Mooring chain cleaning and detecting robot and working method thereof

Abstract

The invention discloses a mooring chain cleaning and detecting robot and a working method thereof. The mooring chain cleaning and detecting robot comprises an upper connecting device, a lower connecting device, a detecting device, an observing device, a clamping mechanism, a guiding mechanism, a jet cleaning device, a linear driving device and a positioning device. The upper connecting device and the lower connecting device are hinged through a linear driving device and are provided with positioning devices consisting of propellers; the clamping mechanisms are symmetrically distributed on the connecting device and comprise electromagnetic locks to achieve emergency disengagement. The guide mechanism adopts a guide plate with an angle design to be matched with a staggered chain link; the jet cleaning device drives a swing rod to swing through a swing motor to expand the cleaning range; through the split type hinge structure, the self-positioning deployment mechanism, the swing type cleaning design and the emergency recovery system, the problems that in the prior art, the adaptability to the mooring chain with the complex posture is poor, the deployment risk is high, the energy consumption is large, and the emergency safety is insufficient are solved, and efficient, safe and reliable underwater self-cleaning and detection of the mooring chain can be achieved.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering equipment technology, specifically relating to a mooring chain cleaning and inspection robot and its working method, which can autonomously clean and inspect the mooring chains of marine engineering facilities such as floating production storage and offloading (FPSO), semi-submersible platforms, and floating wind power platforms. Background Technology

[0002] As global marine resource development moves towards deeper waters, the number of marine engineering facilities such as semi-submersible platforms, FPSOs, and floating wind power platforms continues to grow. Mooring chains, as key load-bearing components connecting floating structures to the seabed, serve in harsh marine environments for extended periods, enduring immense alternating loads, seawater corrosion, marine organism attachment (such as barnacles), and link wear. Their reliability directly impacts the safe and stable operation of marine engineering facilities. According to industry standards, mooring chains require regular inspection and maintenance to prevent catastrophic accidents such as platform drift and riser rupture caused by link breakage. Traditional maintenance methods primarily rely on underwater visual inspection and manual cleaning by divers, or on remotely operated vehicles (ROVs) carrying cleaning tools. These methods have significant drawbacks: divers face extremely high personal safety risks underwater, especially in splash zones; manual cleaning is inefficient, costly, and produces inconsistent cleaning quality; and ROV systems are greatly affected by ocean currents and waves, making it difficult to maintain a stable operating posture for extended periods, resulting in poor inspection accuracy and cleaning efficiency.

[0003] To address the above issues, research and development of mooring chain maintenance robots has been carried out both domestically and internationally. However, existing technical solutions still have problems: (1) Poor structural adaptability: Most existing robots adopt an integral or rigid connection structure. For example, the robot in the European MoorInspect project adopts a dual-arm climbing design and weighs over 600 kg. It is difficult to adapt to non-ideal postures such as mooring chain bending and chain link misalignment caused by ocean currents and platform displacement in actual operations. It is prone to motion obstruction and jamming. (2) High deployment and recovery risks: Most solutions require divers to manually install and deploy underwater. For example, the ICARE robot from the French company CYBERNETICSTM has a low degree of automation, long preparation time, and increased personnel safety risks in harsh sea conditions. It also lacks a rapid emergency recovery mechanism. (3) Redundancy and high energy consumption: In order to achieve comprehensive cleaning, existing solutions often stack multiple fixed cleaning nozzles, resulting in a complex, bulky, and heavy robot structure. It requires stronger driving force and significantly increases energy consumption. (4) Insufficient versatility and reliability: The RIMCAW robot jointly developed by Spain and other countries adopts worm-like movement and the arc-shaped gripper is only compatible with anchor chains of specific sizes, resulting in poor versatility; domestic solutions are mostly cleaning devices on the water surface or at anchor winches, or require ROV-assisted guidance, lacking mature products that can operate autonomously underwater and adapt to complex chain conditions.

[0004] Therefore, the development of a mooring chain cleaning and inspection robot with complex posture adaptability, autonomous deployment capability, efficient cleaning function and reliable emergency mechanism has become an urgent need in the field of marine engineering. Summary of the Invention

