CN112338931A - Underwater pipeline detection robot for shallow water area - Google Patents
Underwater pipeline detection robot for shallow water area Download PDFInfo
- Publication number
- CN112338931A CN112338931A CN202011180779.1A CN202011180779A CN112338931A CN 112338931 A CN112338931 A CN 112338931A CN 202011180779 A CN202011180779 A CN 202011180779A CN 112338931 A CN112338931 A CN 112338931A
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- arc
- connecting plate
- supporting
- shallow water
- sealing
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 title claims abstract description 28
- 238000004140 cleaning Methods 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims abstract description 10
- 238000007789 sealing Methods 0.000 claims description 33
- 238000007689 inspection Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 7
- 239000007921 spray Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000008400 supply water Substances 0.000 description 1
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Classifications
-
- 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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/023—Cleaning the external surface
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses an underwater pipeline detection robot for a shallow water area, which relates to the field of underwater robots and changes the traditional detection mode, wherein the robot can synchronously carry out the cleaning process and the detection process, namely, the robot can carry out camera shooting on a pipeline while cleaning the pipeline and can obtain a relatively clear image, so that the detection efficiency is improved, and the detection effect is ensured.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to an underwater pipeline detection robot for a shallow water area.
Background
Some underwater pipes located in shallow water are subjected, on the one hand, to internal high temperature and pressure loads and, on the other hand, to external long-term effects of low temperature loads, hydrostatic pressures, etc. Therefore, it is particularly important for the detection of underwater pipelines.
At present, the external pipe detection is mostly used for detecting the external surface condition of the pipeline, such as an underwater television, but the detection effect is greatly reduced because a large amount of dirt is often attached to the external surface of the pipeline, so that if a better detection effect is required to be obtained, the surface of the pipeline needs to be cleaned before the detection, the turbidity of water quality is caused in the cleaning process, and the waiting time is long, so that the detection efficiency is limited, and therefore, an underwater detection robot with the cleaning function is needed to be developed, so that the full-length and all-weather detection of the underwater pipeline is realized.
Disclosure of Invention
The invention aims to provide an underwater pipeline detection robot for a shallow water area, so as to solve the defects caused in the prior art.
An underwater pipeline detection robot for a shallow water area comprises a telescopic mechanism, a rack, a connecting block, a sealing assembly, a cleaning assembly and a camera;
the upper end of the telescopic mechanism is connected to a crane on the ship body, the lower end of the telescopic mechanism is connected to the rack, the lower end of the rack is hinged to the connecting block through a hinge shaft, and the lower end of the connecting block is connected with the connecting plate;
the sealing components are arranged on two sides of the connecting plate and can be opened and closed according to requirements, so that the temporary sealing of a shooting area where the camera is located in the pipeline detection process is realized;
the cleaning assembly is also arranged on two sides of the connecting plate and can be opened and closed as required, the cleaning assembly is provided with two parts which are respectively positioned on the front side and the rear side of the sealing assembly so as to clean dirt on the surface of the pipeline, and the cleaning assembly is also provided with a supporting mechanism so as to realize stable support of the cleaning assembly.
Preferably, the connecting plate is arc-shaped.
Preferably, seal assembly includes arc one, sealing member and pneumatic cylinder, arc one has two and symmetry to set up, and the one end of arc one is articulated with the connecting plate, the both ends of pneumatic cylinder are articulated with connecting block, arc one respectively and are used for realizing opening and shutting of arc one, and connecting plate, two arc one constitute a columniform sealing area, respectively are equipped with at least twice sealing member on being close to the inner wall at both ends around arc one and the connecting plate, the camera has a plurality ofly and installs on arc one, and the camera lens of camera is towards the axle center of arc one.
Preferably, the sealing piece comprises a rubber belt and bristles, one surface of the rubber belt is bonded on the inner walls of the connecting plate and the first arc-shaped plate, a plurality of bristles which are uniformly arranged are arranged on the other surface of the rubber belt, the diameter of each bristle is 0.1-0.3mm, and the distance between every two adjacent bristles is 0.01-0.1 mm.
