CN106514660A - Remote operated vehicle for subsea pipeline detection - Google Patents
Remote operated vehicle for subsea pipeline detection Download PDFInfo
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- CN106514660A CN106514660A CN201610952988.0A CN201610952988A CN106514660A CN 106514660 A CN106514660 A CN 106514660A CN 201610952988 A CN201610952988 A CN 201610952988A CN 106514660 A CN106514660 A CN 106514660A
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- pipeline
- clamping limb
- hydraulic cylinder
- running gear
- clamping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a remote operated vehicle for subsea pipeline detection. The remote operated vehicle for subsea pipeline detection mainly aims to solve the problem that a traditional ROV provided with a cable is prone to being influenced by an ocean current and subsea complicated environments. The remote operated vehicle for subsea pipeline detection is characterized by comprising a ROV body, a pipeline clamping and walking device and a detecting device. The ROV body is used as a carrier to provide power for a pipeline clamping device and walking devices and mainly comprises a carrier frame, mechanical arms, vertical propellers, horizontal propellers, a buoyancy module, a pressure-proof bin, a pan-tilt and a hydraulic oil tank. The pipeline clamping and walking device is mainly used for clamping a pipeline so as to ensure that inwards-recessed wheels are tightly attached to the pipeline for walking. The dimension of the pipeline clamping device can be adjusted so that the pipeline clamping device can be suitable for pipelines of different diameters. The detecting device completes comprehensive detection of the subsea pipeline through various sensors and multiple kinds of detecting equipment with a supporting ship as an operation platform. By the adoption of the remote operated vehicle for subsea pipeline detection, the problems that the ocean current influences the measurement stability, and the surrounds are damaged when propellers of the traditional ROV operates can be relieved.
Description
Technical field
The present invention relates to it is a kind of be applied to underwater operation field in the operation of comprehensive detection can be carried out to submerged pipeline
Machinery.
Background technology
As China's offshore and gas development is particularly becoming increasingly active for deepwater petroleum exploration exploitation, produce as oil field development
The submerged pipeline of important component part is also more and more.Detection to submerged pipeline becomes particularly important.Submerged pipeline patrols and examines ROV
There is cable underwater robot using floating type mostly（ROV）, although correlation technique is more ripe, but floating type ROV is by pushing away
Entering device carries out underwater navigation so as to carry out the detection of submerged pipeline, easily by ocean current, the impact of sea bottom complex environment, in detection process
Wish to ensure that the detection quality of detection means, it is necessary to the speed and pose of ROV are accurately controlled, this allows for right
The control of ROV becomes extremely complex, and when detecting to the pipeline near seabed, angle of rake operation may be by sea
The impurity float at bottom affects detection.
The content of the invention
In order to solve the technical problem being previously mentioned in background technology, the present invention provides a kind of submerged pipeline detection machine under water
Device people, this kind of underwater robot solve ocean current by the way of walking on pipeline and the impact of stability are measured to which while subtracting
The problems such as having lacked because when traditional ROV propellers run to the destruction of surrounding environment.
