Pile-embracing type pile leg cleaning robot

Abstract

The utility model belongs to the technical field of cleaning robots, and discloses a pile-embracing type pile leg cleaning robot which comprises a main frame, a tensioning device, a locking device, a high-definition underwater camera assembly, a rotary driving assembly and a spraying assembly. The main frame is composed of a main body welding frame, a gear, a mounting plate and a lifting lug, the main frame is divided into three sections, and every two sections are connected through a self-made pin shaft; the tensioning device is mounted on the mounting plate through a pin shaft, the locking device is also mounted on the mounting plate through a pin shaft, the high-definition underwater camera assemblies are mounted on each 1 / 3 section of the main frame, and at least three groups of robots are arranged; the adaptability of the robot is improved, the robot can be suitable for pile legs with different diameters and shapes, it is ensured that the robot can be stably attached to the pile legs in various working environments, it is ensured that the spraying assembly can cover the whole outer surfaces of the pile legs, and all-directional cleaning is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of cleaning robots, especially to a pile-holding type pile leg cleaning robot. BACKGROUND

[0002] With the development of ocean engineering, the pile legs of offshore platforms are exposed to seawater for a long time, which are easily affected by seawater corrosion, biological attachment and the like, resulting in damage to the surface of the pile legs and performance degradation. The traditional pile leg cleaning method mainly relies on manual divers to perform underwater operations, which has the problems of low work efficiency, high labor intensity, high safety risk and the like. In addition, manual cleaning is difficult to achieve comprehensive and fine cleaning effect, especially in complex underwater environment, the cleaning quality is difficult to guarantee.

[0003] In recent years, with the development of robot technology, underwater cleaning robots have gradually become an effective means to replace manual cleaning. However, the existing underwater cleaning robots still have some deficiencies in design and function, for example:

[0004] ①The applicable pipe diameter range is small, which is not conducive to robot multi-platform and multi-pipe diameter operation. ②Adopting cleaning and polishing blocks, which are easy to wear and cannot work for a long time. ③Without configuring a high-definition camera, the cleaning condition cannot be observed remotely. ④Mechanical locking, which needs manual adjustment when encountering variable diameter pipes or joints, and has low work efficiency. UTILITY MODEL CONTENTS

[0005] The main purpose of the utility model is to provide a pile-holding type pile leg cleaning robot, which aims to solve the technical problems of small applicable pipe diameter range, which is not conducive to robot multi-platform and multi-pipe diameter operation. Adopting cleaning and polishing blocks, which are easy to wear and cannot work for a long time. Without configuring a high-definition camera, the cleaning condition cannot be observed remotely.

[0006] In order to achieve the above-mentioned utility model purpose, the utility model discloses a pile-holding type pile leg cleaning robot in the first aspect, which comprises a main frame, a tensioning device, a locking device, a high-definition underwater camera assembly, a rotary drive assembly and a jetting assembly.

[0007] The main frame is composed of a main body welded frame, a gear, a mounting plate and a lifting lug, and the main frame is divided into three sections, each two sections are connected by a self-made pin shaft to form an integral structure.

[0008] The tensioning device is installed on the mounting plate through a pin shaft, and the locking device is also installed on the mounting plate through a pin shaft,

[0009] The high-definition underwater camera assembly is installed on each 1 / 3 section of the main frame, and the robot is configured with at least three groups for omnidirectional observation of the cleaning condition of the outer wall of the pile leg.

[0010] The rotating drive assembly is arranged below the main frame, and the spraying assembly is arranged below the rotating drive assembly.

[0011] Further, the tensioning device includes a nylon roller, a roller clamping device, and an electric cylinder, one end of the electric cylinder is connected to the mounting plate through a pin shaft, and the other end is connected to the tensioning device through a pin shaft, for realizing tensioning and loosening operation, so that the robot can hold or release the pile leg.

[0012] Further, the locking device includes a nylon roller, a roller clamping device, and a locking connecting rod, the nylon roller is rotatably connected to the roller clamping device, and the locking connecting rod is connected to the roller clamping device through a rotating shaft, the locking connecting rod is provided in a structure with adjustable length manually, and is suitable for fixed-diameter pile leg working environment.

