 with different diameters. The first worm gear transmission assembly and the gear transmission assembly work together to provide stable clamping and holding forces, effectively counteracting the robot's own weight and dynamic disturbances such as water flow impacts and pipe / cable 1 swaying in the marine environment.

[0068] The walking wheel assembly 7 includes a fourth drive motor 71 and a wheel body 72. The fourth drive motor 71 is mounted on the wheel assembly opening and closing mechanism 6, and the wheel body 72 is connected to the output shaft of the fourth drive motor 71. Specifically, the fourth drive motor 71 is an existing hub motor, located inside the swing frame 67. It is rigidly interference-fitted with the shaft of the wheel body 72 through a shrink sleeve, ensuring direct power transmission without backlash or slippage. By mounting the walking wheel body 72 inside the swing frame 67, transmission losses are reduced, and a stable and efficient driving force is provided for the AUV crawling system to crawl along the pipe / cable 1. It should be noted that the wheel 72 is mounted on the inner side of the swing frame 67 via the upper mounting plate 73 and the lower mounting plate 74. The fourth drive motor 71 is mounted on the upper mounting plate 73. The shaft of the wheel 72 is rotatably connected to the upper mounting plate 73 and the lower mounting plate 74 via bearings, or the shaft of the wheel 72 is connected to the lower mounting plate 74 via bearings. The output shaft of the fourth drive motor 71 passes through the upper mounting plate 73 and is connected to the shaft of the wheel 72, so that the wheel 72 can rotate relative to the upper mounting plate 73 and the lower mounting plate 74.

[0069] The auxiliary clamping mechanism 8 includes a clamping arm 85, a fifth drive motor 81, a second worm gear 82, a second worm wheel 83, and a transmission shaft 84. The fifth drive motor 81 is mounted on the swing frame 67, and its output shaft is connected to the second worm gear 82. The second worm wheel 83 is mounted on the transmission shaft 84, which is rotatably mounted on the swing frame 67. The second worm gear 82 and the second worm wheel 83 mesh and transmit power. The clamping arm 85 is fixedly connected to the transmission shaft 84. The fifth drive motor 81 drives the second worm gear 82 to rotate, which in turn drives the second worm wheel 83 to rotate. The second worm wheel 82 then drives the transmission shaft 84 to rotate, which in turn drives the clamping arm 85 to rotate relative to the swing frame 67.

[0070] Under normal inspection conditions, in the three obstacle-crossing units, the wheel group opening and closing mechanism 6 tightens, and the wheel body 72 and the clamping arm 85 work together to fit against the surface of the pipe / cable 1 to form a symmetrical clamping structure. The fourth drive motor 71 drives the wheel body 72 to rotate, driving the AUV crawling system to move along the pipe / cable 1 at a uniform speed and efficiently for inspection.

[0071] Example 2

[0072] like Figure 9-12 As shown, this embodiment provides a method for an AUV crawling system to complete inchworm-like obstacle crossing on a pipe / cable 1. The specific steps of the method are as follows:

[0073] S1: Before crossing the obstacle, the two translation mechanisms 4 drive the two obstacle-crossing units closest to the obstacle 2 to move towards the obstacle 2, and the first obstacle-crossing unit begins to cross the obstacle 2;

[0074] S2: The wheel assembly opening and closing mechanism 6 drives the walking wheel assembly 7 to swing, so that the distance between the walking wheel assembly 7 and the surface of the pipe / cable 1 is greater than the maximum outer diameter or maximum width of the obstacle 2 relative to the surface of the pipe / cable 1. The auxiliary clamping mechanism 8 connected to the same wheel assembly opening and closing mechanism 6 as the walking wheel assembly 7 also swings synchronously. The distance between the auxiliary clamping mechanism 8 and the surface of the pipe / cable 1 is greater than the maximum outer diameter or maximum width of the obstacle 2 relative to the surface of the pipe / cable 1. At the same time, the auxiliary clamping mechanisms 8 of the other obstacle-crossing units clamp the surface of the pipe / cable 1.

[0075] S3: The lifting mechanism 5 drives the wheel group opening and closing mechanism 6 to rise, so that the distance between the wheel group opening and closing mechanism 6 and the surface of the pipe / cable 1 is greater than the maximum outer diameter or maximum width of the obstacle 2 relative to the surface of the pipe / cable 1.

[0076] S4: The translation mechanism 4 drives the lifting mechanism 5 to pass over the obstacle 2. The wheel opening and closing mechanism 6, the walking wheel set 7 and the auxiliary clamping mechanism 8 connected to the lifting mechanism 5 pass over the obstacle 2. As the lifting mechanism 5 passes over the obstacle 2, the auxiliary clamping mechanism 8 clamps the surface of the pipe / cable 1 or the surface of other obstacles 2.

