A flexible robot system for underwater narrow space detection

Abstract

A flexible robot system for underwater narrow space detection is characterized in that it includes a rigid multi-joint robot, a flexible robot, an underwater camera and a control system, wherein the rigid multi-joint robot, the soft robot and the underwater camera are connected in series in sequence. The flexible robot is composed of several flexible motion units connected in series. Each flexible motion unit adopts a hollow flexible skeleton and a pneumatic artificial muscle flexible driver to realize flexible movement in space with multiple degrees of freedom, and send the underwater camera through a narrow space to be detected underwater. At the place, the use of pneumatic artificial muscle drive avoids the problem of underwater sealing of the drive, and the robot works reliably and has a compact structure. The robot control system can adopt interactive control, program interface control and automatic control. The control system senses the end pose of the robot and the contact force between the robot and the underwater structure in real time, combined with the structure and driving flexibility of the flexible robot, it can ensure the smooth advance and retreat of the flexible robot from a narrow space without causing damage to the flexible robot or It hinders the operation of underwater facilities, is safe and reliable to use, and solves the problem of detection in narrow underwater spaces.

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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