Floating type wind power platform anchor chain clamping and stabilizing mechanism and detection robot

Abstract

The utility model provides a floating type wind power platform anchor chain clamping and stabilizing structure and a detection robot. The floating type wind power platform anchor chain clamping and stabilizing structure comprises a clamping and stabilizing device, a visual detection system, a buoyancy adjusting system, a hoisting hook, a control and operation system, a driving wheel and an external frame. The clamping stabilizing device, the buoyancy adjusting system, the hoisting hook, the control operation system and the driving wheel are all installed on the outer frame. The driving system is connected with a sliding block in the clamping and stabilizing device through a driving wheel, and it is ensured that the robot can stably move along the anchor chain. The control operation system is located in the control cabin and connected with the outer frame so as to achieve accurate control over the whole robot. The outer frame is not only used for fixing the robot to the anchor chain, but also optimizes the layout of all the components, so that the overall structure of the robot is compact and efficient, and the stability and reliability of the robot during task execution in a complex marine environment are guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of machinery, and in particular to a robot for inspecting anchor chains on floating wind power platforms. Background Technology

[0002] Wind energy is a renewable natural resource, widely used due to its green and low-carbon characteristics. Studies have found that offshore wind energy is easier to develop than onshore wind energy. To make fuller use of wind energy, humans have constructed floating offshore wind power platforms. The stability of floating wind power platforms on the sea surface is mainly maintained by a mooring system, which typically consists of a dozen or so anchor chains. A safety malfunction could cause significant losses, making anchor chain inspection crucial. However, currently, anchor chain inspection is primarily performed by divers or underwater rovers (ROVs). Diving operations are high-risk, demanding, inefficient, and costly; ROV operations are costly and difficult to operate. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this utility model designs a floating wind power platform anchor chain clamping and stabilizing mechanism and a detection robot, which can automatically detect the position of the anchor chain, thereby replacing the traditional underwater detection method for detecting the anchor chain condition.

[0004] The floating wind power platform anchor chain clamping and stabilizing mechanism designed in this utility model includes a drive wheel and a clamping and stabilizing mechanism, with the anchor chain placed between two oppositely arranged drive wheels. The clamping and stabilizing mechanism includes a lead screw, a lead screw nut, a slide groove, and a slider. The slider is set in the slide groove, with an inner spring and an outer spring connected to its left and right ends, respectively. The lead screw nut is connected to one end of one of the springs. The lead screw extends from the outside of the slide groove into the inside and engages with the lead screw nut. The axle of the drive wheel is fixedly connected to the slider.

[0005] Based on the same inventive concept, this utility model also designs a floating wind power platform anchor chain inspection robot, including a clamping and stabilizing mechanism, a frame, a vision inspection system, and a control and control operating system for the drive wheel and the vision inspection system; the clamping and stabilizing mechanism is set inside the openable frame, in pairs, with multiple sets arranged from top to bottom; the drive wheel is connected to the driver; the detection end of the vision inspection system faces the anchor chain.

[0006] Furthermore, the visual inspection system includes a sleeve and an underwater lighting lamp, an underwater camera, a water immersion probe, and an underwater ultrasonic thickness gauge installed inside the sleeve, the sleeve being mounted on a frame.

[0007] Furthermore, it also includes a buoyancy adjustment system installed on the frame.

[0008] Furthermore, the control operating system includes a power module, a communication module, and a drive module located in the control cabin. The power module and the drive module are both connected to the drive wheel motor, and the communication module is connected to the vision inspection system.

[0009] Furthermore, the same anchor chain is clamped by two sets of clamping and stabilizing mechanisms, and the clamping and stabilizing mechanisms of the upper and lower adjacent layers are at a 90° angle in the horizontal direction.

[0010] Preferably, four layers of clamping and stabilizing mechanisms are provided from top to bottom, which enables the robot structure to clamp the anchor chain better.