The technical scheme is that：This kind of submerged pipeline detection underwater robot, including body and carry for body
For power and the hydraulic system and electrical system of control command, it is characterised in that：
The body is mainly made up of ROV bodies, pipeline clamping running gear, three part of detection means；
Wherein, the ROV bodies include carrier frame, buoyant module, 4 vertical spin propellers and 4 flat spin propulsions
The starboard manipulator of device, pressure storehouse, head, hydraulic oil container, the larboard manipulator of a 5DOF and 7 frees degree；Its
In, carrier frame provides installation site for the intrinsic each components of ROV, and buoyant module is arranged on the top of carrier frame, pressure
Storehouse is arranged on the right rear of the bottom of carrier frame, and hydraulic oil container is arranged on the left back position of carrier frame bottom, 5DOF
Larboard manipulator is arranged on carrier frame left front as location type manipulator, and 7 free degree starboard manipulators are used as operation type machine
Tool hand is arranged on carrier frame right front；
The pipeline clamping running gear includes pedestal, first hydraulic cylinder, clamping limb, second hydraulic cylinder, the first bearing pin, the second pin
Axle, the first running gear, the 3rd hydraulic cylinder and the second running gear；Wherein, on pedestal with 4 perforates otic placode, second
Hydraulic cylinder mounting seat, the first clamping limb installing rack and the first guide pad；First hydraulic cylinder is made up of piston rod and hydraulic cylinder,
Second hydraulic cylinder includes the hydraulic cylinder with ring flange and the piston rod with ring flange；First hydraulic cylinder rear end cap and pedestal
On otic placode connected by the first bearing pin, the hydraulic cylinder drive end bearing bracket ring flange of second hydraulic cylinder is arranged on the second liquid by bolt
In cylinder pressure mounting seat, the 3rd hydraulic cylinder is identical with second hydraulic cylinder；Clamping limb is mainly by the first clamping limb and the second clamping
Arm connection composition；Wherein, the first clamping limb has hanger, pedestal connecting hole, a lead column and four connecting rods；First hydraulic pressure
Cylinder piston rod head is connected by the first bearing pin with the hanger on the first clamping limb；First clamping limb（31）By the second bearing pin
（17）It is connected to the first clamping limb installing rack（24）On；Second clamping limb include guide cylinder, the installing rack with four connecting rods,
3rd hydraulic cylinder mounting seat and the second guide pad；The lead column of the first clamping limb inserts the guide cylinder of the second clamping limb, while logical
Cross bolt to be connected four connecting rods of the first clamping limb with the installing rack of second four connecting rods of clamping limb；First clamping limb can
Slided with relative in the second clamping limb, when needing to change the adaptation caliber change of the first clamping limb effective length, first can be made
Clamping limb is slided into ad-hoc location in the second clamping limb and is fixed by the installing hole processed on the second clamping limb with bolt again, from
And the change of the effective length of the first clamping limb is realized, reach the requirement for adapting to caliber change；
First running gear is constituted after mainly being connected by the first indent wheel, the first indent wheel mounting seat and the first gathering sill；The
Two running gears are constituted after mainly being connected by hydraulic motor, the second indent wheel, the second indent wheel mounting seat and the second gathering sill；
Wherein, the first indent wheel mounting seat of the first running gear is bolted with second hydraulic cylinder piston rod front end flange disk,
First gathering sill of the first running gear plays guide effect with the first guide pad cooperation on pedestal, prevents hydraulic cylinder from producing and turns
It is dynamic；The hydraulic cylinder drive end bearing bracket ring flange of the 3rd hydraulic cylinder is arranged in the 3rd hydraulic cylinder mounting seat by bolt；Second walking
Second indent wheel mounting seat of device is bolted with the 3rd hydraulic cylinder piston rod front end flange disk, the second running gear
The second guide pad on second gathering sill and the second indent wheel mounting seat coordinates；Hydraulic motor passes through bolt and the second running gear
The second indent wheel mounting seat be connected, hydraulic motor axle is joined directly together with the second indent wheel；It is logical that ROV bodies are walked on pipeline
Hydraulic motor offer the second indent of power drive wheel rotation is provided and generation frictional force is contacted with pipeline and advance forward；Clamping limb is adopted
Symmetrical structure, clamping running gear are pressed from both sides to pipeline by clamping limb, the first running gear and the second running gear
Hold, clamping running gear adopts mode arranged in pairs；
The detection means includes detection means fixed seat, connecting rod, wheel mounting seat, framework, spring and wheel composition；Inspection
Survey device fixed seat to be connected with the bottom of the carrier frame of ROV bodies by bolt；Framework is by connecting rod, spring, wheel peace
Dress seat is connected with detection means fixed seat；Wheel is arranged in wheel mounting seat；Testing equipment and sensor are arranged on framework
Pipeline is detected；During clamping pipeline, wheel is pressed on pipeline to guarantee detection means and pipeline under the action of the spring
Maintain a certain distance and without departing from.
The present invention has the advantages that：After using such scheme, first compared with floating type detection ROV, the present invention
Although structure is somewhat complicated, clamping running gear is increased, it increased the work(that can be creeped on pipeline than the ROV that swims
Energy.It both can swim in water ROV as swimming and can also creep on pipeline.Creeping on pipeline to make ROV steady
It is fixed in poised state, the impact that can thus avoid the impact of ocean current from causing testing result, level can also be avoided
The surrounding environment that propeller operation is caused becomes muddy, reduces impact of the surrounding environment to testing result, can thus make ROV
Accurately detection pipeline, improves detection quality.
