Underwater outer circular pipe cleaning and detecting robot

Abstract

The invention discloses an underwater outer circular pipe cleaning and detecting robot, which comprises a chassis, a propeller propulsion system, a center of gravity adjusting mechanism, a cleaning system, a manipulator, a light communication system and an operation detecting tool. The chassis is located below the robot, and is used for providing a stable operation platform to support and drive the robot to crawl; The propeller propulsion system is fixed on the upper part of the chassis for driving the robot to suspend; The center of gravity adjusting mechanism is located below the chassis foradjusting the center of gravity position of the robot. The cleaning system is fixed under the front part of the chassis and is used for underwater cleaning. The manipulator is fixed on the front partof the robot chassis and used for grasping the operation detection tool. Light communication system is used to provide lighting, camera and external communication functions. At that same time, the invention has the function of cleaning and detection, has flexible operation, small environmental influence, large operation time window and moderate operation cost, can provide a stable detection platform for the detection of offshore and underwater facilities, and improves the detection precision.

Description

technical field [0001] The invention belongs to the technical field of robots, relates to an underwater robot, in particular to an underwater outer circular pipe cleaning and detection robot. Background technique [0002] With the gradual improvement of people's level of ocean development and the continuous development of utilization technology, more and more underwater facilities have been built offshore, especially more and more oil platform jackets. The underwater facilities are below sea level all the year round, so it is easy to attach a large number of marine organisms. The secretions of these marine organisms will corrode the steel structure of the underwater facility, increase the force on the structure, and weaken the load capacity of the underwater facility structure. At the same time, according to the safety requirements of offshore installations and the mandatory requirements of classification societies, some underwater installation structures must be inspected r...

AI Technical Summary

Problems solved by technology

[0006] The main problems existing in the prior art include: (1) high operating risk; (2) greatly affected by the environment, and the operating time window is limited; (3) low operating efficiency; (4) high operating cost

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