[0013] Further, the high-definition underwater camera assembly includes a high-definition camera, a halogen lamp, and a mounting seat, the high-definition camera and the halogen lamp are fixedly installed on the mounting seat.

[0014] Further, the robot is provided with at least three groups of high-definition underwater camera assemblies for realizing all-around observation of the cleaning condition of the outer wall of the pile leg.

[0015] Further, the rotating drive assembly includes a motor, a motor mounting seat, a POD, and a tensioning wheel, the rotating drive assembly is installed below the main frame through the tensioning wheel, the tensioning wheel is fixedly installed on both sides of the motor mounting seat, the POD is fixedly installed on one side of the motor mounting seat, and the motor is fixedly installed on the motor mounting seat, and the gear of the motor mounting seat is engaged with the gear of the main frame, so that the rotating drive assembly can be driven to rotate 360 degrees around the pile leg.

[0016] Further, the spraying assembly includes a spray head, a range finder, an electric cylinder, and a spraying assembly mounting seat, the spraying assembly is installed below the rotating drive assembly, and the spray head, the range finder, and the electric cylinder are arranged on the spraying assembly mounting seat.

[0017] Further, the distance between the spray head and the surface of the pile leg is measured by the range finder, and the distance between the spray head and the pile leg is adjusted by the electric cylinder, so as to optimize the cleaning effect.

[0018] Further, the robot can selectively use the tensioning device or the locking device, or use both, according to the change of the outer diameter of the pile leg, for adapting to different working conditions.

[0019] Further, the rotating drive assembly and the spraying assembly fix the robot on the pile leg by electric control or manual mode, and prepare for cleaning operation.

[0020] Beneficial effects:

[0021] The pile-holding type pile leg cleaning robot of the utility model has the beneficial effects deduced based on the above technical content.

[0022] 1、 the utility model discloses a robot is equipped with the locking device and locking device, can according to the different selective use or combined use of pile leg diameter, greatly improve the adaptability of robot, can be applicable to different diameter and shape's pile leg, can be used for cleaning the pile leg of pipe diameter 800-2000mm. The locking device is automatically regulated through electric cylinder, and the locking device is manually regulated the length of locking connecting rod, ensures that the robot can stably adhere on the pile leg under various operating environments. Rotating drive assembly is driven by motor, so that the robot can rotate around the pile leg 360 degrees, ensures that the spray assembly can cover the whole outer surface of the pile leg, realizes all -round cleaning. The spray assembly is equipped with a spray head and a range finder, and the distance between the spray head and the surface of the pile leg is automatically adjusted by the electric cylinder, so that the spray distance is always within the optimum range, and the cleaning effect is improved.

[0023] 2、 the utility model discloses a robot at least configures three groups of high-definition underwater camera assemblies, is installed respectively on every 1 / 3 section of main frame, can observe the cleaning condition of the outer wall of pile leg from different angles, ensures the transparency and controllability of cleaning process. The combination of high-definition camera and halogen lamp provides clear visual feedback, can ensure the definition of image even under low light conditions, facilitates the real-time monitoring of the cleaning process of operating personnel, can remotely check the working condition of the robot, and is applicable to water surface and underwater, and the operating environment is multiple. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a kind of pile-holding type pile leg cleaning robot perspective of an embodiment of the utility model;

[0025] Figure 2 It is a kind of pile-holding type pile leg cleaning robot front view of an embodiment of the utility model;

[0026] Figure 3 It is a kind of pile-holding type pile leg cleaning robot plan view of an embodiment of the utility model;

[0027] Figure 4 It is a kind of pile-holding type pile leg cleaning robot 1 / 3 main frame diagram of an embodiment of the utility model;

[0028] Figure 5 It is a kind of pile-holding type pile leg cleaning robot tensioning device diagram of an embodiment of the utility model;

[0029] Figure 6 It is a kind of pile-holding type pile leg cleaning robot locking device diagram of an embodiment of the utility model;

[0030] Figure 7It is a kind of pile leg cleaning robot high-definition underwater camera assembly chart of the utility model one embodiment;

[0031] Figure 8 It is a kind of pile leg cleaning robot rotating drive assembly chart of the utility model one embodiment;

[0032] Figure 9 It is a kind of pile leg cleaning robot injection assembly chart of the utility model one embodiment.