Preferably, the clearance subassembly includes arc two, shower nozzle and pneumatic cylinder, arc two has two and the symmetry setting, and the one end and the connecting plate of arc two are articulated, the both ends of pneumatic cylinder are articulated with connecting block, arc two respectively and are used for realizing opening and shutting of arc two, the shower nozzle has a plurality of and uses the axle center of connecting plate to be circular array setting as the centre of a circle, and the end of intaking of shower nozzle is connected to the high pressure water pump on the hull, the axle center of the directional connecting plate of shower nozzle spun rivers direction.
Preferably, the supporting mechanism is provided with a plurality of supporting rods and is circumferentially arranged along the inner wall of the second arc-shaped plate, the supporting mechanism specifically comprises supporting columns, supporting tubes, springs and balls, one end of each supporting column is fixed on the inner wall of the second arc-shaped plate, the supporting tubes are slidably connected to the supporting columns and are limited through locking bolts arranged at the other ends of the supporting columns, the springs are sleeved on the supporting columns, and the balls are slidably connected to the tail ends of the supporting tubes and form a spherical pair with the tail ends of the supporting tubes.
Preferably, the propeller comprises a horizontal propeller and a vertical propeller, the horizontal propeller is mounted on the support frame, and the vertical propeller is mounted on a side plate of the protection frame.
The telescopic mechanism is specifically two telescopic links, and the lower extreme and the frame of telescopic link are connected, and the upper end of telescopic link is connected to the loop wheel machine on the hull.
The invention has the advantages that:
(1) the invention changes the traditional detection mode, synchronously carries out the cleaning process and the detection process, namely can carry out camera shooting on the pipeline while cleaning the pipeline and can obtain a relatively clear image, thereby improving the detection efficiency and ensuring the detection effect;
(2) the sealing assembly can filter impurities in a water body, a relatively sealed clear shooting area is formed on a pipeline, and a camera can be ensured to acquire a relatively clear image;
(3) when the cleaning assembly is used for cleaning by spraying water, on one hand, dead-angle-free cleaning of the surface of the pipeline is realized, and on the other hand, the camera can be ensured to acquire image information of the whole surface of the pipeline, so that the detection effect is improved; in addition, under the effect of loop wheel machine, the frame can drive clearance subassembly and seal assembly and remove to can realize the clearance and the multiple spot detection of whole pipeline, strong adaptability.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a side view of the present invention.
FIG. 3 is a schematic view of the lower part of the protection frame according to the present invention.
Fig. 4 is a schematic structural view of the connecting plate and the sealing member thereof according to the present invention.
FIG. 5 is a schematic structural diagram of a cleaning assembly of the present invention.
Fig. 6 is a cross-sectional view of fig. 5.
Fig. 7 is a partial enlarged view of a portion a in fig. 6.
The device comprises a telescopic mechanism 1, a frame 2, a connecting block 3, a connecting plate 4, a sealing assembly 5, a first arc-shaped plate 51, a sealing element 52, a hydraulic cylinder 53, a cleaning assembly 6, a second arc-shaped plate 61, a spray head 62, a camera 7, a supporting mechanism 8, a supporting column 81, a supporting tube 82, a spring 83 and a ball 84.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 7, an underwater pipeline inspection robot for shallow water comprises a telescopic mechanism 1, a frame 2, a connecting block 3, a sealing assembly 5, a cleaning assembly 6 and a camera 7;
the upper end of the telescopic mechanism 1 is connected to a crane on the ship body, the lower end of the telescopic mechanism 1 is connected to the rack 2, the lower end of the rack 2 is hinged to the connecting block 3 through a hinge shaft, and the lower end of the connecting block 3 is connected with the connecting plate 4;
the sealing components 5 are arranged on two sides of the connecting plate 4 and can be opened and closed according to requirements, so that the temporary sealing of a shooting area where the camera 7 is located in the pipeline detection process is realized;
In this embodiment, the connecting plate 4 is arc-shaped, the telescopic mechanism 1 is specifically two telescopic rods, the lower ends of the telescopic rods are connected with the frame 2, and the upper ends of the telescopic rods are connected to a crane on the ship body. .