Secondly, the detection means in the present invention can carry out full side to pipeline by various sensors and various testing equipments
The detection of position, improves detection efficiency.
In addition, China's underwater line diameter typically between 100mm to 500mm, in the face of different-diameter pipeline should
The clamping running gear of invention can adapt to difference by the size for adjusting clamping device and the extension elongation for adjusting hydraulic cylinder
The pipeline of diameter, can thus be commonly used for the detection of each marine site pipeline of China.
Last running gear is made up of the wheel of hydraulic motor and indent.Running gear is contacted with pipeline by wheel
Frictional force promotes what ROV was advanced forward.The interior concave radius of wheel are 500mm, and it can be more than 200mm less than 500mm with any
Pipeline completely contact, the bigger frictional force of contact surface is bigger.Pressure sensor is also equipped with running gear, according to pressure
Size adjusts the extension elongation of hydraulic cylinder in real time.So that wheel is closely contacted with pipeline, such running gear just can be
Quickly creep on pipeline.
Hydraulic system adopts duplicate gear oil pump feed, the oil of equivalent is not input into two equivalently-sized hydraulic cylinders, really
Guarantor needs two hydraulic cylinder action synchronizations of synchronization job, makes clamping more reliable and more stable.
Description of the drawings：
Fig. 1 is submerged pipeline detection underwater robot general assembly drawing of the present invention.
Fig. 2 is ROV bulk junctions composition of the present invention.
Fig. 3 is ROV body constructions rearview of the present invention
Fig. 4 is present invention clamping running gear general assembly drawing.
Fig. 5 is present invention clamping running gear base construction schematic diagram.
Fig. 6 is first hydraulic cylinder structural representation of the present invention.
Fig. 7 is first hydraulic cylinder barrel structure schematic diagram of the present invention.
Fig. 8 is first hydraulic cylinder piston rod construction schematic diagram of the present invention
Fig. 9 is second hydraulic cylinder structural representation of the present invention.
Figure 10 is second hydraulic cylinder barrel structure schematic diagram of the present invention.
Figure 11 is second hydraulic cylinder piston rod construction schematic diagram of the present invention.
Figure 12 is the first pin shaft structure schematic diagram of the invention.
Figure 13 is the second pin shaft structure schematic diagram of the invention.
Figure 14 is the single arm structure schematic diagram of clamping limb running gear of the present invention.
Figure 15 is clamping limb structural representation of the present invention.
Figure 16 is the first clamping limb structural representation of the invention.
Figure 17 is the second clamping limb structural representation of the invention.
Figure 18 is the first running gear structural representation of the invention.
Figure 19 is the first running gear indent wheel mounting seat structural representation of the invention.
Figure 20 is the first indent wheel construction schematic diagram of the invention.
Figure 21 is the second running gear structural representation of the invention.
Figure 22 is hydraulic motor structure schematic diagram of the present invention.
Figure 23 is the second running gear execution unit structural representation of the invention.
Figure 24 is the second running gear indent wheel mounting seat structural representation of the invention.
Figure 25 is the second indent wheel construction schematic diagram of the invention.
Figure 26 is detection means general assembly structural representation of the present invention.
Figure 27 is detection means fixed seat structure schematic diagram of the present invention.
Figure 28 is detection means spring schematic diagram of the present invention.
Figure 29 is detection means testing equipment installation frame schematic diagram of the present invention.
Figure 30 detection means wheel frame structural representations of the present invention.
Figure 31 is clamping device theory structure sketch of the present invention.