[0011] Furthermore, the frame is composed of an upper frame and a lower frame, and the upper frame and the lower frame are connected by a ball joint.

[0012] Furthermore, an internal gear ring is provided on the inner side of the drive wheel rim and meshes with a secondary planetary gear. The secondary planetary gear also meshes with a sun gear. A frameless torque motor is installed inside the drive wheel and is fixed at a position that coincides with the drive wheel axis by a gear shaft and bearings.

[0013] Furthermore, the closable frame is formed by three fixed surfaces and one surface that opens and closes via a hinge.

[0014] The advantages of this solution are:

[0015] The clamping and stabilizing mechanism, in conjunction with the drive wheels, effectively ensures that the robot does not detach or slip during its movement up and down along the anchor chain, maintaining stable attachment to the chain. The drive system, connected to the slider in the clamping and stabilizing device via the drive wheels, ensures smooth movement of the robot along the anchor chain. The control operating system, located in the control cabin and connected to the external frame, enables precise control of the entire robot. Operators can remotely control the robot's movement and view real-time footage. The robot can autonomously detect the anchor chain's position using an observation and detection system, effectively replacing traditional manual inspection methods. This improves the efficiency of anchor chain inspection while significantly reducing the accident rate and inspection costs in underwater operations. The external frame not only secures the robot to the anchor chain but also optimizes the layout of the components, resulting in a compact and efficient overall structure that ensures stability and reliability when performing tasks in complex marine environments. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the clamping and stabilizing mechanism.

[0018] Figure 3A schematic diagram of the clamping process of the anchor chain by combining the clamping stabilizing mechanism and the drive wheel.

[0019] Figure 4 This is a schematic diagram of the sleeve in a vision inspection system.

[0020] Figure 5 Another schematic diagram of the sleeve for a vision inspection system.

[0021] Figure 6 This is a schematic diagram of a buoyancy adjustment system.

[0022] Figure 7 This is a schematic diagram of the control cabin structure.

[0023] Figure 8 This is a schematic diagram of the drive wheels of the drive system.

[0024] Figure 9 This is a schematic diagram of the external framework.

[0025] Figure 10 This is an electrical schematic diagram.

[0026] Figure 11 This is the external wiring diagram for the PLC.

[0027] Figure 12 This is a ladder diagram for a PLC.

[0028] In the diagram: 1. Clamping and stabilizing mechanism; 2. Vision inspection system; 3. Buoyancy adjustment system; 4. Hook; 5. Control operating system; 6. Drive wheel; 7. Frame; 1-1. Lead screw; 1-2. Lead screw nut; 1-3. Slide groove; 1-4. Outer spring; 1-5. Slider; 1-6. Inner spring; 2-1. Sleeve; 2-2. Underwater lighting; 2-3. Underwater camera; 2-4. Immersion probe; 2-5. Underwater ultrasonic thickness gauge; 3-1. Buoyancy material Materials; 5-1, Control Cabin; 5-1-1, Power Module; 5-1-2, Communication Module; 5-1-3, Drive Module; 5-1-4, Cabin Door; 6-1, Rubber Ring; 6-2, Internal Gear Ring; 6-3, Second-Stage Planetary Gear; 6-4, Gear Shaft; 6-5, Frameless Torque Motor; 6-6, Planetary Gear Carrier; 6-7, Bearing; 7-1, Front Frame; 7-2, Sub-Frame; 7-3, Torsion Frame; 7-4, Rear Frame; 7-5, Connecting Device. Detailed Implementation

