Underwater narrow space detection orientated flexible robot system

Abstract

The invention discloses an underwater narrow space detection orientated flexible robot system. The system is characterized by comprising a rigidity multi-joint robot, a flexible robot, an underwater camera and a control system; the rigidity multi-joint robot, the flexible robot and the underwater camera are connected in series sequentially, the flexible robot is formed by series-connection of multiple flexible motion units, each flexible motion unit adopts a hollow flexible framework and a pneumatic manual muscle flexible driver, and multi-freedom-degree space flexible motion is achieved. Theunderwater camera penetrates the narrow space and then is delivered to an underwater position to be detected, the pneumatic manual muscle flexible drive manner is adopted to avoid the problem about the driver underwater seal, the robot is reliable in work and compact in structure, the robot control system can adopt interaction control, program interface control and automatic control manners, the control system can perceive the robot tail end pose and robot and underwater structure contact force, in combination with the structure and drive flexibility of a flexible robot, smooth advancing and retreating of the flexible robot from the narrow space is ensured, the damage to the flexible robot is avoided, operation of an underwater facility is not obstructed, use is safe and reliable, and thedetection problem of the underwater narrow space is solved.

Description

technical field [0001] The invention belongs to the field of flexible robots, and in particular relates to a flexible robot system for underwater narrow space detection. Background technique [0002] Ship locks are important hubs for water transport. With the high-frequency operation of ship locks, emergency support work, especially efficient detection methods for underwater facilities, has become an important guarantee for the safe operation of ship locks. The underwater operating facilities of the ship lock mainly include valves and gate facilities, etc. The underwater testing facilities of the valve include the main track of the valve, the main roller and the water stop, and the underwater testing facilities of the gate include the bottom pivot and the water stop. The structure of the underwater space of the valve It is more complicated, usually located about 10 meters below the water surface, and has a large range of motion in the depth direction, so the detection range...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to design a flexible robot system for underwater narrow space detection to facilitate the underwater narrow space of the ship lock, aiming at the problem of inaccurate detection or large safety hazards caused by the lack of ideal equipment in the existing underwater narrow space detection. Inspection of facilities in space, or inspection of underwater facilities in other industries (such as water conservancy, ships, etc.)

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