[0033] Wherein:

[0034] 1-main frame;2-tensioning device;3-locking device;4-high-definition underwater camera assembly;5-rotating drive assembly;6-injection assembly;7-main body welded frame;8-gear;9-mounting plate;10-lifting lug;11-nylon roller;12-roller clamping device;13-first electric cylinder;14-locking connecting rod;15-high-definition camera;16-halogen lamp;17-mounting seat;18-motor;19-motor mounting seat;20-POD;21-tensioning wheel;22-sprinkler;23-range finder;24-second electric cylinder;25-injection assembly mounting seat;26-self-made pin shaft.

[0035] The utility model discloses the realization, functional characteristics and advantages will be further described with reference to the drawings in conjunction with embodiment. DETAILED DESCRIPTION

[0036] It should be understood that the specific embodiments described herein merely serve to explain the present utility model, and are not intended to limit the present utility model.

[0037] In the description of the utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and are not intended to indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0038] In the description of the utility model, it is necessary to explain, unless there is definite stipulation and limitation, the term "installation", "connection" should be broad sense understanding, for example, it can be fixed connection, also can be detachable connection, or integrally connected, it can be mechanical connection, it can be direct connection, also can be indirect connection through intermediate medium, it can be two element internal communication or two element interaction relation. For ordinary skilled person in the art, the specific meaning of the above-mentioned term in the utility model can be understood according to specific circumstances.

[0039] In the utility model, unless there is definite stipulation and limitation, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0040] Reference Figures 1-9 An embodiment of the utility model provides a kind of hug pile type pile leg cleaning robot, including main frame 1, tensioning device 2, locking device 3, high-definition underwater camera assembly 4, rotary drive assembly 5 and injection assembly 6;

[0041] The main frame 1 is composed of main body welded frame 7, gear 8, mounting plate 9 and lifting lug 10, the main frame 1 is divided into three sections, and each two sections are connected by self-made pin shaft 26, forming a whole structure.

[0042] The tensioning device 2 is installed on the mounting plate 9 by the pin shaft, and the locking device 3 is also installed on the mounting plate 9 by the pin shaft,

[0043] The high-definition underwater camera assembly 4 is installed on each 1 / 3 section of main frame 1, and the robot is at least configured with three groups, for all-round observation of the cleaning condition of the outer wall of pile leg;

[0044] The rotary drive assembly 5 is arranged below the main frame 1, and the injection assembly 6 is installed below the rotary drive assembly 5.

[0045] In the embodiment, the main frame 1 is composed of main body welded frame 7, gear 8, mounting plate 9 and lifting lug 10. In order to facilitate transportation and installation, the main frame 1 is designed in the form of three sections, and each two sections are connected by self-made pin shaft 26, to ensure the stability and flexibility of the structure.

[0046] The tension device 2 or the locking device 3 is installed on each 1 / 3 section of the main frame 1 according to the designed position. The high-definition underwater camera assembly 4 is installed on the corresponding section of the main frame 1. The assembled main frame 1 section is hoisted to the target pile leg using lifting equipment and temporarily fixed with ropes. The sections of the main frame 1 are connected into a complete robot structure through self-made pin shafts 26. Finally, the rotary drive assembly 5 and the jetting assembly 6 are installed. The final fixing of the robot is completed through electric control or manual operation to ensure that it is stably attached to the pile leg, and then the cleaning operation can begin.

[0047] Optionally, the tension device 2 includes a nylon roller 11, a roller clamping device 12, and a first electric cylinder 13. One end of the first electric cylinder 13 is connected to the mounting plate 9 through a pin shaft, and the other end is connected to the tension device 2 through a pin shaft, which is used to realize tensioning and loosening operations, so that the robot can tightly hold or release the pile leg. The locking device 3 includes a nylon roller 11, a roller clamping device 12, and a locking link 14. The nylon roller 11 is rotatably connected to the roller clamping device 12, and the locking link 14 is connected to the roller clamping device 12 through a rotating shaft. The locking link 14 is designed to be manually adjustable in length and suitable for fixing pile legs in a specific diameter range.