[0029] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0030] Example 1

[0031] This embodiment discloses a floating wind power platform anchor chain clamping and stabilizing mechanism, including a drive wheel 6 and a clamping and stabilizing mechanism 1. The anchor chain is placed between two oppositely arranged drive wheels 6. The clamping and stabilizing mechanism 1 includes a lead screw 1-1, a lead screw nut 1-2, a slide groove 1-3, and a slider 1-5. The slider 1-5 is set in the slide groove 1-3, and its left and right ends are respectively connected to an inner spring 1-6 and an outer spring 1-4. The lead screw nut 1-2 is connected to one of the spring ends. The lead screw 1-1 extends from the outside of the slide groove 1-3 into the inside and cooperates with the lead screw nut 1-2. The axle of the drive wheel 6 is fixedly connected to the slider 1-5. In the clamping and stabilizing mechanism 1, the lead screw 1-1 controls the lead screw nut 1-2 to move inward, generating displacement. This causes the outer spring 1-4 to deform accordingly, resulting in the displacement of the slider 1-5. Simultaneously, the inner spring 1-6 is forced to deform to resist the elastic force of the outer spring. When reaching the link gap, the drive wheel 6 is subjected to the inward elastic force of the outer spring 1-4, causing it to move continuously inward. Eventually, the elastic force of the inner spring 1-6 becomes greater than that of the outer spring 1-4, causing the drive wheel 6 to move outward. This process is repeated continuously, with the drive wheel 6 reciprocating with the slider, the amplitude decreasing until a balance is reached. A portion of the lead screw 1-1, the lead screw nut 1-2, the outer spring 1-4, the slider 1-5, and the inner spring 1-6 are all confined within the groove 1-3.

[0032] Example 2

[0033] Based on the same inventive concept, this utility model also discloses a detection robot utilizing the anchor chain clamping and stabilizing mechanism of the floating wind power platform described in Embodiment 1, including a clamping and stabilizing mechanism 1, a vision inspection system 2, a buoyancy adjustment system 3, a hook 4, a control operating system 5, a drive wheel 6, and an external frame 7. The clamping and stabilizing mechanism 1, the vision inspection system 2, the buoyancy adjustment system 3, the hook 4, the control operating system 5, and the drive wheel 6 are all mounted on the external frame 7. The drive wheel 6 is fixed to the frame via a gear shaft and a connecting slider 1-5 in the clamping and stabilizing mechanism 1. The clamping and stabilizing mechanism is as described in Embodiment 1 and will not be repeated here.

[0034] The visual inspection system 2 consists of an underwater lighting lamp 2-2, an underwater camera 2-3, a water immersion probe 2-4, and an underwater ultrasonic thickness gauge 2-5. Before fixing the equipment, the equipment is first placed in the sleeve 2-1 and then fixed with bolts, which plays a role in protecting and fixing each piece of equipment.

[0035] The buoyancy adjustment system 3 uses polystyrene as the buoyancy material and is attached to the frame 7 via pin connections. The overall structural design facilitates installation, disassembly, and the fixing of other components. In this example, to ensure the compactness of the robot's overall structure, the vision inspection system 2 and the buoyancy adjustment system 3 should be installed together. Therefore, to prevent visual obstruction of the vision inspection system 2, the buoyancy adjustment system 3 has a hollow structure for fixing the vision inspection system 2 and ensuring the normal operation of its related functions. The sleeve 2-1 is characterized by being fixed to the frame 7 via pin connections, with a portion located on the hollow end face of the buoyancy adjustment system 3.

[0036] The control operating system 5 comprises a power module 5-1-1, a communication module 5-1-2, and a drive module 5-1-3, all housed within the control compartment 5-1, which is enclosed by a door 5-1-4. It utilizes a Mitsubishi Q-series PLC, specifically the Q173DSCPU. The control compartment 5-1 is constructed of 6061 aluminum alloy and features a single-door cabinet design. The door 5-1-4 uses threaded connections and is sealed with sealant to prevent leakage. The power module 5-1-1 is the R61P, compatible with Mitsubishi Q-series PLCs. The ETH-Q module is selected as the PLC's communication module 5-1-2. The drive module 5-1-3 uses a Mitsubishi Q-series PLC, specifically the Q173DSCPU. The ETH-Q is an economical Ethernet communication processor capable of supporting Ethernet communication with various Mitsubishi Q-series PLCs, including general-purpose and high-performance CPUs. It allows for PLC upload / download, monitoring, and communication with a host computer via the network port. This module comes with two serial ports, one for connecting to the PLC and the other for connecting to a touchscreen. On-site, data acquisition and real-time monitoring of the PLC can be performed simultaneously via the touchscreen. Table 1 shows the PLC ladder diagram statement list:

[0037]

[0038] Table 1

[0039] The inspection task is performed when the robot descends, and the retrieval task is performed when it ascends. During the inspection task, the drive module 5-1-3 controls the frameless torque motor 6-5 in the drive wheel 6 to rotate forward, and the robot descends. During this process, the thickness data of the anchor chain can be obtained through the ultrasonic thickness gauge 2-5 in the sleeve 2-1 and the water immersion probe 2-4. By comparing it with the original data, the degree of chemical corrosion of the anchor chain can be determined. During the retrieval task, the drive module 5-1-3 controls the frameless torque motor 6-5 in the drive wheel 6 to rotate in reverse, and the robot ascends. When returning to the initial position, the umbilical cable needs to be manually tied to the hook 4 and the clamping stabilizing mechanism 1 needs to be released. Then, the robot is transferred to the mother ship by a crane. The drive module 5-1-3 can control the forward and reverse mounting of the motor 6-5 in the robot's drive wheel 6 to achieve up and down movement. The speed can be adjusted by controlling the reducer in the drive wheel 6. The real-time images captured by the underwater camera 2-3 of the vision inspection system 2 can be viewed through the communication module 5-1-2.

[0040] A rubber ring 6-1 is added to the outer side of the rim of the drive wheel 6, and an internal gear ring 6-2 is installed on the inner side of the rim. A sun gear is installed on the axle of the drive wheel 6, and a second-stage planetary gear 6-3 meshes between the sun gear and the internal gear ring 6-2. Multiple second-stage planetary gears 6-3 are provided and supported by the fixed shaft of the planetary gear carrier 6-6. A frameless torque motor 6-5 is installed inside the drive wheel 6 and is fixed in a position that coincides with the axis by the gear shaft 6-4 and the bearing 6-7. At the same time, the slider 1-5 in the clamping and stabilizing mechanism 1 cooperates with the gear shaft 6-4, so that the clamping and stabilizing mechanism 1 clamps the drive wheel 6 onto the anchor chain by applying an appropriate clamping force, thereby ensuring that the robot does not detach or slip during the up and down movement along the anchor chain and is stably attached to the anchor chain.

[0041] The second-stage planetary gear 6-3, along with its meshing sun gear and internal gear ring 6-2, consists of two sets: a high-speed stage and a low-speed stage. They are connected and fixed via bearings and a retaining ring. Each stage contains three planetary gears 6-3 and one sun gear. The sun gear and planetary gears 6-3 have the same tooth width and are fully meshed. The center distance between the sun gear and each planetary gear 6-3 is equal, and the angle between the lines connecting the center distances of any two adjacent planetary gears 6-3 and the sun gear is 120 degrees. This means the three planetary gears 6-3 are arranged in a uniform ring. The planetary gears 6-3 do not mesh with each other, but they all mesh with the internal gear ring 6-2.

[0042] The external frame 7 structure, designed to accommodate the robot's adaptation to the anchor chain, is divided into two layers to accommodate excessive length. These are referred to as the upper frame and the lower frame. Both the upper and lower frames are extendable along their length, as shown in the attached diagram. Figure 9As shown. The two frames are connected by a connecting device 7-5, which is a ball joint connector. The core of this connector is a spherical head and a matching recessed ball socket. The ball head is installed at the top four corners of the lower frame, and the ball socket is installed at the bottom four corners of the upper frame. The upper and lower frames are connected by the matching of the ball head and the ball socket and the fixing with bolts. The ball head can rotate within the ball socket to obtain multi-directional flexibility, and it can also absorb a certain amount of vibration and impact, facilitating maintenance.