[0005] To address the problems of poor structural adaptability, high deployment risk, high energy consumption, and insufficient emergency safety in existing technologies, this invention provides a mooring chain cleaning and inspection robot and its working method. Through a split-type hinged structure and an angle-designed guiding mechanism, it achieves efficient adaptation to non-perpendicular, curved, and misaligned mooring chains, reducing the risk of jamming. An integrated multi-degree-of-freedom propeller enables the robot to autonomously position and deploy underwater, eliminating reliance on divers and improving operational safety. A swing-jet cleaning device design achieves comprehensive cleaning coverage with fewer cleaning components, simplifying the structure and reducing energy consumption and cost. Optimized clamping mechanism and electromagnetic lock design enable rapid emergency detachment and retrieval in case of failure, reducing rescue costs and risks. Integrated observation and detection devices enable real-time monitoring of the cleaning process and accurate detection of cleaning effects, improving operational quality and efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A mooring chain cleaning and inspection robot includes an upper connecting device (1), a lower connecting device (2), an inspection device (3), an observation device (4), a clamping mechanism (5), a guiding mechanism (6), a jet cleaning device (7), a linear drive device (8), a positioning device (9), an electronic compartment (10), a transfer compartment (11), and an umbilical cable (12). The upper connecting device (1) and the lower connecting device (2) each include a U-shaped upper clamping plate, a lower clamping plate, four propeller plates, two side connecting plates, a middle connecting plate, and two ball seats. The upper and lower clamping plates are U-shaped with an opening to facilitate the entry and exit of the mooring chain. The propeller plates are symmetrically distributed for installing propeller propellers, the side connecting plates are used to install the clamping mechanism (5), and the middle connecting plate is used to install the guiding mechanism (6).

[0008] The detection device (3) is installed on the upper connecting device (1) for observing and detecting the mooring chain after cleaning; the observation device (4) is installed on the lower connecting device (2) for observing the uncleaned mooring chain; the clamping mechanism (5) is used to fix and separate the robot from the mooring chain, and is divided into two groups, each with two pairs, which are symmetrically installed on the upper connecting device (1) and the lower connecting device (2) through the side connecting plate (14); the guiding mechanism (6) is designed with a certain angle, which can effectively reduce jamming caused by misalignment of the mooring chain links. It is highly likely that it is divided into upper and lower groups, which are installed on the upper connecting device (1) and the lower connecting device (2) through the guide connecting plate (63); there are four jet cleaning devices (7), which are evenly distributed on the lower clamping plate of the lower connecting device (2) through the cleaning connecting plate (73); the linear drive device (8) consists of two sets of electric push rods, which are hinged to the upper connecting device (1) and the lower connecting device (2) at both ends respectively; the positioning device (9) includes eight propeller thrusters, four of which are installed on the upper connecting device (1) and the lower connecting device (2);

[0009] The electronic compartment (10) and the transfer compartment (11) are equipped with a control system, a power management module, a communication module and sensors, which are used to receive surface control commands, control the coordinated operation of various components, collect operation data and feed it back to the surface; the umbilical cable (12) provides continuous power supply for the robot and realizes bidirectional communication between the underwater robot and the surface control system, ensuring the real-time and stability of command transmission and data feedback.

[0010] In a preferred embodiment of the present invention, the detection device (3) is divided into two groups, left and right. Each group includes a lighting device (31), an industrial-grade binocular camera (32), and a detection device camera bracket (33). The lighting device (31) is connected to the industrial-grade binocular camera (33) via a connecting line, and the detection device camera bracket (33) is installed on the upper plate of the upper connecting device (1) by screws.

[0011] In a preferred embodiment of the present invention, the observation device (4) is divided into three groups: left, right, and center. Each group includes a 50W LED light (41), a camera (42), and an observation device camera bracket (43). The observation device camera bracket (43) is designed with an angle so that the camera (42) can observe the attachment of marine organisms in the unwashed area in advance.

[0012] In a preferred embodiment of the present invention, the clamping mechanism (5) includes a gear-driven electric push rod (51), a clamping block (52), a clamping seat (53), a guide rod (54), a copper sleeve (55), and an electromagnetic lock (56); the gear-driven electric push rod (51) provides power for the clamping action; the clamping block (52) and the clamping seat (53) are connected by a slot, and the contact surface between the clamping block (52) and the mooring chain adopts an arc-shaped design to fit the surface contour of the mooring chain and improve the clamping stability; the side connecting plate (14) is provided with two cylindrical holes, and the guide rod (54) passes through the holes and connects with the clamping seat. (53) Connected, guided by the extension and retraction of the gear electric push rod (51), with a copper sleeve (55) inside the hole to reduce friction loss; the electromagnetic lock (56) is installed at the upper and lower ends of the clamping seat (53), and is in the energized and locked state during normal operation to ensure that the clamping mechanism (5) clamps the mooring chain; when emergency recovery is required or a failure occurs, the surface control system cuts off the power supply of the electromagnetic lock (56) through the umbilical cable (12), the electromagnetic lock (56) automatically disengages, the clamping block (52) and the clamping seat (53) can slide freely, the robot separates from the mooring chain, and it is convenient for rapid recovery.

