The invention discloses a robot for cleaning the surface of an underwater cylindrical pier and a cleaning method. The robot comprises a robot body, a power module, an underwater mechanical arm, a vision module, a high-pressure water gun, a brushing module and a fastening part. The robot grabs the surface of the pier to work and can move in any direction of the surface, the tail end of the underwater mechanical arm carries the high-pressure water gun and the brushing module to work cooperatively, the high-pressure water gun is used for large-area cleaning of the surface of the underwater cylindrical pier, and the brushing module is used for small-range fine brushing of the surface of the underwater cylindrical pier. The cleaning and brushing module is composed of a cleaning brush head and a six-dimensional force sensor, admittance control is adopted for the control method of the underwater mechanical arm, the contact force between the cleaning brush head and the surface of the underwater cylindrical pier is adjusted in real time in the cleaning process, and compared with manual cleaning, damage to the pier body can be reduced to the maximum extent; and the surface of the cylindrical pier can be comprehensively cleaned in a complex underwater environment instead of manual work, the personnel safety is guaranteed, and the working efficiency is improved.

    本发明公开了一种用于水下圆柱桥墩表面清理的机器人及清理方法,其中机器人包括机器人本体、动力模块、水下机械臂、视觉模块、高压水枪、清刷模块、紧固部件。机器人抓附于桥墩表面工作,可沿表面任意方向移动,水下机械臂末端分别搭载高压水枪和清刷模块协同工作,高压水枪用于水下圆柱桥墩表面大面积清洗,清刷模块用于水下圆柱桥墩表面的小范围精细清刷。清刷模块由清洁刷头和六维力传感器组成,并且水下机械臂的控制方法采用导纳控制,通过在清洁过程中实时调整清洁刷头与水下圆柱桥墩表面的接触力,与人工清洗相比可以最大程度的减少对墩体的损伤,可替代人工在复杂水下环境实现对圆柱桥墩表面的全面清理,保障人员安全,提高作业效率。


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    Titel :

    Robot for cleaning surface of underwater cylindrical pier and cleaning method


    Weitere Titelangaben:

    一种用于水下圆柱桥墩表面清理的机器人及清理方法


    Beteiligte:
    SONG GUANGMING (Autor:in) / LIU HAIXIN (Autor:in) / WANG FEI (Autor:in) / MAO JUZHENG (Autor:in) / XIE FENG (Autor:in) / SONG AIGUO (Autor:in) / WU GANG (Autor:in)

    Erscheinungsdatum :

    2024-01-09


    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



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