1-ROV bodies in figure, 2- pipelines clamping running gear, 3- detection means, 4- carrier frames, 5- buoyant modules, 6-
4 vertical spin propellers, 4 flat spin propellers of 7-, 8- is pressure storehouse, 9- heads, 10- hydraulic oil containers, 5 freedom of 11-
The larboard manipulator of degree, the starboard manipulator of 7 frees degree of 12-, 13- pedestals, 14- first hydraulic cylinders, 15- second hydraulic cylinders,
The first bearing pins of 16-, the second bearing pins of 17-, 18- clamping limbs, the first running gears of 19-, the 3rd hydraulic cylinders of 20-, the walking dresses of 21- second
Put, 22- otic placodes, 23- second hydraulic cylinder mounting seats, 24- the first clamping limb installing racks, the first guide pads of 25-, 26- hydraulic cylinders
27- piston rods, hydraulic cylinders of the 28- with ring flange, piston rods of the 29- with ring flange, the second clamping limbs of 30-, 31- first
Clamping limb, 32- hangers, 33- pedestal connecting holes, 34- lead columns, tetra- connecting rods of 35-, 36- guide cylinders, tetra- connecting rods of 37-
Installing rack, the 3rd hydraulic cylinder mounting seats of 38-, the second guide pads of 39-, 40- the first indent wheels, 41- the first indent wheel mounting seats,
The first gathering sills of 42-, 43- hydraulic motors, 44- the second indent wheels, 45- the second indent wheel mounting seats, the second gathering sills of 46-, 47-
Detection means fixed seat, 48- connecting rods, 49- wheel mounting seats, 50- frameworks, 51- springs, 52- wheels.
Specific embodiment：
The invention will be further described below in conjunction with the accompanying drawings：
This kind of submerged pipeline detection underwater robot, including body and the hydraulic pressure system of power and control command is provided for body
System and electrical system, which is unique in that：
The body is mainly made up of ROV bodies 1, pipeline clamping running gear 2,3 three part of detection means.
Wherein, the ROV bodies 1 are as shown in Fig. 2 main by carrier frame 4,5,4 vertical spin propulsions of buoyant module
Device 6 and 4 flat spin propellers 7, pressure storehouse 8, head 9, the larboard manipulators 11, of 10,5DOF of hydraulic oil container
The starboard manipulator 12 of individual 7 free degree is constituted.Wherein, carrier frame mainly provides peace for the other components of ROV bodies
Holding position；Buoyant module is arranged on the top of carrier frame, can provide positive buoyancy for ROV；Pressure storehouse is arranged on carrier frame
Bottom right rear, pressure protection can be provided for some equipment；Head is arranged on ROV heads；Hydraulic oil container is arranged on
The left back position of carrier frame bottom；5DOF larboard manipulator is arranged on carrier frame left front, used as location type machinery
Hand, and Partial Jobs task can be taken into account；7 free degree starboard manipulators are arranged on carrier frame（4）Right front, as operation type machine
Tool hand, can install cleaning brush and remove the debris on pipeline or install other maintenance tools for keeping in repair pipeline.
Pipeline clamping running gear 2 as shown in figure 4, it is main by pedestal 13, first hydraulic cylinder 14, clamping limb 18, the
Two hydraulic cylinders 15, the first bearing pin 16, the second bearing pin 17, the first running gear 19, the 3rd hydraulic cylinder 20, second running gear 21 etc.
Composition.Wherein, 13 structure of pedestal is as shown in figure 5, including the otic placode 22 of 4 perforates, second hydraulic cylinder mounting seat 23, the first clamping
Arm installing rack 24, the first guide pad 25.First hydraulic cylinder 14 is as shown in fig. 6, be made up of piston rod 27, hydraulic cylinder 26.Second
Hydraulic cylinder 15 is as shown in figure 9, main be made up of the hydraulic cylinder 28 with ring flange and the piston rod 29 with ring flange.First
Bearing pin 16 is as shown in figure 12.Second bearing pin 17 is as shown in figure 13.