[0013] In a preferred embodiment of the present invention, the guiding mechanism (6) includes two symmetrically distributed guide plates (61), a docking block (62), and a guiding connecting plate (63). The guide plates (61) are designed with an angle of 15-30° at both ends. When there is misalignment of the mooring chain links, the inclined guide plates (61) can guide the robot to pass smoothly and avoid interference with the chain links. The docking block (62) is used to fix the guide plates (61) and the guiding connecting plate (63) to ensure the overall structural strength of the guiding mechanism (6) and adapt to the complex underwater stress environment.

[0014] In a preferred embodiment of the present invention, the jet cleaning device (7) includes a swing arm pressure plate (70), a swing arm (71), a fixing block (72), a cleaning connecting plate (73), a motor mounting plate (74), a coupling (75), a swing motor (76), a micro compensator (77), a high-pressure nozzle (78), an adjusting rod pressure plate (79), and an adjusting rod (710); the swing arm (71) is connected to the fixing block (72) through the swing arm pressure plate (70), and the fixing block (72) is connected to the swing motor (76) through the coupling (75). The swing motor (76) is mounted on the motor mounting plate (74), and the motor mounting plate (74) is fixed to the cleaning connection plate (73). The adjusting rod (710) is connected to the swing rod (71) through the adjusting rod pressure plate (79). The high-pressure nozzle (78) is installed at the end of the adjusting rod (710). The adjusting rod (710) can extend and retract to adjust the distance between the high-pressure nozzle (78) and the mooring chain, adapting to different sizes of mooring chains. The swing motor (76) drives the swing rod (71) to swing, driving the high-pressure nozzle (78) to achieve full coverage cleaning.

[0015] In a preferred embodiment of the present invention, the electric push rod of the linear drive device (8) has a thrust of 300 kg and a stroke of 1200 mm. The hinged connection structure enables the upper connecting device (1) and the lower connecting device (2) to have multi-degree-of-freedom relative motion capability, which is suitable for mooring chains in non-vertical and curved states.

[0016] In a preferred embodiment of the present invention, the eight propellers of the positioning device (9) are symmetrically distributed, which can realize the robot's underwater attitude adjustment and autonomous positioning without the need for the assistance of divers in installation and deployment.

[0017] This invention provides a working method based on the above-mentioned mooring chain cleaning and inspection robot, comprising the following steps:

[0018] Step 1: The robot is hoisted into the water by an auxiliary crane. The eight propellers of the positioning device (9) are adjusted in attitude under the control of the water surface control system and approach the mooring chain to be cleaned.

[0019] Step 2: When the clamping mechanism (5) of the upper connecting device (1) clamps the mooring chain, the clamping mechanism (5) of the lower connecting device (2) releases, the linear drive device (8) extends, and drives the lower connecting device (2) to move along the mooring chain with the assistance of the guide mechanism (6); when the clamping mechanism (5) of the lower connecting device (2) clamps the mooring chain, the clamping mechanism (5) of the upper connecting device (1) releases, the linear drive device (8) retracts, and drives the upper connecting device (1) to move. The robot moves up and down along the mooring chain by alternating clamping-releasing-driving actions.

[0020] Step 3: The swing motor (76) of the jet cleaning device (7) drives the swing arm (71) to swing, and the high-pressure nozzle (78) sprays water to clean the mooring chain. The observation device (4) provides real-time feedback on the uncleaned area, and the detection device (3) checks the cleaning status and detects the damage to the mooring chain. The water surface operator adjusts the flow rate of the high-pressure nozzle (78) according to the feedback.

[0021] Step 4: When the operation is completed or a malfunction occurs, the surface control system cuts off the power to the electromagnetic lock (56) via the umbilical cable (12), the clamping mechanism (5) disengages from the mooring chain, and the robot is recovered by the crane or positioning device (9).

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) Strong adaptability to complex postures: The connecting device with a split hinge structure and the guide mechanism with an angle design enable the robot to flexibly adapt to non-vertical, curved and misaligned mooring chains, significantly reducing the risk of jamming and improving passability;

[0024] (2) Deployment and operation are safe and reliable: The positioning device composed of eight propellers enables autonomous underwater positioning and deployment, completely eliminating the dependence on divers. It is especially suitable for harsh sea conditions and greatly reduces personnel safety risks.

[0025] (3) High cleaning efficiency and low cost: The swing jet cleaning device achieves full coverage cleaning by swinging the swing arm. Only four high-pressure nozzles are needed to complete the cleaning task of multiple fixed nozzles in the traditional way, which simplifies the structure, reduces weight, and reduces energy consumption and manufacturing costs.