[0043] The frame 7 structure mainly consists of a rectangular frame structure composed of a front frame 7-1, a sub-frame 7-2, a torsion frame 7-3, and a rear frame 7-4. The torsion frame 7-3 is connected to one of the frames via hinges, enabling opening and closing. The four frames are fixed together by connectors and bolts. This connection method is simple and ensures the relative independence of each frame. If any frame malfunctions, it can be disassembled and replaced individually, and the disassembly process is relatively easy. Among the four frames, the front frame 7-1 is adjacent to and connected to the sub-frame 7-2 and the torsion frame 7-3, and is opposite to and connected to the rear frame 7-4. In this embodiment, frame 7 is made of 6061 aluminum alloy. The upper half of the front frame 7-1 of the upper frame is equipped with two sets of clamping and stabilizing mechanisms 1 and drive wheels 6, which are installed and fixed in a symmetrical manner. The lower half is equipped with a combination of buoyancy adjustment system 3 and vision inspection system 2. The buoyancy adjustment system 3 is attached to the frame surface by pin connection. The sleeve 2-1 of vision inspection system 2 is fixed to the crossbeam on the frame by pin connection, and is partially located at the end face of the hollow part of buoyancy adjustment system 3. The structure of the front frame 7-1 of the lower frame is the same as that of the upper frame. The upper half of the sub-frame 7-2 of the upper frame is attached to the frame surface by pin connection of buoyancy adjustment system 3, and the control cabin 5-1 is attached to the surface of buoyancy adjustment system 3 by pin connection. The lower half is equipped with two sets of clamping and stabilizing mechanisms 1 and drive wheels 6, which are installed and fixed in a symmetrical manner. The structure of the sub-frame 7-2 of the lower frame is almost the same as that of the upper frame, but its upper half is a combination of buoyancy adjustment system 3 and vision inspection system 2. The torsion frame 7-3 can be opened to mount the robot onto the anchor chain and, in conjunction with the clamping and stabilizing mechanism 1, achieve stable attachment to the anchor chain. The component installation distribution on it is the same as that of the sub-frame 7-2, the only difference being that the upper half of the upper frame does not have a control compartment 5-1.

[0044] The robot's inspection of anchor chains needs to follow this workflow: pre-operation inspection, crane placement, installation and clamping, operational testing, retrieval, and post-operation inspection. These six steps are explained in detail below.

[0045] 1. Pre-operation inspection

[0046] Check whether the assembly of each component of the robot meets the working and environmental requirements, and whether each device of the robot can work normally, such as whether the drive wheel 6 can rotate normally, whether the lighting device 2-2 in the sleeve 2-1 can open and close normally, and whether the camera 2-3 and the detection probe 2-4 can be used normally, etc.

[0047] 2. Crane placement

[0048] Connect the robot's hook 4 to the crane using an umbilical cable. Manually operate the crane to lift the robot, placing it in a suspended state. At this point, tension the anchor chain to be tested and bring the robot close to it.