14 rear end cap of first hydraulic cylinder is connected by the first bearing pin 16 with the otic placode 22 on pedestal 13.Second hydraulic cylinder 15
28 drive end bearing bracket ring flange of hydraulic cylinder is arranged in second hydraulic cylinder mounting seat 23 by bolt.3rd hydraulic cylinder 20 and the second liquid
Cylinder pressure 15 is identical.Clamping limb 18 as shown in figure 15, is mainly made up of the first clamping limb 31 and the connection of the second clamping limb 30.Its
In, the first clamping limb 31 includes hanger 32, the connecting rod of lead column 34, four of pedestal connecting hole 33, as shown in figure 16, mainly
35.14 piston rod head of first hydraulic cylinder is connected by the first bearing pin 16 with the hanger 32 on the first clamping limb 31.First clamping
Arm（31）By the second bearing pin（17）It is connected to the first clamping limb installing rack（24）On.Second clamping limb 30 is as shown in figure 17, main
Installing rack 37 that 36, four connecting rods of guide cylinder are included, the 3rd hydraulic cylinder mounting seat 38, the second guide pad 39.First clamping
The lead column 34 of arm 31 inserts the guide cylinder 36 of the second clamping limb 30, while being connected four of the first clamping limb 31 by bolt
Bar 35 is connected with the installing rack 37 of second 30 4 connecting rods of clamping limb.First clamping limb 31 can in the second clamping limb 30 phase
To sliding, when needing to change the adaptation caliber change of 31 effective length of the first clamping limb, the first clamping limb 31 can be made second
Slide into ad-hoc location to be fixed by the installing hole processed on the second clamping limb 30 with bolt in clamping limb 30 again, it is achieved thereby that
The change of the effective length of the first clamping limb 31, reaches the requirement for adapting to caliber change.First running gear 19 is as shown in figure 18,
Mainly it is made up of the first indent wheel 40, the first indent wheel mounting seat 41, the first gathering sill 42.Second running gear 20 such as Figure 21 institutes
Show, be mainly made up of hydraulic motor 43, the second indent wheel 44, the second indent wheel mounting seat 45, the second gathering sill 46.First walking
First indent wheel mounting seat 41 of device 19 is bolted with 15 piston rod front end flange disk of second hydraulic cylinder, the first walking
First gathering sill 42 of device 19 plays guide effect with the cooperation of the first guide pad 25 on pedestal 13, prevents hydraulic cylinder from producing and turns
It is dynamic.The hydraulic cylinder drive end bearing bracket ring flange of the 3rd hydraulic cylinder 20 is arranged in the 3rd hydraulic cylinder mounting seat 38 by bolt.Second
Second indent wheel mounting seat 45 of running gear 20 is bolted with 20 piston rod front end flange disk of the 3rd hydraulic cylinder, and second
Second gathering sill 46 of running gear 20 is coordinated with the second guide pad 39 in the second indent wheel mounting seat 45.Hydraulic motor 43 leads to
The the second indent wheel mounting seat 45 for crossing bolt and the second running gear 20 is connected, and 43 axle of hydraulic motor is direct with the second indent wheel 44
It is connected.It is to provide the second indent of power drive wheel by hydraulic motor to rotate and generation is contacted with pipeline that ROV walks on pipeline
Frictional force is advanced forward.Its clamping principle as shown in figure 31, due to 18 structure of clamping limb it is symmetrical so only depicting one
The thickness of the structure diagram of clamping limb, wherein pedestal and clamping limb is all tentatively set to 100mm, circle O1For the sea of a diameter of 500mm
Bottom pipeline（Circle O2For the submerged pipeline of a diameter of 400mm, circle O3For the submerged pipeline of a diameter of 300mm.）, wherein pedestal and folder
Gripping arm to the distance of pipeline surface be all 85mm, i.e. GH=BA1=85mm.Second running gear is installed on GH and BA1Position, folder
Hold running gear to clamp pipeline by clamping limb, the first running gear and the second running gear, the second running gear with
The angle of horizontal plane is 10 ° i.e. BO1Angle with x-axis is 10 °.Clamping limb is connected in F points by the second bearing pin and pedestal.DE with
HA1Parallel, after the effective length of DE is changed, clamping limb just can adapt to the change of pipeline as seen from the figure.In order to keep ROV
The stability walked on pipeline, clamping running gear adopt mode arranged in pairs.
The detection means 3 as shown in figure 26, mainly by detection means fixed seat 47, connecting rod 48, wheel mounting seat 49,
Framework 50, spring 51, wheel 52 are constituted.Detection means fixed seat 47 passes through the bottom phase of bolt and the carrier frame of ROV bodies 1
Even.Framework 50 is connected with detection means fixed seat by connecting rod, spring, wheel mounting seat.Wheel is arranged on wheel mounting seat
On.Testing equipment and sensor are arranged on framework and pipeline are detected.Clamping pipeline when wheel under the action of the spring by
It is pressed on pipeline, this assures detection means and maintain a certain distance with pipeline and without departing from so as to ensure detection
Quality of the equipment to pipe inspection.