[0026] (4) Convenient emergency recovery: The clamping mechanism integrates an electromagnetic lock, which can quickly detach the robot from the mooring chain in case of power failure in an emergency. The recovery process is safe and efficient, reducing the cost and risk of fault rescue.

[0027] (5) Controllable operation quality: The observation device and the detection device work together to realize full-process visualization of pre-cleaning prediction, in-cleaning monitoring and post-cleaning detection, which makes it easy for operators to adjust operation parameters in real time and ensure the quality of cleaning and detection. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a mooring chain cleaning and inspection robot provided in an embodiment of the present invention.

[0030] Figure 2 The right side of this diagram illustrates a mooring chain cleaning and inspection robot provided in an embodiment of the present invention.

[0031] Figure 3 This is a rear view schematic diagram of a mooring chain cleaning and inspection robot provided in an embodiment of the present invention.

[0032] Figure 4 This is a schematic diagram of the structure of an upper connecting device provided in an embodiment of the present invention.

[0033] Figure 5 This is a schematic diagram of the structure of an observation device provided in an embodiment of the present invention.

[0034] Figure 6 This is a schematic diagram of the structure of a detection device provided in an embodiment of the present invention.

[0035] Figure 7 This is a schematic diagram of a clamping mechanism provided in an embodiment of the present invention.

[0036] Figure 8 This is a schematic diagram of a guiding mechanism provided in an embodiment of the present invention.

[0037] Figure 9 This is an exploded view of a jet cleaning device provided in an embodiment of the present invention.

[0038] Figure 10 This is a schematic diagram of the structure of a jet cleaning device provided in an embodiment of the present invention.

[0039] Reference numerals: 1. Upper connecting device; 2. Lower connecting device; 3. Detection device; 4. Observation device; 5. Clamping mechanism; 6. Guide mechanism; 7. Jet cleaning device; 8. Linear drive device; 9. Positioning device; 10. Electronic compartment; 11. Transfer compartment; 12. Umbilical cable; 17. Upper clamping plate; 18. Lower clamping plate; 13. Pusher plate; 14. Side connecting plate; 15. Middle connecting plate; 16. Ball seat; 31. Lighting device; 32. Industrial-grade binocular camera; 33. Detection device camera bracket; 34. LED 41. Lamp; 42. Camera; 43. Observation device; 44. Camera bracket; 51. Gear electric push rod; 52. Clamping block; 53. Clamping seat; 54. Guide rod; 55. Copper sleeve; 56. Electromagnetic lock; 61. Guide plate; 62. Connecting block; 63. Guide connecting plate; 70. Swing rod pressure plate; 71. Swing rod; 72. Fixing block; 73. Cleaning connecting plate; 74. Motor mounting plate; 75. Coupling; 76. Swing motor; 77. Miniature compensator; 78. High-pressure nozzle; 79. Adjusting rod pressure plate; 710. Adjusting rod. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The terms "upper," "lower," "front," "rear," "left," and "right," etc., used when describing the installation position or direction of the structure or components in this embodiment are based on the orientation shown in the accompanying drawings. They are merely for convenience of description, used to distinguish the relative positions of various components or directions, and do not represent the orientation of the device or functional component in this embodiment during use.

[0041] like Figures 1-10 As shown, this embodiment of the invention provides a mooring chain cleaning and inspection robot, including an upper connecting device 1, a lower connecting device 2, an inspection device 3, an observation device 4, a clamping mechanism 5, a guiding mechanism 6, a jet cleaning device 7, a linear drive device 8, a positioning device 9, an electronic compartment 10, a transfer compartment 11, and an umbilical cable 12; the various functional components work together to achieve autonomous cleaning and inspection of the mooring chain.

[0042] Specifically, the connecting device is divided into an upper connecting device 1 and a lower connecting device 2. Both have the same structure, but the orientation of some components has been adjusted according to the installation position requirements to ensure stable robot movement along the mooring chain in conjunction with the upper connecting device 1. Both the upper connecting device 1 and the lower connecting device 2 include a U-shaped upper clamping plate, a lower clamping plate, four propeller plates, two side connecting plates, a middle connecting plate, and two ball seats. The upper and lower clamping plates are U-shaped, with an opening to facilitate the entry and exit of the mooring chain. The propeller plates are symmetrically distributed for mounting propeller propellers, the side connecting plates are used to mount the clamping mechanism 5, and the middle connecting plate is used to mount the guiding mechanism 6. Figure 4 As shown, the upper connecting device 1 includes an upper clamping plate 17, a lower clamping plate 18, four propeller plates 13, two side connecting plates 14, a middle connecting plate 15, and two ball seats 16. The upper clamping plate 17 and the lower clamping plate 18 are U-shaped, with reserved openings to facilitate the entry and exit of the mooring chain. The propeller plates 13 are symmetrically distributed for installing propeller propellers. The two side connecting plates 14 are used to fix the clamping mechanism 5, and the middle connecting plate 15 is used to install the guide mechanism 6.