[0077] S5: Repeat steps S2-S4 to allow all obstacle-crossing units except the one furthest from obstacle 2 to cross obstacle 2;

[0078] S6: When the obstacle-crossing unit furthest from obstacle 2 crosses the obstacle, it repeats steps S2-S3. All translation mechanisms 4 are activated synchronously, driving the obstacle-crossing unit furthest from obstacle 2 to cross obstacle 2, thus completing the inchworm-like obstacle crossing of the entire AUV crawling system on the pipe / cable 1.

[0079] For example, for a bend limiter obstacle, the diameter D = 360 mm;

[0080] 1. Obstacle preparation and forward movement of the middle wheel assembly:

[0081] For ease of description, the three obstacle-crossing units are referred to as the first obstacle-crossing unit, the second obstacle-crossing unit, and the third obstacle-crossing unit. The first obstacle-crossing unit is the one closest to obstacle 2, and the third obstacle-crossing unit is the one furthest from obstacle 2. The third obstacle-crossing unit is not connected to the translation mechanism 4, but is only connected to the first frame 31 of the fuselage 3 through the lifting mechanism 5.

[0082] When the AUV crawling system is performing normal inspections along the pipe / cable 1, the distance sensor mounted on the fuselage 3 detects the forward bend limiter and automatically switches to obstacle-crossing mode. The fourth drive motor 71 stops driving, and all wheel assembly opening and closing mechanisms 6 maintain the current clamping state of the pipe / cable 1 (the walking wheels 7 of the first obstacle-crossing unit, the second obstacle-crossing unit, and the third obstacle-crossing unit are all in close contact with the surface of the pipe / cable 1). To prevent the fuselage 3 from tilting when the wheel assembly on one side of the pipe / cable 1 is lifted, the first drive motor 41 drives the first drive screw 42 to rotate. Through the cooperation of the nut 45 and the moving part 44, the second obstacle-crossing unit in the middle is pushed to move towards the first obstacle-crossing unit (taking the obstacle-crossing unit near the obstacle 2 as an example). This reduces the distance between the second obstacle-crossing unit in the middle and the first obstacle-crossing unit near the obstacle 2 to 40-20mm, forming double support for the front end of the fuselage 3 and ensuring the stability of subsequent lifting actions.

[0083] At this time, the first obstacle-crossing unit is closer to the obstacle 2, and the walking wheel set 7 of the first obstacle-crossing unit is the "walking wheel set 7 to be lifted". The walking wheel sets 7 of the second and third obstacle-crossing units, which are relatively far away, and the auxiliary clamping mechanism 8 keep the pipe / cable 1 clamped.

[0084] 2. First obstacle-crossing unit and fuselage 3 lifting:

[0085] At this time, the third drive motor 61 starts, driving the first worm gear transmission assembly to move. The first worm gear transmission assembly drives the gear transmission assembly to move. The gear transmission assembly drives the swing frame 67 to open outward to a stroke (180mm) that matches the outer diameter of the bend limiter. The fifth drive motor 81 drives the second worm 82 and the second worm wheel 83 to move. The second worm wheel 83 drives the transmission shaft 84 to rotate. The clamping arm 85 connected to the transmission shaft 84 opens to avoid interference with the bend limiter.

[0086] Subsequently, the lifting mechanisms 5 of the second and third obstacle-crossing units to be crossed are activated simultaneously. While the second and third obstacle-crossing units remain in a fixed clamping state, the corresponding lifting mechanisms 5 drive the body 3 and the first obstacle-crossing unit to be lifted as a whole, and raised vertically upward to the maximum diameter height of the bend limiter, so that the bottom of the bend limiter forms a gap that can be crossed with the surface of the pipe / cable 1. This gap is greater than the radial protrusion height of the bend limiter, leaving sufficient space for the crossing process.

[0087] During the lifting process, the clamping arms 85 of the second and third obstacle-crossing units to be crossed are tightened by the second worm gear 83 and the second worm 82, further enhancing the clamping force with the pipe / cable 1, counteracting the inertial force when the fuselage 3 is lifted, and avoiding slippage during clamping.

[0088] 3. Clamping action after the first obstacle-crossing unit crosses the obstacle:

[0089] The lifting mechanism 5 and the wheel assembly opening and closing mechanism 6 are activated. The lifting mechanism 5 drives the wheel assembly opening and closing mechanism 6 to descend, so that the walking wheel assembly 7 contacts the surface of the pipe / cable 1 or the obstacle 2. In this example, it contacts the surface of the obstacle 2. The wheel assembly opening and closing mechanism 6 moves to the corresponding farthest bend limiter (obstacle 2) protrusion position and is clamped and fixed by the two clamping arms 85 of the auxiliary clamping mechanism 8.