The process of this device operation is given below：
Step 1：Clamping process, first it is to be understood that the diameter of underwater line, China's pipeline under water typically in 200mm extremely
Between 500mm, so four holes at intervals of 77mm, cunnings of the clamping limb B in clamping limb A are provided with the clamping limb B of this device
Move to adapt to pipeline diameter.Recognize that oneself needs the diameter of the pipeline of detection, pre-adjusted clamping limb under ROV before water
Positions of the B in clamping limb A.Then the piston rod of hydraulic cylinder A stretches out, and clamping limb is drawn close inward, while hydraulic cylinder B piston rods are stretched
Go out and clamp pipeline, pressure sensor is housed on hydraulic cylinder B, the overhang of hydraulic cylinder B can be adjusted.Make indent wheel tightly with
Pipeline is contacted.
Step 2：Debris on cleaning pipeline, install cleaning brush, mud, aquatic organism on removing pipeline etc. on a robotic arm
To detect provides convenient.
Step 3：Walking process, running gear are provided power drive indent wheel by hydraulic motor and rotate and contacted with pipeline
Produce frictional force to advance forward.
Step 4：Detection process, is detected to pipeline by various sensors mounted thereto and various testing equipments
's.The device rough detection in walking, stops once find failure and then carries out careful detection to pipeline.Then
Testing result is passed to into control room waterborne by sensor, it is appropriate that control room waterborne sends control instruction control machinery hand clamping again
Fix tool pipeline is repaired.
If after task terminates, hydraulic cylinder is shunk indent wheel and is departed from pipeline, and now propeller starts to start, and reclaims a whole set of water
Lower robot.
Claims (1)
1. a kind of submerged pipeline detection underwater robot, including body and the hydraulic pressure of power and control command is provided for body
System and electrical system, it is characterised in that：
The body is mainly by ROV bodies（1）, pipeline clamping running gear（2）, detection means（3) three parts composition；
Wherein, the ROV bodies（1）Including carrier frame（4）, buoyant module（5）, 4 vertical spin propellers（6）With 4
Flat spin propeller（7）, pressure storehouse（8）, head（9）, hydraulic oil container（10）, a 5DOF larboard manipulator（11）
And the starboard manipulator of 7 frees degree（12）；Wherein, carrier frame（4）For ROV bodies（1）Interior each component provides peace
Holding position, buoyant module（5）Installed in carrier frame（4）Top, pressure storehouse（8）Installed in carrier frame（4）Bottom
Right rear, hydraulic oil container（10）Installed in carrier frame（4）The left back position of bottom, 5DOF larboard manipulator（11）Make
Carrier frame is arranged on for location type manipulator（4）Left front, 7 free degree starboard manipulators（12）As operation type manipulator
Installed in carrier frame（4）Right front；
The pipeline clamps running gear（2）Including pedestal（13）, first hydraulic cylinder（14）, clamping limb（18）, second hydraulic cylinder
（15）, the first bearing pin（16）, the second bearing pin（17）, the first running gear（19）, the 3rd hydraulic cylinder（20）And second walking dress
Put（21）；Wherein, pedestal（13）The upper otic placode with 4 perforates（22）, second hydraulic cylinder mounting seat（23）, the first clamping limb peace
Shelve（24）And first guide pad（25）；First hydraulic cylinder（14）By piston rod（27）And hydraulic cylinder（26）Composition, second
Hydraulic cylinder（15）Including the hydraulic cylinder with ring flange（28）With the piston rod with ring flange（29）；First hydraulic cylinder（14）
Rear end cap and pedestal（13）On otic placode（22）By the first bearing pin（16）Connection, second hydraulic cylinder（15）Hydraulic cylinder（28）
Drive end bearing bracket ring flange is arranged on second hydraulic cylinder mounting seat by bolt（23）On, the 3rd hydraulic cylinder（20）With second hydraulic cylinder
（15）It is identical；Clamping limb（18）Mainly by the first clamping limb（31）With the second clamping limb（30）Connection composition；Wherein, first