[0048] It should be noted that the tension device 2 includes a nylon roller 11, a roller clamping device 12, and a first electric cylinder 13. The first electric cylinder 13 adjusts the pressure of the tension device 2 on the pile leg through extension and retraction, thereby realizing the adaptability of the robot to pile legs of different diameters. The locking device 3 adopts a manually adjustable locking link 14 design, which is suitable for fixing pile legs within a specific diameter range. The locking device 3 also includes a nylon roller 11 and a roller clamping device 12, which ensures good contact with the pile leg.

[0049] The high-definition underwater camera assembly 4 includes a high-definition camera 15, a halogen lamp 16, and a mounting seat 17. The high-definition camera 15 and the halogen lamp 16 are fixedly installed on the mounting seat 17. The robot is equipped with at least three groups of high-definition underwater camera assemblies 4 for realizing omnidirectional observation of the cleaning condition of the outer wall of the pile leg.

[0050] The high-definition underwater camera assembly 4 is composed of a high-definition camera 15, a halogen lamp 16, and a mounting seat 17, which aims to provide clear visual feedback for the operator to monitor the cleaning process. The robot is equipped with at least three such assemblies, which are evenly distributed on the three 1 / 3 sections of the main frame 1, ensuring that the cleaning condition of the outer wall of the pile leg can be observed from different angles.

[0051] Optionally, the rotating drive assembly 5 includes a motor 18, a motor mounting seat 19, a POD 20, and a tensioning wheel 21. The rotating drive assembly 5 is installed below the main frame 1 through the tensioning wheel 21, which is fixedly installed on both sides of the motor mounting seat 19. The POD 20 is fixedly installed on one side of the motor mounting seat 19. The motor 18 is fixedly installed on the motor mounting seat 19. The gear of the motor 18 is engaged with the gear 8 of the main frame 1, which can drive the rotating drive assembly 5 to rotate 360 degrees around the pile leg. The rotating drive assembly 5 is composed of the motor 18, the motor mounting seat 19, the POD 20, and the tensioning wheel 21. The motor 18 is engaged with the gear 8 on the main frame 1 through its gear, which drives the entire robot to make a 360-degree rotational movement around the pile leg, ensuring that the spraying assembly 6 can cover all the outer surfaces of the pile leg.

[0052] The spraying assembly 6 includes a spray head 22, a range finder 23, a second electric cylinder 24, and a spraying assembly mounting seat 25. The spraying assembly 6 is installed below the rotating drive assembly 5. The spray head 22 and the range finder 23 are arranged on the spraying assembly mounting seat 25 together with the second electric cylinder 24. The distance between the spray head 22 and the surface of the pile leg is measured by the range finder 23, and the distance between the spray head 22 and the pile leg is adjusted by the second electric cylinder 24 to optimize the cleaning effect. The spraying assembly 6 is installed below the rotating drive assembly 5 and mainly consists of the spray head 22, the range finder 23, the second electric cylinder 24, and the spraying assembly mounting seat 25. The spray head 22 is used for spraying cleaning medium, while the range finder 23 is responsible for measuring the distance between the spray head 22 and the surface of the pile leg. The second electric cylinder 24 adjusts this distance to achieve the best cleaning effect.

[0053] The robot can selectively use the tensioning device 2 or the locking device 3, or both, according to the change of the outer diameter of the pile leg, for adapting to different working conditions. The rotating drive assembly 5 and the spraying assembly 6 are fixed on the pile leg by electric control or manual operation, preparing for cleaning work.

[0054] It should be noted that the robot design is flexible, which can be automatically adjusted by the tensioning device 2 or manually fixed by the locking device 3, or even both, to adapt to pile legs of different diameters and shapes. The rotating drive assembly 5 and the spraying assembly 6 can be fixed on the pile leg by an electric control system or manual operation, preparing for actual cleaning work.