[0049] 3. Install clamps

[0050] After the robot approaches the anchor chain to be inspected via the crane, it opens the torsion frame 7-3 and, in conjunction with the crane, allows the robot to "hug" the anchor chain, meaning the robot's frame structure 7 completely encloses the anchor chain. Once the robot is fully attached to the anchor chain, the crane operator adjusts the robot's position. At this point, the screw nut 1-2 is tightened, causing the outer spring 1-4 to deform and generate an inward elastic force. This force causes the slider 1-5 to move inward, thus causing the drive wheel 6 connected to the slider 1-5 to press tightly against the anchor chain. Due to the symmetrical installation, the two sets of drive wheels 6 can generate opposing clamping forces on the anchor chain. After confirming the clamping, the umbilical cable is removed. This process ensures that the robot can stably attach to the anchor chain. In the clamping and stabilizing mechanism 1, the screw 1-1 controls the screw nut 1-2 to move inward, which in turn causes the outer spring 1-4 to deform, and the slider 1-5 to begin to displace. Simultaneously, it forces the inner spring 1-6 to also deform, resisting the elastic force of the outer spring. When there is a gap in the chain link, the drive wheel 6 is continuously moved inward by the elastic force of the outer spring 1-4. Eventually, the elastic force of the inner spring 1-6 is greater than that of the outer spring 1-4, and the drive wheel 6 begins to move outward. This process is repeated continuously. The drive wheel 6 will reciprocate with the slider 1-5, and the amplitude will decrease until it reaches a balance state, so that the robot is attached to the anchor chain and does not slip or detach. The spring reciprocating mode described in this process can flexibly adapt to changes in the thickness of the anchor chain. For example, when encountering an anchor chain that has thickened due to environmental reasons, the drive wheel 6 moves outward under the reverse force of the anchor chain, causing the slider 1-5 to also move outward. This causes the outer spring 1-4 to deform and generate an inward elastic force, while simultaneously forcing the inner spring 1-6 to deform and resist the elastic force of the outer spring. During this process, the drive wheel 6 will reciprocate with the slider 1-5, with the amplitude decreasing until it reaches an equilibrium state. In this state, the drive wheel 6 can clamp the anchor chain. Without the spring reciprocating mode, the drive wheel 6 will not be able to clamp the anchor chain according to its actual condition, which will cause the robot to slip or detach and fail to attach stably to the anchor chain.

[0051] 4. Operational testing

[0052] The robot's forward and reverse rotation is controlled by the drive module 5-1-3 in the control operating system 5, which controls the frameless torque motor 6-5 in the drive wheel 6. This allows the robot to move freely up or down along the anchor chain according to instructions, or adjust its forward speed by controlling the reducer in the drive wheel 6. The vision inspection system 2 takes pictures and records the inspection through the hole in front of the sleeve 2-1. The underwater lighting 2-2 is always on. The ultrasonic thickness gauge 2-5 detects the condition of the anchor chain through the water immersion probe 2-4 and monitors the thinning degree caused by corrosion during use by using ultrasonic pulse reflection. The control cabin 5-1 contains the power module 5-1-1, the communication module 5-1-2, and the drive module 5-1-3, which provide strong support for the intelligent control of the robot. During underwater operations, the robot uses the buoyancy adjustment system 3 to cancel out gravity and buoyancy, increasing its stability. Through the vision inspection system 2, the robot can observe and record the damage on the surface of the anchor chain. The inspection task is only performed when the robot is descending; during the ascent, only the retrieval task is performed. During the inspection task, the drive module 5-1-3 controls the frameless torque motor 6-5 in the drive wheel 6 to rotate forward, causing the robot to descend. During this process, the thickness data of the anchor chain can be obtained through the ultrasonic thickness gauge 2-5 in the sleeve 2-1 and the water immersion probe 2-4. By comparing this data with the original data, the degree of chemical corrosion of the anchor chain can be determined. During the retrieval task, the drive module 5-1-3 controls the frameless torque motor 6-5 in the drive wheel 6 to rotate in reverse, causing the robot to ascend. When the inspection task is completed, the control operating system 5 controls the robot to ascend and return to the initial position.

[0053] 5. Recycling

[0054] When the robot returns to its initial position after completing a round of inspection, the umbilical cable needs to be manually attached to the hook 4 and the clamping stabilizing mechanism 1 needs to be released. Then, the robot is transferred to the mother ship by a crane.

[0055] 6. Post-work inspection

[0056] After the robot is recovered, all its components need to be cleaned promptly to prevent impurities and floating debris from the ocean from becoming entangled and damaging the mechanical structure. At the same time, all detection equipment should be checked to ensure it is functioning properly, preparing for the next operation.