Clamping limb（31）With hanger（32）, pedestal connecting hole（33）, a lead column（34）With four connecting rods（35）；First hydraulic pressure
Cylinder（14）Piston rod head and the first clamping limb（31）On hanger（32）By the first bearing pin（16）Connection；First clamping limb
（31）By the second bearing pin（17）It is connected to the first clamping limb installing rack（24）On；Second clamping limb（30）Including guide cylinder
（36）, the installing rack with four connecting rods（37）, the 3rd hydraulic cylinder mounting seat（38）With the second guide pad（39）；First clamping
Arm（31）Lead column（34）Insert the second clamping limb（30）Guide cylinder（36）, while passing through bolt by the first clamping limb（31）
Four connecting rods（35）With the second clamping limb（30）The installing rack of four connecting rods（37）Connection；First clamping limb（31）Can be with
In the second clamping limb（30）In it is relative slide, when needing to change the first clamping limb（31）When effective length adapts to caliber change, can
So that the first clamping limb（31）In the second clamping limb（30）In slide into ad-hoc location again with bolt pass through the second clamping limb（30）
The installing hole of upper processing is fixed, it is achieved thereby that the first clamping limb（31）Effective length change, reach adaptation caliber change
Requirement；
First running gear（19）Mainly by the first indent wheel（40）, the first indent wheel mounting seat（41）And first gathering sill
（42）Constitute after connection；Second running gear（20）Mainly by hydraulic motor（43）, the second indent wheel（44）, the second indent wheel peace
Dress seat（45）And second gathering sill（46）Constitute after connection；Wherein, the first running gear（19）The first indent wheel mounting seat
（41）With second hydraulic cylinder（15）Piston rod front end flange disk is bolted, the first running gear（19）The first gathering sill
（42）With pedestal（13）On the first guide pad（25）Guide effect is played in cooperation, prevents hydraulic cylinder from producing rotation；3rd hydraulic pressure
Cylinder（20）Hydraulic cylinder drive end bearing bracket ring flange by bolt be arranged on the 3rd hydraulic cylinder mounting seat（38）On；Second running gear
（20）The second indent wheel mounting seat（45）With the 3rd hydraulic cylinder（20）Piston rod front end flange disk is bolted, the second row
Walking apparatus（20）The second gathering sill（46）With the second indent wheel mounting seat（45）On the second guide pad（39）Coordinate；Hydraulic pressure horse
Reach（43）By bolt and the second running gear（20）The second indent wheel mounting seat（45）It is connected, hydraulic motor（43）Axle and
Two indent wheels（44）It is joined directly together；ROV bodies（1）On pipeline, walking is by hydraulic motor（43）Power drive second is provided
Indent wheel（44）Rotate and contact with pipeline generation frictional force to advance forward；Clamping limb（18）Using symmetrical structure, press from both sides
Hold running gear（3）By clamping limb（18）, the first running gear（19）With the second running gear（20）Pipeline is clamped,
Clamping running gear（3）Using mode arranged in pairs；
The detection means（3）Including detection means fixed seat（47）, connecting rod（48）, wheel mounting seat（49）, framework（50）、
Spring（51）And wheel（52）Composition；Detection means fixed seat（47）By bolt and ROV bodies（1）Carrier frame（4）
Bottom be connected；Framework（50）By connecting rod（48）, spring（51）, wheel mounting seat（49）With detection means fixed seat（47）
Connection；Wheel（52）Installed in wheel mounting seat（49）On；Testing equipment and sensor are arranged on framework（50）On pipeline is entered
Row detection；During clamping pipeline, wheel (52) is pressed on pipeline to guarantee detection means and pipeline in the presence of spring (51)
Maintain a certain distance and without departing from.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610952988.0A CN106514660B (en) | 2016-11-03 | 2016-11-03 | A kind of submerged pipeline detection underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610952988.0A CN106514660B (en) | 2016-11-03 | 2016-11-03 | A kind of submerged pipeline detection underwater robot |