In this embodiment, seal assembly 5 includes a first arc 51, sealing member 52 and pneumatic cylinder 53, a first arc 51 has two and symmetry setting, and the one end of a first arc 51 is articulated with connecting plate 4, the both ends of pneumatic cylinder 53 are articulated with connecting block 10, a first arc 51 respectively and are used for realizing opening and shutting of a first arc 51, and connecting plate 4, two first arcs 51 constitute a columniform sealing area, are close to and respectively are equipped with two at least sealing member 52 on the inner wall at a first arc 51 and connecting plate 4 front and back both ends, camera 7 has a plurality ofly and installs on a first arc 51, and camera 7's camera lens is towards the axle center of a first arc 51.
In this embodiment, the sealing member 52 includes a rubber band and bristles, one surface of the rubber band is bonded to the inner walls of the connecting plate 4 and the first arc-shaped plate 51, the other surface of the rubber band is provided with a plurality of bristles which are uniformly arranged, the diameter of the bristles is 0.1-0.3mm, the distance between two adjacent bristles is 0.01-0.1mm, and the simplification processing is performed in the figure. Adopt the less overall arrangement of thinner brush hair and interval, can furthest with the impurity separation of mixing in the water in the clearance process outside the shooting area to guarantee to acquire clear image.
In this embodiment, clearance subassembly 6 includes two arc 52, shower nozzle 62 and pneumatic cylinder 53, two arc 52 have two and the symmetry setting, and the one end of two arc 52 is articulated with connecting plate 4, the both ends of pneumatic cylinder 53 are articulated with connecting block 10, two arc 52 respectively and are used for realizing opening and shutting of two arc 52, shower nozzle 62 has a plurality of and uses the axle center of connecting plate 4 to be circular array setting as the centre of a circle, and the end of intaking of shower nozzle 62 is connected to the high pressure water pump on the hull, and the axle center of the directional connecting plate 4 of shower nozzle 62 spun rivers direction.
In this embodiment, the supporting mechanism 8 has a plurality of supporting columns 81, supporting tubes 82, springs 83 and balls 84, and is circumferentially arranged along the inner wall of the second arc-shaped plate 52, one end of each supporting column 81 is fixed on the inner wall of the second arc-shaped plate 52, the supporting tubes 82 are slidably connected to the supporting columns 81 and are limited by locking bolts installed at the other ends of the supporting columns 81, the springs 83 are sleeved on the supporting columns 81, and the balls 84 are slidably connected to the tail ends of the supporting tubes 82 and form a spherical pair with the tail ends of the supporting tubes 82. When the cleaning assembly 6 works, the ball 84 can abut against the outer wall of the pipeline, so that the robot can be kept in a relatively stable state and cannot generate large displacement in the radial direction of the pipeline.