[0090] During this stage, the second and third obstacle-crossing units remain in a fixed clamping state, and only the obstacle-crossing units that have already crossed the obstacle move, ensuring full stability.

[0091] 4. The second obstacle-crossing unit crosses the clamping mechanism:

[0092] Similarly, the lifting mechanism 5 and wheel opening and closing mechanism 6 of the second obstacle-crossing unit are activated, driving the wheel opening and closing mechanism 6 to move to the protruding position of the corresponding intermediate bend limiter, and clamping and fixing it through the clamping arm 85.

[0093] During this stage, the first obstacle-crossing unit and the third obstacle-crossing unit remain in a fixed clamping state, and only the obstacle-crossing unit in the middle of the fuselage moves, thus ensuring stability.

[0094] 5. The third obstacle-crossing unit crosses the clamping and fuselage translation 3:

[0095] At this time, the lifting mechanism 5 and the wheel opening and closing mechanism 6 of the third obstacle crossing unit are activated simultaneously, thereby driving the wheel opening and closing mechanism 6 and the entire body 3 to move to the protruding position of the corresponding rear limit bend, and then clamping and fixing it by the clamping arm 85.

[0096] During this phase, the first and second obstacle-crossing units remain in a fixed clamping state, while only the third obstacle-crossing unit moves with the fuselage 3, ensuring sufficient stability.

[0097] Repeat steps 2-5 above, crossing each section of the bend limiter in turn, to achieve the overall crossing of the bend limiter.

[0098] Example 3

[0099] This embodiment provides an application of an AUV crawling system, which is used for the inspection of underwater dynamic pipes / cables, above-water dynamic pipes / cables, and static pipes / cables at both ends. The driving mechanism 6 drives the walking wheel set 7 to open and close with a stroke covering 100mm~200mm, adapting to pipes / cables 1 of different diameters. This solves the problems of narrow adaptability and blind spots when crossing obstacles in existing technologies.

[0100] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An AUV crawling system, characterized in that: Including the fuselage; There are multiple translation mechanisms, all of which are mounted on the fuselage; There are multiple lifting mechanisms. Among these multiple lifting mechanisms, the movable end of one lifting mechanism is connected to the machine body, and the other multiple lifting mechanisms are respectively connected to the movable ends of multiple translation mechanisms. There are multiple wheel assembly opening and closing mechanisms, and each of these mechanisms is connected to the fixed end of a multiple lifting mechanism. There are multiple sets of walking wheels, and each set of walking wheels is connected to a separate wheel opening and closing mechanism. Multiple auxiliary clamping mechanisms are provided, and each auxiliary clamping mechanism is connected to a multiple wheel set opening and closing mechanism. Using the same wheel assembly opening and closing mechanism, the walking wheel assembly, the auxiliary clamping mechanism, and the lifting mechanism as obstacle-crossing units, each obstacle-crossing unit, during the obstacle-avoiding crawling process on the pipe / cable, sequentially drives the walking wheel assembly and the auxiliary clamping mechanism to swing, the auxiliary clamping mechanism to open, the lifting mechanism to adjust the height position of the wheel assembly opening and closing mechanism relative to the obstacle, and the translation mechanism to drive the lifting mechanism to cross the obstacle. Multiple obstacle-crossing units repeat the above actions, enabling the AUV crawling system to complete inchworm-like obstacle crossing on pipes / cables.

2. The AUV crawling system according to claim 1, characterized in that: The translation mechanism includes a first drive motor, a first lead screw, a guide rod, and a moving component. The first lead screw is rotatably connected to the machine body. The output shaft of the first drive motor is connected to the first lead screw. The guide rod is fixedly connected to the machine body. The moving component is threadedly connected to the first lead screw and slidably connected to the guide rod. The movable end of the lifting mechanism is connected to the moving component.

3. The AUV crawling system according to claim 1, characterized in that: The lifting mechanism includes a fixed frame, a second drive motor, a second lead screw, and a lifting seat. The second lead screw and the fixed frame are rotatably connected. The second drive motor is mounted on the fixed frame. The output shaft of the second drive motor is connected to the second lead screw. The lifting seat is threadedly connected to the second lead screw. The lifting seat is connected to the movable end of the translation mechanism. The wheel assembly opening and closing mechanism is connected to the fixed frame.