[0043] The detection device 3 is installed on the upper connecting device 1 and is used to observe and inspect the mooring chain after cleaning. The detection device 3 is divided into left and right groups. Each group includes an illumination device 31, an industrial-grade binocular camera 32, and a detection device camera bracket 33. The illumination device 31 is connected to the industrial-grade binocular camera 32 via a connecting cable. Finally, the detection device camera bracket 33 is installed on the upper plate of the upper connecting device 1 with screws. The illumination device 31 provides sufficient light source for the industrial-grade binocular camera 32. The binocular camera can accurately photograph the surface of the mooring chain after cleaning, detect the degree of cleaning and the presence of defects such as corrosion and wear, and transmit the image data to the surface control system via the umbilical cable 12 for accurate detection of the degree of cleaning of the mooring chain.

[0044] The observation device 4 is installed on the lower connecting device 2 and is used to observe the uncleaned mooring chain. The observation device 4 is divided into three groups: left, right, and center. Each group includes a 50W LED light 41, a camera 42, and an observation device camera bracket 43, which is installed on the lower plate of the lower connecting device 2. The observation device camera bracket 43 is designed with an angle so that the camera 42 can observe the attachment of marine organisms in the uncleaned area in advance. The surface operator adjusts the water flow speed of the high-pressure nozzle 78 of the jet cleaning device 7 according to the observation results to improve the cleaning targeting.

[0045] The clamping mechanism 5 is used to fix and separate the robot from the mooring chain. It consists of two groups, two pairs in each group, symmetrically mounted on the upper connecting device 1 and the lower connecting device 2 via side connecting plates 14. The clamping mechanism 5 includes a gear-driven electric push rod 51, a clamping block 52, a clamping seat 53, a guide rod 54, a copper sleeve 55, and an electromagnetic lock 56. The gear-driven electric push rod 51 has a thrust of 500 kg, providing power for the clamping action. The clamping block 52 and the clamping seat 53 are connected by a slot. The contact surface between the clamping block 52 and the mooring chain adopts an arc design to conform to the surface contour of the mooring chain and improve clamping stability. The side connecting plate 14 has two cylindrical holes through which the guide rod 54 passes and connects to the clamping seat 53. It extends and retracts with the gear-driven electric push rod 51 to provide guidance. The copper sleeve 55 is placed inside the holes to reduce friction loss. Electromagnetic locks 56 are installed at the upper and lower ends of the clamping base 53. During normal operation, they are in a energized and locked state to ensure that the clamping mechanism 5 clamps the mooring chain. When emergency recovery is required or a malfunction occurs, the surface control system cuts off the power to electromagnetic locks 56 through the umbilical cable 12. The electromagnetic locks automatically disengage, and the clamping block 52 can slide freely with the clamping base 53. The robot is separated from the mooring chain, which facilitates rapid recovery.

[0046] The guiding mechanism 6 assists the robot in moving smoothly along the mooring chain. It consists of two identical groups, upper and lower, which are respectively mounted on the intermediate connecting plates of the upper connecting device 1 and the lower connecting device 2 via guide connecting plates 63. The guiding mechanism 6 includes two symmetrically distributed guide plates 61, a docking block 62, and a guide connecting plate 63. The guide plates 61 are designed with an angle of 15-30° at both ends. When there is misalignment of the mooring chain links, the inclined guide plates can guide the robot to pass smoothly and avoid interference with the chain links. The docking block 62 is used to fix the guide plates 61 and the guide connecting plate 63, ensuring the overall structural strength of the guiding mechanism 6 and adapting to the complex underwater stress environment.

[0047] The cleaning and testing apparatus includes a jet cleaning device 7, an observation device 4, and a testing device 3, integrating mooring chain cleaning, cleaning process monitoring, and cleaning effect testing. There are four jet cleaning devices 7, evenly distributed on the lower clamping plate of the lower connecting device 2 via cleaning connecting plates 73. Each jet cleaning device 7 includes a swing arm pressure plate 70, a swing arm 71, a fixing block 72, a cleaning connecting plate 73, a motor mounting plate 74, a coupling 75, a swing motor 76, a micro compensator 77, a high-pressure nozzle 78, an adjusting rod pressure plate 79, and an adjusting rod 710. The swing arm 71 is connected to the fixing block 72 via the swing arm pressure plate 70. The fixing block 72 is connected to the swing motor 76 via the coupling 75. The swing motor 76 is mounted on the motor mounting plate 74, which is fixed to the cleaning connecting plate 73. The adjusting rod 710 is connected to the swing rod 71 via the adjusting rod pressure plate 79. The high-pressure nozzle 78 is installed at the end of the adjusting rod 710. The adjusting rod 710 can extend and retract to adjust the distance between the high-pressure nozzle 78 and the mooring chain, adapting to mooring chains of different sizes. The swing motor 76 drives the swing rod 71 to swing, driving the high-pressure nozzle 78 to achieve full-coverage cleaning. Compared with the fixed nozzle design, it achieves a larger cleaning range with fewer components, simplifying the structure and reducing energy consumption.

