CN110626480B - Underwater inspection robot - Google Patents
Underwater inspection robot Download PDFInfo
- Publication number
- CN110626480B CN110626480B CN201910928985.7A CN201910928985A CN110626480B CN 110626480 B CN110626480 B CN 110626480B CN 201910928985 A CN201910928985 A CN 201910928985A CN 110626480 B CN110626480 B CN 110626480B
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- China
- Prior art keywords
- underwater
- shell
- arc
- cable
- metal sheet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000007689 inspection Methods 0.000 title claims abstract description 15
- 239000002184 metal Substances 0.000 claims abstract description 34
- 238000007789 sealing Methods 0.000 claims abstract description 28
- 238000010438 heat treatment Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 238000004140 cleaning Methods 0.000 claims abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 7
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 238000004321 preservation Methods 0.000 claims description 4
- 239000004831 Hot glue Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000009365 direct transmission Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000009413 insulation Methods 0.000 description 2
- 235000014653 Carica parviflora Nutrition 0.000 description 1
- 241000243321 Cnidaria Species 0.000 description 1
- 239000010425 asbestos Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 239000012943 hotmelt Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 229910052895 riebeckite Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/20—Cleaning of moving articles, e.g. of moving webs or of objects on a conveyor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater inspection robot, which comprises a shell arranged at the upper end of an underwater cable, wherein the lower end of the shell forms an arc-shaped groove with a hemispherical structure, the shell is arranged outside the underwater cable through the arc-shaped groove, a sealing piece with an arc-shaped structure and used for repairing the underwater cable is arranged inside the arc-shaped groove, a matched metal sheet is fixed outside the sealing piece in an adhesion manner, heating equipment is arranged at the upper end of the metal sheet, a cleaning mechanism used for removing dirt on the underwater cable is arranged in front of the shell, and more than one camera used for detecting the condition of the underwater cable is arranged in front of the shell. The underwater cable detection device is simple in structure, sundries on the underwater cable can be directly taken out, so that the outer wall of the cable can be clearly exposed under the camera, the detection of the outside of the cable is facilitated, meanwhile, the damaged part can be directly repaired, and the efficiency is greatly improved.
Description
Technical Field
The invention relates to the field of underwater operation equipment, in particular to an underwater inspection robot.
Background
The underwater condition of coastal areas in China is complex, the underwater geological conditions of Bohai sea, yellow sea, east sea and south sea are greatly different, and the underwater laying place and laying environment of laid submarine cables are different according to the actual engineering condition. Due to the limitation of early-aged underwater engineering equipment, submarine cables laid in early days are almost laid on the seabed in an open laying mode, corresponding protective measures are not applied, and the submarine cables are easy to be damaged by natural environment and human activities.
The submarine power cable needs regular maintenance after operation, and due to the limitation of human body functions and diving equipment, the submarine cable operation and maintenance operators are difficult to dive to the water bottom below 40m to check and maintain the operation working condition of the submarine cable.
In recent years, as the reliability, stability and safety of underwater robots are improved, it is possible to perform operation and maintenance inspection and fault detection on submarine cables by using unmanned underwater robots. An unmanned underwater robot is also called as an unmanned underwater vehicle, is an unmanned robot system which works under water for extreme operations and can work under water for a long time instead of manpower in a high-risk environment, a polluted environment and a zero-visibility water area. Unmanned underwater robots are generally classified into two major types, cabled remote-control underwater robots and autonomous underwater robots. The greatest difference is that the ROV is connected with the surface mother ship through an umbilical cable to realize energy supply and signal quick transmission, so that an operator can see real-time underwater pictures or other detection data shot by the ROV through a surface mother ship monitor and control the underwater navigation of the robot.
Current underwater robot does not all carry out cleanness and prosthetic function to the cable, and the cable is after long-time laying, and the cable can be covered with debris such as coral or marine alga on the surface for the condition on cable surface can't be seen clearly in direct shooting, thereby influences detection quality, and after the outside that detects the cable appears the crack or corrodes simultaneously, current robot can't carry out effectual restoration to it.
Disclosure of Invention
The invention aims to provide an underwater inspection robot to solve the problems in the background technology.