[0055] The main body welding frame 7 is made of high-strength stainless steel material, with good corrosion resistance and mechanical strength. The main body welding frame 7 is rectangular or circular, with internal reinforcing ribs to enhance structural stability. Each 1 / 3 section has precise positioning holes to ensure alignment and tightness when connecting. The gear 8 is made of high-hardness alloy steel, with good wear resistance and fatigue resistance. The mounting plate 9 is made of aluminum alloy material, light and corrosion-resistant. The mounting plate 9 has multiple mounting holes for fixing the tensioning device 2, locking device 3 and high-definition underwater camera assembly 4. The lifting lug 10 is made of high-strength carbon steel material, with surface rust prevention treatment. The lifting lug 10 is installed at the top and bottom of the main frame 1, facilitating hoisting and moving with lifting equipment. The nylon roller 11 is made of high-molecular nylon material, with good wear resistance and self-lubrication. The roller has bearings inside to ensure smooth rolling. The roller clamping device 12 is made of stainless steel material, corrosion-resistant and high-strength. The clamping device is fixed on the mounting plate 9 by bolts, which can adjust the position of the roller to ensure tight contact with the pile leg. The first electric cylinder 13 is an electric push rod with large thrust and long stroke. The first electric cylinder 13 is precisely controlled by an electric control system, which can adjust the tensioning force according to the needs, ensuring that the robot can adhere stably on pile legs of different diameters. The locking link 14 is made of high-strength stainless steel material, with surface plating treatment to increase wear resistance and corrosion resistance. The high-definition camera 15 is a high-resolution underwater camera with waterproof and dustproof functions. The halogen lamp 16 is a high-brightness halogen lamp with good waterproof performance. The mounting seat 17 is made of stainless steel material, corrosion-resistant and high-strength. The motor 18 is a DC motor with large torque and low noise characteristics. The POD 20 is a power output device that transmits power from the motor 18 to the rotary drive assembly 5. The range finder 23 is an ultrasonic range finder with good waterproof performance. The second electric cylinder 24 is an electric push rod with large thrust and long stroke.

[0056] Description: The tensioning device 2 and the locking device 3 are installed on each 1 / 3 segment of the main frame 1, and then the high-definition underwater camera assembly 4 is installed in the corresponding position. The main frame 1 segment is hoisted onto the pile leg using lifting equipment and temporarily fixed with a rope. The segments of the main frame 1 are connected into a whole structure through the self-made pin shaft 26. The rotary drive assembly 5 and the jetting assembly 6 are installed, and the robot is fixed on the pile leg by electric control or manual mode. The first electric cylinder 13 adjusts the pressure of the tensioning device 2 on the pile leg through the telescopic action, so that the nylon roller 11 is tightly attached to the surface of the pile leg, ensuring the stable adhesion of the robot on the pile leg. The length of the locking connecting rod 14 is manually adjusted, so that the nylon roller 11 is fixed on the pile leg, which is suitable for pile legs of specific diameters. The tensioning device 2 and the locking device 3 can be used alone or in combination to adapt to pile legs of different diameters and shapes. The robot is equipped with three sets of high-definition underwater camera assemblies 4, which are installed on each 1 / 3 segment of the main frame 1. Each assembly includes a high-definition camera 15 and a halogen lamp 16 for providing clear visual feedback underwater. The operator can monitor the cleaning condition of the outer wall of the pile leg in real time through the camera, ensuring the effectiveness and safety of the cleaning work. The motor 18 is engaged with the gear 8 on the main frame 1 through its gear, driving the whole robot to make 360-degree rotary motion around the pile leg. The tensioning wheel 21 on the motor mounting seat 19 and the POD 20 ensure the stability and reliability of the rotary motion. The rotary drive assembly 5 enables the jetting assembly 6 to cover the entire outer surface of the pile leg, achieving omnidirectional cleaning. The jetting assembly 6 is installed below the rotary drive assembly 5 and includes a spray head 22, a range finder 23, a second electric cylinder 24, and a jetting assembly mounting seat 25. The spray head 22 is used to spray high-pressure water flow or other cleaning medium to remove dirt and biological attachments on the surface of the pile leg. The range finder 23 measures the distance between the spray head 22 and the surface of the pile leg in real time, and automatically adjusts the position of the spray head 22 through the second electric cylinder 24, ensuring that the spraying distance always remains within the optimal range, thereby improving the cleaning effect.