[0048] The drive and positioning mechanism includes a linear drive unit 8 and a positioning unit 9, providing the robot with the power to move and adjust its posture. The linear drive unit 8 consists of two sets of electric actuators, using industrial-grade electric actuators with a thrust of 300 kg and a stroke of 1200 mm. Both ends of the linear drive unit 8 are connected to the upper clamping plate 17 of the upper connecting device 1 and the lower clamping plate of the lower connecting device 2 via hinges. Compared with a fixed connection, the hinged connection increases the degree of freedom, allowing the upper and lower connecting devices to rotate relative to each other, adapting to the bending posture of the mooring chain, and possessing multi-degree-of-freedom relative motion capability, suitable for mooring chains in non-vertical or bent states.

[0049] The positioning device 9 consists of eight propeller thrusters, with four installed on each of the upper connecting device 1 and the lower connecting device 2, arranged symmetrically. The propeller thrusters have multi-degree-of-freedom adjustment capabilities, and can adjust the robot's underwater attitude under the control of the surface control system to achieve autonomous approach and positioning of the mooring chain without the need for diver assistance during installation.

[0050] The electronic compartment 10 and the transfer compartment 11 house a control system, power management module, communication module, and sensors. These are used to receive surface control commands, control the coordinated operation of various components, collect operational data, and feed it back to the surface. The umbilical cable 12 provides a continuous power supply to the robot and enables bidirectional communication between the underwater robot and the surface control system, ensuring the real-time performance and stability of command transmission and data feedback.

[0051] This invention also provides a working method based on the above-mentioned mooring chain cleaning and inspection robot, including the following steps:

[0052] Step 1: The robot is hoisted into the water by an auxiliary crane. The eight propellers of the positioning device 9 are adjusted in attitude under the control of the water surface control system and approach the mooring chain to be cleaned.

[0053] Step 2: When the clamping mechanism 5 of the upper connecting device 1 clamps the mooring chain, the clamping mechanism 5 of the lower connecting device 2 releases, the linear drive device 8 extends, and drives the lower connecting device 2 to move along the mooring chain with the assistance of the guide mechanism 6; when the clamping mechanism 5 of the lower connecting device 2 clamps the mooring chain, the clamping mechanism 5 of the upper connecting device 1 releases, the linear drive device 8 retracts, and drives the upper connecting device 1 to move. The robot moves up and down along the mooring chain by alternating clamping-releasing-driving actions.

[0054] Step 3: The swing motor 76 of the jet cleaning device 7 drives the swing arm 71 to swing, and the high-pressure nozzle 78 sprays water to clean the mooring chain. The observation device 4 provides real-time feedback on the uncleaned areas, and the detection device 3 checks the cleaning status and detects the damage to the mooring chain. The water surface operator adjusts the flow rate of the high-pressure nozzle 78 according to the feedback.

[0055] Step 4: When the operation is completed or a malfunction occurs, the surface control system cuts off the power to the electromagnetic lock 56 via the umbilical cable 12, the clamping mechanism 5 disengages from the mooring chain, and the robot is recovered with the assistance of the crane or positioning device 9.

[0056] Step 2 specifically includes: 1. The upper connecting device 1 maintains a relative position with the mooring chain through the clamping mechanism 5, and the lower connecting device 2 maintains a relative position with the mooring chain through the clamping mechanism 5. When the clamping mechanism 5 installed on the upper connecting device 1 clamps with the mooring chain, the clamping mechanism 5 installed on the lower connecting device 2 releases from the mooring chain, and the two sets of linear drive devices 8 extend, driving the lower connecting device 2 to move downward along the mooring chain with the assistance of the guide mechanism 6.