The invention is realized by the following technical scheme: an underwater inspection robot comprises a shell arranged at the upper end of an underwater cable, wherein the lower end of the shell is provided with an arc-shaped groove with a hemispherical structure, the shell is arranged outside the underwater cable through the arc-shaped groove, a sealing piece with an arc-shaped structure and used for repairing the underwater cable is arranged inside the arc-shaped groove, a matched metal sheet is fixed outside the sealing piece in an adhesion mode, heating equipment is installed at the upper end of the metal sheet, a heat insulation layer is wrapped outside the metal sheet and the heating equipment in a sealing mode, a water-proof layer used for isolating water is wrapped outside the heat insulation layer, movable hinges are installed on two sides of the metal sheet, two sides of the arc-shaped groove protrude outwards to form a fixing part opposite to the movable hinges, a mounting groove communicated with the arc-shaped groove is arranged inside the fixing part, an electric cylinder is installed in the mounting groove, a piston rod of the electric cylinder is fixedly welded with the other end of the movable hinges, and a cleaning mechanism used for removing dirt on the underwater cable is installed in front of the shell, more than one camera for detecting the condition of the underwater cable is arranged in front of the shell.
As preferred technical scheme, clean mechanism includes the scraper blade of arc structure, and an installation shell is welded to the upper end of scraper blade, and the inside vibrator that is equipped with of installation shell, on the direct transmission of vibration energy on the vibrator scraper blade, the scraper blade is in the vibration state all the time, is equipped with the viewing aperture of an arc structure on the top surface of scraper blade, and the camera is the distribution of arc structure to all see through the condition that the viewing aperture detected cable under water.
As a preferred technical scheme, both sides of the shell are provided with propellers for pushing the shell to advance or retreat.
As a preferable technical scheme, the sealing element is made of hot melt adhesive or a material matched with the outer layer of the underwater cable.
As the preferred technical scheme, the sealing element and the metal sheet are fixed by adopting a point-shaped adhesion structure, and an anti-sticking coating is arranged between the sealing element and the metal sheet.
Preferably, the metal sheet is an elastic metal sheet.
The invention has the beneficial effects that: the underwater cable detection device is simple in structure, sundries on the underwater cable can be directly taken out, so that the outer wall of the cable can be clearly exposed under the camera, the detection of the outside of the cable is facilitated, meanwhile, the damaged part can be directly repaired, and the efficiency is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a side view of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can, for example, be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 and 2, the underwater inspection robot of the present invention comprises a housing 1 disposed at an upper end of an underwater cable 11, wherein a lower end of the housing 1 forms an arc-shaped groove having a hemispherical structure, the housing 1 is disposed outside the underwater cable 11 through the arc-shaped groove, a sealing member 9 having an arc-shaped structure and used for repairing the underwater cable 11 is disposed inside the arc-shaped groove, a matching metal sheet 8 is fixed to the outer portion of the sealing member 9 in an adhesion manner, a heating device 3 is mounted at an upper end of the metal sheet 8, the heating device can be a heating element such as a heating sheet or a heating rod, the metal sheet 8 and the outer portion of the heating device 3 are hermetically wrapped by a heat-insulating layer 4, the outer portion of the heat-insulating layer 4 is wrapped by a water-insulating layer for insulating water, water can be effectively isolated by the water-insulating layer, water is prevented from contacting the metal sheet, heat can be effectively concentrated by the heat-insulating layer, and heat is prevented from being transferred to water, thereby can accomplish the hot melt to the sealing member, wherein, the heat preservation is asbestos fibre, the water barrier is heat preservation rubber, a activity hinge is all installed to a sheetmetal 8's both sides, the both sides of arc wall are just to the outside protrusion formation fixed part 6 of activity hinge department, fixed part 6 inside be equipped with one with the mounting groove of arc wall intercommunication, all install an electronic jar 7 in the mounting groove, electronic jar 7's piston rod and activity hinge's other end welded fastening, a clean mechanism that is used for detaching foul on the cable under water is installed in the place ahead of casing 1, the camera 2 that is used for detecting the cable condition under water more than one in the place ahead installation of casing 1, electronic jar is for using the electronic jar under water.