[0057] By adopting the aforementioned technical solution, the beneficial effects of this utility model are as follows: This floating wind power platform anchor chain inspection robot, through the cooperation of various systems, can automatically detect the position of the anchor chain, thereby improving the efficiency of anchor chain inspection, effectively reducing the accident rate of underwater operations, and reducing inspection costs.

[0058] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A floating wind power platform anchor chain clamping and stabilizing mechanism, characterized in that: The device includes a drive wheel (6) and a clamping and stabilizing mechanism (1), with the anchor chain positioned between two opposing drive wheels (6). The clamping and stabilizing mechanism (1) includes a lead screw (1-1), a lead screw nut (1-2), a slide groove (1-3), and a slider (1-5). The slider (1-5) is located within the slide groove (1-3), with its left and right ends connected to an inner spring (1-6) and an outer spring (1-4), respectively. The lead screw nut (1-2) is connected to one end of one of the springs. The lead screw (1-1) extends from outside the slide groove (1-3) into the interior and engages with the lead screw nut (1-2). The motor shaft of the drive wheel (6) is fixedly connected to the slider (1-5).

2. A floating wind power platform anchor chain inspection robot, characterized in that: The device includes several clamping and stabilizing mechanisms as described in claim 1, and also includes a frame (7), a vision inspection system (2), and a control operating system (5) for controlling the operation of the drive wheel and communication; the clamping and stabilizing mechanisms (1) are arranged inside the openable frame (7), in pairs, and multiple sets are arranged from top to bottom; the drive wheel (6) is connected to the control operating system; the detection end of the vision inspection system (2) faces the anchor chain.

3. The floating wind power platform anchor chain inspection robot according to claim 2, characterized in that: The visual inspection system (2) includes a sleeve (2-1) and an underwater lighting lamp (2-2), an underwater camera (2-3), a water immersion probe (2-4), and an underwater ultrasonic thickness gauge (2-5) installed inside the sleeve. The sleeve (2-1) is mounted on the frame (7).

4. The floating wind power platform anchor chain inspection robot according to claim 2, characterized in that: It also includes a buoyancy adjustment system (3) installed on the frame (7).

5. The floating wind power platform anchor chain inspection robot according to claim 2, characterized in that: The control operating system (5) includes a power module (5-1-1), a communication module (5-1-2), and a drive module (5-1-3) installed in the control cabin (5-1). The power module (5-1-1) and the drive module (5-1-3) are both connected to the drive wheel motor, and the communication module (5-1-2) is connected to the vision inspection system (2).

6. The floating wind power platform anchor chain inspection robot according to claim 2, characterized in that: The same anchor chain uses two sets of clamping and stabilizing mechanisms (1), and the clamping and stabilizing mechanisms of the upper and lower adjacent layers are at a 90° angle in the horizontal direction.

7. The floating wind power platform anchor chain inspection robot according to claim 6, characterized in that: From top to bottom, there are four layers of clamping and stabilizing mechanisms (1).

8. The floating wind power platform anchor chain inspection robot according to claim 2, characterized in that: The frame consists of an upper frame and a lower frame, which are connected by a ball joint.

9. The floating wind power platform anchor chain inspection robot according to claim 2, characterized in that: The drive wheel (6) has an internal gear ring (6-2) on the inner side of its rim and meshes with a second-stage planetary gear (6-3). The second-stage planetary gear (6-3) also meshes with a sun gear. The drive wheel (6) has a frameless torque motor (6-5) installed inside and is fixed at a position that coincides with the axis of the drive wheel by a gear shaft (6-4) and a bearing (6-7).

10. The floating wind power platform anchor chain inspection robot according to claim 2, characterized in that: The openable frame (7) is formed by three fixed surfaces and one surface that is opened and closed by a hinge.

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