[0057] When the clamping mechanism 5 mounted on the lower connecting device 2 clamps with the mooring chain, the clamping mechanism 5 mounted on the lower connecting device 1 releases from the mooring chain, and the two sets of linear drive devices 8 retract, driving the upper connecting device 1 to move downward along the mooring chain with the assistance of the guide mechanism 6. By alternately controlling the clamping and releasing states of the clamping mechanisms 5 on the upper connecting device 1 and the lower connecting device 2, and adjusting the extension and retraction of the linear drive devices 8 accordingly, the precise downward and upward movement of the entire device along the mooring chain can be achieved.

[0058] An electromagnetic lock 56 is installed on the clamping mechanism 5. After the cleaning operation is completed or when the robot needs to be retrieved in an emergency, the operator on the water surface can cut off the power to the electromagnetic lock 56 in an emergency. The electromagnetic lock 56 will automatically disengage, allowing the clamping block 52 and the clamping seat 53 to slide freely. At this time, the robot can be retrieved.

[0059] This invention improves the cleaning efficiency of the anchor chain and the robot's underwater flexibility by designing the guide mechanism at a certain angle and hinged the drive device to the connecting device, making it adaptable to mooring chains in non-vertical postures. It can also achieve autonomous underwater positioning through eight propellers, eliminating the need for workers to install the robot onto the mooring chain underwater, thus improving safety.

[0060] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mooring chain cleaning and inspection robot, characterized in that, It includes an upper connecting device (1), a lower connecting device (2), a detection device (3), an observation device (4), a clamping mechanism (5), a guiding mechanism (6), a jet cleaning device (7), a linear drive device (8), a positioning device (9), an electronic compartment (10), a transfer compartment (11), and an umbilical cable (12); the upper connecting device (1) and the lower connecting device (2) each include a U-shaped upper clamping plate, a lower clamping plate, four propeller plates, two side connecting plates, a middle connecting plate, and two ball seats; the upper clamping plate and the lower clamping plate are U-shaped, with an opening to facilitate the entry and exit of the mooring chain; the propeller plates are symmetrically distributed for installing propeller propellers, the side connecting plates are used to install the clamping mechanism (5), and the middle connecting plate is used to install the guiding mechanism (6); The detection device (3) is installed on the upper connecting device (1) for observing and detecting the mooring chain after cleaning; the observation device (4) is installed on the lower connecting device (2) for observing the uncleaned mooring chain; the clamping mechanism (5) is used to fix and separate the robot from the mooring chain, and is divided into two groups, each with two pairs, which are symmetrically installed on the upper connecting device (1) and the lower connecting device (2) through the side connecting plate (14); the guiding mechanism (6) is designed with a certain angle, which can effectively reduce jamming caused by misalignment of the mooring chain links. It is highly likely that it is divided into upper and lower groups, which are installed on the upper connecting device (1) and the lower connecting device (2) through the guide connecting plate (63); there are four jet cleaning devices (7), which are evenly distributed on the lower clamping plate of the lower connecting device (2) through the cleaning connecting plate (73); the linear drive device (8) consists of two sets of electric push rods, which are hinged to the upper connecting device (1) and the lower connecting device (2) at both ends respectively; the positioning device (9) includes eight propeller thrusters, four of which are installed on the upper connecting device (1) and the lower connecting device (2); The electronic compartment (10) and the transfer compartment (11) are equipped with a control system, a power management module, a communication module and sensors, which are used to receive surface control commands, control the coordinated operation of various components, collect operation data and feed it back to the surface; the umbilical cable (12) provides continuous power supply for the robot and realizes bidirectional communication between the underwater robot and the surface control system, ensuring the real-time and stability of command transmission and data feedback.

2. The mooring chain cleaning and inspection robot according to claim 1, characterized in that, The detection device (3) is divided into two groups, left and right. Each group includes a lighting device (31), an industrial-grade binocular camera (32), and a detection device camera bracket (33). The lighting device (31) is connected to the industrial-grade binocular camera (33) via a connecting cable. The detection device camera bracket (33) is installed on the upper plate of the upper connecting device (1) by screws.

3. The mooring chain cleaning and inspection robot according to claim 2, characterized in that, The observation device (4) is divided into three groups: left, right, and center. Each group includes a 50W LED light (41), a camera (42), and an observation device camera bracket (43). The observation device camera bracket (43) has an angle design so that the camera (42) can observe the attachment of marine organisms in the unwashed area in advance.

