The invention relates to the technical field of underwater robots, in particular to a cable maintenance robot for underwater pile foundation. The robot comprises a surrounding device, an executing mechanism and an underwater platform; the surrounding device comprises a suction cup type electromagnet, a tail end clamping device, a large arm, a surrounding device servo motor cabin, a surrounding device speed reduction cabin and the like, and the surrounding device can clamp a pile foundation so as to guarantee the reliability of overhauling operation; the executing mechanism comprises a four-degree-of-freedom mechanical arm and a tail end overhauling device, the tail end overhauling device comprises a high-pressure water gun, a welding gun, a water immersion probe, an industrial camera and a linear structure light sensor, and overhauling operation including scouring, flaw detection and welding can be achieved; and the underwater platform is an underwater robot with cables, after the pose of the underwater pile foundation is determined, the underwater pile foundation is surrounded through an electromagnetic adsorption principle, and stable operation of surface cleaning, nondestructive testing and welding repair of the underwater pile foundation is achieved through the executing mechanism.

    本发明涉及水下机器人技术领域,尤其涉及一种面向水下桩基础的有缆检修机器人,包括环抱装置、执行机构和水下平台;所述环抱装置包括吸盘式电磁铁、末端夹持装置、大臂、环抱装置伺服电机舱、环抱装置减速机舱等,所述环抱装置可夹持桩基础以保证检修作业的可靠性;所述执行机构包括四自由度机械臂和末端检修装置,所述末端检修装置包括高压水枪、焊枪、水浸探头、工业相机以及线性结构光传感器,可实现包括冲刷、探伤以及焊接在内的检修作业;所述水下平台为一有缆水下机器人,确定水下桩基础位姿后,通过电磁吸附原理实现对水下桩基础的环抱,并通过所述执行机构实现对水下桩基础的表面清理、无损检测和焊接修复的稳定作业。


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    Titel :

    Cable maintenance robot for underwater pile foundation


    Weitere Titelangaben:

    一种面向水下桩基础的有缆检修机器人


    Beteiligte:
    YAN CHUNKAI (Autor:in) / SHI KEXIN (Autor:in) / TANG ZIYANG (Autor:in) / YANG HUI (Autor:in) / HUA LIANG (Autor:in) / GU JUPING (Autor:in) / LIU WANGPENG (Autor:in) / WANG LIYU (Autor:in) / JIANG XINYUE (Autor:in) / GUO JIURONG (Autor:in)

    Erscheinungsdatum :

    2021-11-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES



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