4. The AUV crawling system according to claim 1, characterized in that: The wheel assembly opening and closing mechanism includes a mounting frame, a third drive motor, a first worm gear transmission assembly, a gear transmission assembly, and two swinging components. The mounting frame is connected to the lifting mechanism. The third drive motor is mounted on the mounting frame, and its output shaft is connected to the first worm gear transmission assembly for transmission. The first worm gear transmission assembly is rotatably connected to the mounting frame. There are two gear transmission assemblies, each connected to one of the two gear transmission assemblies. Both gear transmission assemblies are rotatably connected to the mounting frame. Both swinging components are rotatably connected to the mounting frame and connected to the two gear transmission assemblies respectively. Each swinging component is connected to a set of traveling wheels and an auxiliary clamping mechanism.

5. The AUV crawling system according to claim 4, characterized in that: The first worm gear transmission assembly includes a first worm, a first worm wheel, and a first transmission gear. The first worm wheel is installed in the middle of the first worm. There are two first transmission gears, which are respectively connected to the two ends of the first worm. The output shaft of the third drive motor is connected to a driving worm, which meshes with the first worm wheel for transmission. The two first transmission gears are respectively connected to two gear transmission assemblies for transmission.

6. The AUV crawling system according to claim 5, characterized in that: The gear transmission assembly includes a gear shaft, helical gears, and drive gears. The gear shaft is rotatably connected to the mounting bracket. The helical gears are installed in the middle of the gear shaft. There are two drive gears, which are installed at intervals on the gear shaft. The oscillating component includes an oscillating frame, an oscillating shaft, and driven gears. The two ends of the oscillating shaft are rotatably connected to the mounting bracket. There are two driven gears, which are installed at intervals on the oscillating shaft. The two drive gears mesh with the two driven gears respectively. The oscillating frame is fixedly connected to the oscillating shaft. The traveling wheel set and the auxiliary clamping mechanism are both connected to the oscillating frame.

7. The AUV crawling system according to claim 1, characterized in that: The walking wheel set includes a fourth drive motor and a wheel body. The fourth drive motor is mounted on the wheel set opening and closing mechanism, and the wheel body is connected to the output shaft of the fourth drive motor.

8. The AUV crawling system according to claim 1, characterized in that: The auxiliary clamping mechanism includes a clamping arm, a fifth drive motor, a second worm, a second worm wheel, and a transmission shaft. The fifth drive motor is mounted on the wheel set opening and closing mechanism. The output shaft of the fifth drive motor is connected to the second worm. The second worm wheel is mounted on the transmission shaft. The transmission shaft is rotatably mounted on the wheel set opening and closing mechanism. The second worm and the second worm wheel mesh and transmit power. The clamping arm is connected and fixed to the transmission shaft.

9. The AUV crawling system according to claim 1, characterized in that, The specific steps by which the AUV crawling system completes inchworm-like obstacle crossing on pipes / cables are as follows: S1: Before crossing the obstacle, two translation mechanisms drive the two obstacle-crossing units closest to the obstacle to move towards the obstacle, and the first obstacle-crossing unit begins to cross the obstacle; S2: The wheel assembly opening and closing mechanism drives the walking wheel assembly to swing, so that the distance between the walking wheel assembly and the pipe / cable surface is greater than the maximum outer diameter or maximum width of the obstacle relative to the pipe / cable surface. The auxiliary clamping mechanism connected to the same wheel assembly opening and closing mechanism as the walking wheel assembly also swings synchronously, and the distance between the auxiliary clamping mechanism and the pipe / cable surface is greater than the maximum outer diameter or maximum width of the obstacle relative to the pipe / cable surface. At the same time, the auxiliary clamping mechanisms of the other obstacle-crossing units clamp the pipe / cable surface. S3: The lifting mechanism drives the wheel assembly opening and closing mechanism to rise, so that the distance between the wheel assembly opening and closing mechanism and the pipe / cable surface is greater than the maximum outer diameter or maximum width of the obstacle relative to the pipe / cable surface. S4: The translation mechanism drives the lifting mechanism to pass over the obstacle. The wheel opening and closing mechanism, the walking wheel set and the auxiliary clamping mechanism connected to the lifting mechanism pass over the obstacle. As the lifting mechanism passes over the obstacle, the auxiliary clamping mechanism clamps the surface of the pipe / cable or other obstacle. S5: Except for the obstacle-crossing unit that is furthest from the obstacle, the remaining obstacle-crossing units repeat steps S2-S4 to cross the obstacle; S6: When the obstacle-crossing unit furthest from the obstacle crosses the obstacle, it repeats steps S2-S3. All translation mechanisms are activated synchronously, driving the obstacle-crossing unit furthest from the obstacle to cross the obstacle, completing the inchworm-like obstacle crossing of the entire AUV crawling system on the pipe / cable.

10. An application of an AUV crawling system, characterized in that: The AUV crawling system according to any one of claims 1-9 is applied to the inspection of underwater dynamic pipes / cables, above-water dynamic pipes / cables, and static pipes / cables at both ends.

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