4. The mooring chain cleaning and inspection robot according to claim 3, characterized in that, The clamping mechanism (5) includes a gear-driven electric push rod (51), a clamping block (52), a clamping seat (53), a guide rod (54), a copper sleeve (55), and an electromagnetic lock (56). The gear-driven electric push rod (51) provides power for the clamping action. The clamping block (52) and the clamping seat (53) are connected by a slot. The contact surface between the clamping block (52) and the mooring chain adopts an arc design to fit the surface contour of the mooring chain and improve the clamping stability. The side connecting plate (14) is provided with two cylindrical holes. The guide rod (54) passes through the holes and connects with the clamping seat (53). The guide is achieved by the extension and retraction of the gear electric push rod (51), and the copper sleeve (55) is built into the hole to reduce friction loss; the electromagnetic lock (56) is installed at the upper and lower ends of the clamping seat (53), and is in the energized and locked state during normal operation to ensure that the clamping mechanism (5) clamps the mooring chain; when emergency recovery is required or a failure occurs, the surface control system cuts off the power supply of the electromagnetic lock (56) through the umbilical cable (12), the electromagnetic lock (56) automatically disengages, the clamping block (52) and the clamping seat (53) can slide freely, the robot separates from the mooring chain, and it is convenient for rapid recovery.

5. The mooring chain cleaning and inspection robot according to claim 4, characterized in that, The guiding mechanism (6) includes two symmetrically distributed guide plates (61), a docking block (62), and a guiding connecting plate (63). The guide plates (61) are designed with an angle of 15-30° at both ends. When there is misalignment of the mooring chain links, the inclined guide plates (61) can guide the robot to pass smoothly and avoid interference with the chain links. The docking block (62) is used to fix the guide plates (61) and the guiding connecting plate (63) to ensure the overall structural strength of the guiding mechanism (6) and adapt to the complex underwater stress environment.

6. The mooring chain cleaning and inspection robot according to claim 5, characterized in that, The jet cleaning device (7) includes a swing arm pressure plate (70), a swing arm (71), a fixed block (72), a cleaning connection plate (73), a motor mounting plate (74), a coupling (75), a swing motor (76), a micro compensator (77), a high-pressure nozzle (78), an adjusting rod pressure plate (79), and an adjusting rod (710); the swing arm (71) is connected to the fixed block (72) through the swing arm pressure plate (70), and the fixed block (72) is connected to the swing motor (76) through the coupling (75). The motor (76) is mounted on the motor mounting plate (74), and the motor mounting plate (74) is fixed to the cleaning connection plate (73); the adjusting rod (710) is connected to the swing rod (71) through the adjusting rod pressure plate (79), and the high-pressure nozzle (78) is installed at the end of the adjusting rod (710). The adjusting rod (710) can extend and retract to adjust the distance between the high-pressure nozzle (78) and the mooring chain to adapt to different sizes of mooring chains; the swing motor (76) drives the swing rod (71) to swing, thereby driving the high-pressure nozzle (78) to achieve full coverage cleaning.

7. The mooring chain cleaning and inspection robot according to claim 6, characterized in that, The electric push rod of the linear drive device (8) has a thrust of 300 kg and a stroke of 1200 mm. The hinged connection structure enables the upper connecting device (1) and the lower connecting device (2) to have multi-degree-of-freedom relative motion capability, which is suitable for mooring chains in non-vertical and curved states.

8. The mooring chain cleaning and inspection robot according to claim 7, characterized in that, The eight propellers of the positioning device (9) are symmetrically distributed, which can realize the robot's underwater attitude adjustment and autonomous positioning without the need for divers to assist in installation and deployment.

9. A working method for the mooring chain cleaning and inspection robot according to claim 8, characterized in that, Includes the following steps: Step 1: The robot is hoisted into the water by an auxiliary crane. The eight propellers of the positioning device (9) are adjusted in attitude under the control of the water surface control system and approach the mooring chain to be cleaned. Step 2: When the clamping mechanism (5) of the upper connecting device (1) clamps the mooring chain, the clamping mechanism (5) of the lower connecting device (2) releases, the linear drive device (8) extends, and drives the lower connecting device (2) to move along the mooring chain with the assistance of the guide mechanism (6); when the clamping mechanism (5) of the lower connecting device (2) clamps the mooring chain, the clamping mechanism (5) of the upper connecting device (1) releases, the linear drive device (8) retracts, and drives the upper connecting device (1) to move. The robot moves up and down along the mooring chain by alternating clamping-releasing-driving actions. Step 3: The swing motor (76) of the jet cleaning device (7) drives the swing arm (71) to swing, and the high-pressure nozzle (78) sprays water to clean the mooring chain. The observation device (4) provides real-time feedback on the uncleaned area, and the detection device (3) checks the cleaning status and detects the damage to the mooring chain. The water surface operator adjusts the flow rate of the high-pressure nozzle (78) according to the feedback. Step 4: When the operation is completed or a malfunction occurs, the surface control system cuts off the power to the electromagnetic lock (56) via the umbilical cable (12), the clamping mechanism (5) disengages from the mooring chain, and the robot is recovered by the crane or positioning device (9).

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