The invention belongs to the technical field of underwater robots, and provides a multi-mode submarine cable inspection robot and method. A driving mechanism, a mud blowing mechanism, a detection sensor and a mud cleaning mechanism are arranged on a vehicle body; the driving mechanism comprises a wheel deflection motor arranged on the vehicle body, a hydraulic cylinder switching rod arranged on the wheel deflection motor, a wheel lifting hydraulic cylinder connected with the hydraulic cylinder switching rod, and wheels connected with the wheel lifting hydraulic cylinder through a wheel driving motor. And the mud blowing mechanism comprises a mud blowing paddle arranged on the vehicle body. Through a wheel deflection motor, a hydraulic cylinder adapter rod, a wheel lifting hydraulic cylinder and a wheel driving motor in the driving mechanism, the action of wheels in multiple modes is realized, and the problem of single working mode is solved; meanwhile, sediments covering the cable are removed through the mud blowing mechanism and the mud removing mechanism, and the problem that the state of the cable cannot be effectively observed when the cable is covered by the sediments is solved.
本发明属于水下机器人技术领域,提出了一种多模态海底电缆巡检机器人及方法,在车体上设置驱动机构、吹泥机构、探测传感器和清泥机构;其中,所述驱动机构包括设置在所述车体上的车轮偏转电机,设置在所述车轮偏转电机上的液压缸转接杆,与所述液压缸转接杆连接的车轮升降液压缸,以及通过车轮驱动电机与所述车轮升降液压缸连接的车轮;所述吹泥机构包括设置在所述车体上的吹泥桨。通过所述驱动机构中的车轮偏转电机、液压缸转接杆、车轮升降液压缸和车轮驱动电机,实现了车轮在多模态上的动作,解决了工作模态单一问题;同时通过吹泥机构和清泥机构,对电缆上覆盖的沉积物清除,解决了电缆被沉积物覆盖时无法有效观测电缆状态的问题。
Multi-mode submarine cable inspection robot and method
一种多模态海底电缆巡检机器人及方法
27.08.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B08B Reinigen allgemein , CLEANING IN GENERAL / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / H02G INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES , Verlegen oder Installieren elektrischer Kabel oder Leitungen, Verlegen oder Installieren kombinierter optischer und elektrischer Kabel oder Leitungen / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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