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| Publication Number | Publication Date |
|---|---|
| CN106514660A true CN106514660A (en) | 2017-03-22 |
| CN106514660B CN106514660B (en) | 2018-09-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108468862A (en) * | 2018-05-25 | 2018-08-31 | 东北石油大学 | A kind of underwater robot for submarine pipeline Magnetic memory testing |
| CN108508901A (en) * | 2018-06-04 | 2018-09-07 | 西南石油大学 | A kind of petrochemical plant intelligent inspection robot |
| CN108655075A (en) * | 2018-06-04 | 2018-10-16 | 苏州格目软件技术有限公司 | A kind of annular cleaning equipment for ocean engineering platform |
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| CN109340455A (en) * | 2018-11-29 | 2019-02-15 | 哈尔滨工程大学 | A kind of submarine pipeline is creeped equipment |
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| CN116604587A (en) * | 2023-07-18 | 2023-08-18 | 广东海洋大学 | Nuclear power cold source port cleaning robot |
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| WO2019169173A1 (en) * | 2018-02-28 | 2019-09-06 | Oceaneereing International, Inc. | Subsea inspection vehicle |
| CN108917822A (en) * | 2018-04-03 | 2018-11-30 | 浙江海洋大学 | A kind of Technique of Subsea Pipeline Inspection device |
| CN108917822B (en) * | 2018-04-03 | 2021-07-23 | 浙江海洋大学 | Submarine pipeline detection device |
| CN108468862A (en) * | 2018-05-25 | 2018-08-31 | 东北石油大学 | A kind of underwater robot for submarine pipeline Magnetic memory testing |
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| CN108508901A (en) * | 2018-06-04 | 2018-09-07 | 西南石油大学 | A kind of petrochemical plant intelligent inspection robot |
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| CN108655076A (en) * | 2018-06-04 | 2018-10-16 | 苏州格目软件技术有限公司 | Corrective is cleared up in a kind of automation for ocean engineering platform |
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| CN109229310A (en) * | 2018-10-18 | 2019-01-18 | 上海海洋大学 | A kind of underwater outer round tube cleaning and detect robot |
| CN109340455A (en) * | 2018-11-29 | 2019-02-15 | 哈尔滨工程大学 | A kind of submarine pipeline is creeped equipment |
| CN109340455B (en) * | 2018-11-29 | 2023-10-13 | 哈尔滨工程大学 | Submarine pipeline crawling tool |
| CN109909853A (en) * | 2019-03-29 | 2019-06-21 | 姚恩香 | A kind of submarine pipeline derusting spray-painting plant |
| WO2020253172A1 (en) * | 2019-06-18 | 2020-12-24 | 哈尔滨工业大学 | Leg-arm-propeller combined underwater robot |
| CN110757139A (en) * | 2019-10-24 | 2020-02-07 | 深圳海油工程水下技术有限公司 | Flange nut mounting fixture and using method thereof |
| CN111007227B (en) * | 2019-12-11 | 2020-11-20 | 东北石油大学 | Chain type pipeline transverse detection device |
| CN111007227A (en) * | 2019-12-11 | 2020-04-14 | 东北石油大学 | Chain type pipeline transverse detection device |
| WO2022121204A1 (en) * | 2020-12-10 | 2022-06-16 | 江苏科技大学 | Underwater cleaning apparatus for marine equipment |
| CN112747229B (en) * | 2020-12-30 | 2022-08-12 | 海安科大机器人科技有限公司 | Underwater pipeline inspection robot support |
| CN112747229A (en) * | 2020-12-30 | 2021-05-04 | 海安科大机器人科技有限公司 | Underwater pipeline inspection robot support |
| CN114148491A (en) * | 2021-10-13 | 2022-03-08 | 武汉理工大学 | Self-adaptive visual imaging and sensing positioning multifunctional underwater patrol robot |
| CN114834615A (en) * | 2022-06-13 | 2022-08-02 | 清华大学深圳国际研究生院 | Non-contact type pipeline detection underwater robot and method |
| CN115107966A (en) * | 2022-07-04 | 2022-09-27 | 中国科学院沈阳自动化研究所 | 6000-meter-level multi-mode ARV structure capable of geological detection |
| CN116142426A (en) * | 2023-02-28 | 2023-05-23 | 青岛海洋地质研究所 | Underwater pipeline monitoring method based on deepwater submersible vehicle |
| CN116142426B (en) * | 2023-02-28 | 2023-08-29 | 青岛海洋地质研究所 | Underwater pipeline monitoring method based on deepwater submersible vehicle |
| CN116604587A (en) * | 2023-07-18 | 2023-08-18 | 广东海洋大学 | Nuclear power cold source port cleaning robot |
| CN116812116A (en) * | 2023-08-30 | 2023-09-29 | 广东智能无人系统研究院(南沙) | Underwater structure cleaning and detecting operation robot |
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