In this embodiment, cleaning mechanism includes the scraper blade 14 of arc structure, an installation shell 12 of the upper end welding of scraper blade 14, the inside vibrator 13 that is equipped with of installation shell 12, vibration energy on the vibrator 13 is direct transmits on scraper blade 14, scraper blade 14 is in the vibration state all the time, be equipped with an viewing aperture 15 of arc structure on scraper blade 14's the top surface, camera 2 is the distribution of arc structure, and all see through viewing aperture 15 and detect the condition of cable 11 under water, camera 2 is the camera of using under water, the damage has been avoided.
In this embodiment, the two sides of the housing 1 are respectively provided with a propeller 5 for pushing the housing to advance or retreat, and the housing can be effectively driven by the propeller.
In this embodiment, the sealing member 9 is made of hot melt adhesive or material matching with the outer layer of the underwater cable.
In this embodiment, the sealing member 9 and the metal sheet 8 are fixed by a dot-shaped adhesion structure, and an anti-sticking coating is disposed between the sealing member 9 and the metal sheet 8, so that the metal sheet is prevented from being hot-melted on the sealing member.
In this embodiment, the metal sheet 8 is an elastic metal sheet, so that the metal sheet is elastic, and springback is facilitated.
Wherein, the casing is inside to be equipped with control camera, electronic jar, vibrating pump, screw and firing equipment's mainboard.
When the screw propeller is used, the shell is sleeved on the source of an underwater cable through the arc-shaped groove, after the screw propeller is started, the shell can move forwards along the underwater cable, the vibration pump is required to be started in the advancing process, the vibration generated by the vibration pump can be transmitted to the scraper, impurities on the outer wall of the cable can be quickly removed through the vibrating scraper, the outer wall surface of the cable can be exposed under the camera in a cleaning mode, when the camera detects that the outer wall surface of the cable is damaged, the electric cylinder is started, the piston rod on the electric cylinder extends out, the metal sheet can be effectively and inwards extruded through the extending piston rod until the sealing piece on the inner side is abutted against the outer wall surface of the cable, after the abutment, water between the sealing piece and the contact surface of the cable can be extruded, at the moment, the heating equipment is started, the heat generated by the heating equipment can be transmitted to the metal sheet, the metal sheet transmits the heat to the sealing piece until the hot-melting sealing piece is fixed on the cable, therefore, the damaged part of heat is effectively repaired and sealed, and the damage is avoided.
After the repair is finished, the sealing element is adhered to the metal sheet in a dotted mode, and meanwhile the anti-sticking coating is arranged between the sealing element and the metal sheet, so that after the shell moves, the metal sheet can be directly pulled off from the sealing element, the shell can continue to move, and subsequent inspection is not affected.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (6)
1. The utility model provides an underwater inspection robot which characterized in that: the underwater cable cleaning device comprises a shell arranged at the upper end of an underwater cable, wherein the lower end of the shell is provided with an arc-shaped groove with a hemispherical structure, the shell is arranged outside the underwater cable through the arc-shaped groove, a sealing piece with an arc-shaped structure and used for repairing the underwater cable is arranged inside the arc-shaped groove, a matched metal sheet is fixed outside the sealing piece in an adhesion mode, heating equipment is arranged at the upper end of the metal sheet, a heat preservation layer is wrapped outside the metal sheet and the heating equipment in a sealing mode, a water-proof layer used for insulating water is wrapped outside the heat preservation layer, movable hinges are arranged on two sides of the metal sheet, two sides of the arc-shaped groove protrude outwards to form a fixing part opposite to the movable hinges, a mounting groove communicated with the arc-shaped groove is arranged inside the fixing part, electric cylinders are arranged in the mounting grooves, piston rods of the electric cylinders are fixedly welded with the other ends of the movable hinges, and a cleaning mechanism used for removing dirt on the underwater cable is arranged in front of the shell, more than one camera for detecting the condition of the underwater cable is arranged in front of the shell.