[0057] The above description is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A hug pile type pile leg cleaning robot, characterized by, The utility model relates to a kind of robots for cleaning the outer wall of the leg of offshore platform, including main frame (1), tensioning device (2), locking device (3), high-definition underwater camera assembly (4), rotary drive assembly (5) and jetting assembly (6); The main frame (1) is composed of a main body welded frame (7), a gear (8), a mounting plate (9) and a lifting lug (10). The main frame (1) is divided into three sections, and each two sections are connected by a self-made pin shaft (26) to form an integral structure. The tensioning device (2) is installed on the mounting plate (9) by a pin shaft, and the locking device (3) is also installed on the mounting plate (9) by a pin shaft. The high-definition underwater camera assembly (4) is installed on each 1 / 3 section of the main frame (1). The robot is equipped with at least three sets, which are used for observing the cleaning condition of the outer wall of the leg in all directions. The rotary drive assembly (5) is arranged below the main frame (1), and the jetting assembly (6) is installed below the rotary drive assembly (5).

2. The embrace-pile type pile leg cleaning robot according to claim 1, characterized in that, The tensioning device (2) includes a nylon roller (11), a roller clamping device (12) and a first electric cylinder (13). One end of the first electric cylinder (13) is connected to the mounting plate (9) by a pin shaft, and the other end is connected to the tensioning device (2) by a pin shaft, which is used for tensioning and loosening operation.

3. The embrace-pile type pile leg cleaning robot according to claim 1, characterized in that, The locking device (3) includes a nylon roller (11), a roller clamping device (12) and a locking connecting rod (14). The nylon roller (11) is rotatably connected to the roller clamping device (12), and the locking connecting rod (14) is connected to the roller clamping device (12) by a rotating shaft.

4. The embrace-pile type pile leg cleaning robot according to claim 1, characterized in that, The high-definition underwater camera assembly (4) includes a high-definition camera (15), a halogen lamp (16) and a mounting seat (17). The high-definition camera (15) and the halogen lamp (16) are fixedly installed on the mounting seat (17), respectively.

5. The embrace-pile type pile leg cleaning robot according to claim 4, characterized in that, The robot is equipped with at least three sets of high-definition underwater camera assemblies (4), which are used for observing the cleaning condition of the outer wall of the leg in all directions.

6. The embrace-pile type pile leg cleaning robot according to claim 1, characterized in that, The rotary drive assembly (5) includes a motor (18), a motor mounting seat (19), a POD (20) and a tensioning wheel (21). The rotary drive assembly (5) is installed below the main frame (1) by the tensioning wheel (21). The tensioning wheel (21) is fixedly installed on both sides of the motor mounting seat (19). The POD (20) is fixedly installed on one side of the motor mounting seat (19). The motor (18) is fixedly installed on the motor mounting seat (19). The gear of the motor (18) is engaged with the gear of the main frame (1), which can drive the rotary drive assembly (5) to rotate 360 degrees around the leg.

7. The embrace-pile type pile leg cleaning robot according to claim 1, characterized in that, The jetting assembly (6) includes a spray head (22), a range finder (23), a second electric cylinder (24) and a jetting assembly mounting seat (25). The jetting assembly (6) is installed below the rotary drive assembly (5). The spray head (22), the range finder (23) and the second electric cylinder (24) are arranged on the jetting assembly mounting seat (25).

8. The embrace pile type pile leg cleaning robot according to claim 7, characterized in that, The distance between the spray head (22) and the surface of the leg is measured by the range finder (23), and the distance between the spray head (22) and the leg is adjusted by the second electric cylinder (24) to optimize the cleaning effect.

9. The embrace-pile type pile leg cleaning robot according to claim 1, characterized in that, The robot can selectively use the tensioning device (2) or the locking device (3) or both in combination according to the change of the outer diameter of the pile leg for adapting to different working conditions.

10. The embrace-pile type pile leg cleaning robot according to claim 1, characterized in that, The rotating drive assembly (5) and the spraying assembly (6) fix the robot on the pile leg by electric control or manual mode.

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