The underwater repairing robot comprises a machine body frame, and a camera assembly, a lighting assembly, an underwater propelling assembly, a mechanical arm and a C-shaped nail gun are carried on the machine body frame; the manipulator comprises at least two movable clamping arms, and bending parts are arranged at the front ends of the movable clamping arms; according to the shape of the net cage, a routing inspection route is preset, the underwater repairing robot provides power through the underwater propelling assembly to move along the set routing inspection route, and shooting routing inspection is conducted through the camera assembly; when a shot picture shows that net cage loopholes exist, a related video is intercepted and the relative position of the damaged position is uploaded to an operator, the robot can automatically return to the designated damaged position according to an instruction of the operator after inspection is completed, the damaged position is repaired through the mechanical arm and the C-shaped nail gun under manual operation of the operator, operation is simple, and efficiency is high. The device is convenient and fast to use, greatly improves the working efficiency on the basis of reducing the inspection and repair cost, and reduces the labor intensity of workers.

    本发明涉及水下修复机器人,包括机身框架,机身框架上搭载有摄像头组件、照明组件、水下推进组件、机械手和C型钉枪;机械手包括至少两个活动夹臂,活动夹臂的前端设置有弯曲部;根据网箱形状,预先设定好巡检路线,水下修复机器人通过水下推进组件提供动力沿设定好的巡检路线移动,并依靠摄像头组件进行拍摄巡检;当拍摄画面显示存在网箱漏洞时,截取相关视频并附带破损处相对位置上传给操作人员,待巡检完成后机器人可根据操作人员指令自动返回指定的破损位置,在操作人员手动操作下,通过机械手和C型钉枪对破损位置进行修补,操作简单,使用方便快捷,在降低巡检、修复成本的基础上,极大地提高了工作效率,减轻工人劳动强度。


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    Title :

    Underwater repair robot, repair method and marine operation equipment


    Additional title:

    一种水下修复机器人、修复方法及海洋作业设备


    Contributors:
    YI DAOHUA (author) / LIU WEIWEI (author) / ZHENG WENXIAO (author) / XIAO CUNLIANG (author)

    Publication date :

    2022-03-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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