2. The underwater inspection robot of claim 1, wherein: clean mechanism includes the scraper blade of arc structure, and an installation shell is welded to the upper end of scraper blade, and the inside vibrator that is equipped with of installation shell, on the direct transmission of vibration energy on the vibrator scraper blade, the scraper blade is in the vibration state all the time, is equipped with the viewing aperture of an arc structure on the top surface of scraper blade, and the camera is the distribution of arc structure to all see through the viewing aperture and detect the condition of cable under water.
3. The underwater inspection robot of claim 1, wherein: both sides of the shell are provided with propellers for pushing the shell to advance or retreat.
4. The underwater inspection robot of claim 1, wherein: the sealing element is made of hot melt adhesive or a material matched with the outer layer of the underwater cable.
5. The underwater inspection robot of claim 1, wherein: the sealing element and the metal sheet are fixed by adopting a point-shaped adhesion structure, and an anti-sticking coating is arranged between the sealing element and the metal sheet.
6. The underwater inspection robot of claim 1, wherein: the metal sheet is an elastic metal sheet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910928985.7A CN110626480B (en) | 2019-09-28 | 2019-09-28 | Underwater inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910928985.7A CN110626480B (en) | 2019-09-28 | 2019-09-28 | Underwater inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110626480A CN110626480A (en) | 2019-12-31 |
| CN110626480B true CN110626480B (en) | 2021-07-23 |
Family
ID=68973440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910928985.7A Active CN110626480B (en) | 2019-09-28 | 2019-09-28 | Underwater inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110626480B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111516831B (en) * | 2020-04-21 | 2021-03-09 | 中国船舶科学研究中心 | Cable type monitoring underwater robot |
| CN112152163B (en) * | 2020-09-21 | 2021-10-08 | 中国船舶科学研究中心 | Device for repairing cable insulation layer in deep sea in situ |
| 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 |
| CN113414198B (en) * | 2021-07-05 | 2022-02-08 | 湖北省漳河土木工程设计院 | Pipeline dredging device for hydraulic engineering and application method thereof |
| CN113585165A (en) * | 2021-08-17 | 2021-11-02 | 中印恒盛(北京)贸易有限公司 | Flood dangerous case detection and embankment maintenance patrol robot |
| CN114248889B (en) * | 2021-11-24 | 2023-03-31 | 杭州电子科技大学 | AUV suitable for submarine cable patrols and examines |
| CN114852290B (en) * | 2022-03-31 | 2023-06-27 | 广州大学 | Modularized underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003009369A (en) * | 2001-06-25 | 2003-01-10 | Sumitomo Electric Ind Ltd | Sheathed wire anchoring device of long body |
| CN103548223A (en) * | 2011-03-25 | 2014-01-29 | 斯塔特伊石油公司 | Subsea cable repair |
| CN106737872A (en) * | 2016-12-27 | 2017-05-31 | 杨南 | A kind of high-tension line patrols and examines deicing specialized robot |
| EP3342016A1 (en) * | 2015-08-28 | 2018-07-04 | Moyle Interconnector Limited | Underwater cable repair habitat |
| CN208174163U (en) * | 2018-05-03 | 2018-11-30 | 广州市康普瑞生机器人科技有限公司 | Cable robot for overhauling |
-
2019
- 2019-09-28 CN CN201910928985.7A patent/CN110626480B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003009369A (en) * | 2001-06-25 | 2003-01-10 | Sumitomo Electric Ind Ltd | Sheathed wire anchoring device of long body |
| CN103548223A (en) * | 2011-03-25 | 2014-01-29 | 斯塔特伊石油公司 | Subsea cable repair |
| EP3342016A1 (en) * | 2015-08-28 | 2018-07-04 | Moyle Interconnector Limited | Underwater cable repair habitat |
| CN106737872A (en) * | 2016-12-27 | 2017-05-31 | 杨南 | A kind of high-tension line patrols and examines deicing specialized robot |
| CN208174163U (en) * | 2018-05-03 | 2018-11-30 | 广州市康普瑞生机器人科技有限公司 | Cable robot for overhauling |
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| Publication number | Publication date |
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| CN110626480A (en) | 2019-12-31 |
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