The working process of the invention is as follows:
firstly, a ship body runs to a target water area and is anchored, and a robot submerges to a target pipeline under the action of a crane (not shown in the figure) and a telescopic mechanism 1 and hovers after reaching a proper position;
then, an oil pump on the ship body supplies oil to a hydraulic cylinder 53 in the cleaning assembly 6, the hydraulic cylinder 53 extends out and drives the arc-shaped plates 52 to be closed, and the arc-shaped plates and the connecting plate 4 form an annular structure, the balls 84 at the tail ends of the supporting pipes 82 tightly press on the outer wall of the pipeline, then the high-pressure water pump is started and supplies water to a spray head 62 at the front side of the sealing assembly 5, dirt attached to the outer wall of the pipeline can be cleaned by high-pressure water flow sprayed out by the spray head 62, and because the spray heads 62 are provided with a plurality of spray heads, each corner of the outer wall of the pipeline can be covered, so that the outer wall of the pipeline can be cleaned without dead corners, meanwhile, the crane drives the robot to move along the length direction of the pipeline, and;
after cleaning for a certain distance, the high-pressure water pump is turned off, the hydraulic cylinder 53 in the cleaning assembly 6 retracts, the second arc-shaped plate 52 is released from contact with the pipeline, the pipeline is suspended for a certain time, dirt near the pipeline flows away along with water flow, after the water quality is clear, oil is simultaneously supplied to the sealing assembly 5 and the hydraulic cylinder 53 in the cleaning assembly 6, the first arc-shaped plate 51 and the second arc-shaped plate 52 are both closed, and the first arc-shaped plate 51 realizes temporary sealing of a shooting area where the camera 7 is located by means of the sealing element 52; and then the high-pressure water pump is started to supply water to the spray head 62 at the front side of the sealing assembly 5, and meanwhile, the crane drives the robot to move continuously along the length direction of the pipeline, and the robot cleans the outer wall of the pipeline while moving forwards.
If the outer wall of the pipeline to be detected is clean and does not need to be cleaned, the high-pressure water pump does not need to be started for cleaning.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (7)
1. An underwater pipeline detection robot for a shallow water area is characterized by comprising a telescopic mechanism (1), a rack (2), a connecting block (3), a sealing assembly (5), a cleaning assembly (6) and a camera (7);
the upper end of the telescopic mechanism (1) is connected to a crane on the ship body, the lower end of the telescopic mechanism (1) is connected to the rack (2), the lower end of the rack (2) is hinged to the connecting block (3) through a hinge shaft, and the lower end of the connecting block (3) is connected with the connecting plate (4);
the sealing assemblies (5) are arranged on two sides of the connecting plate (4) and can be opened and closed according to requirements, so that the temporary sealing of a shooting area where the camera (7) is located in the pipeline detection process is realized;
the cleaning assembly (6) is also installed on two sides of the connecting plate (4) and can be opened and closed as required, the cleaning assembly (6) is provided with two parts which are respectively positioned on the front side and the rear side of the sealing assembly (5) so as to clean dirt on the surface of the pipeline, and the cleaning assembly (6) is further provided with a supporting mechanism (8) so as to realize stable supporting of the cleaning assembly.
2. An underwater pipeline inspection robot for shallow water according to claim 1, wherein: the connecting plate (4) is arc-shaped.
3. An underwater pipeline inspection robot for shallow water according to claim 2, wherein: seal assembly (5) include arc one (51), sealing member (52) and pneumatic cylinder (53), arc one (51) have two and symmetry to set up, and the one end and the connecting plate (4) of arc one (51) are articulated, the both ends of pneumatic cylinder (53) are articulated with connecting block (10), arc one (51) respectively and are used for realizing opening and shutting of arc one (51), and connecting plate (4), two arc one (51) constitute a columniform sealing area, respectively are equipped with at least twice sealing member (52) on being close to the inner wall at arc one (51) and connecting plate (4) front and back both ends, camera (7) have a plurality ofly and install on arc one (51), and the camera lens of camera (7) is towards the axle center of arc one (51).
4. An underwater pipeline inspection robot for shallow water according to claim 3, wherein: the sealing piece (52) comprises a rubber belt and bristles, one surface of the rubber belt is bonded on the inner walls of the connecting plate (4) and the arc-shaped plate I (51), a plurality of bristles which are uniformly arranged are arranged on the other surface of the rubber belt, the diameters of the bristles are 0.1-0.3mm, and the distance between every two adjacent bristles is 0.01-0.1 mm.
5. An underwater pipeline inspection robot for shallow water according to claim 2, wherein: clearance subassembly (6) include arc two (52), shower nozzle (62) and pneumatic cylinder (53), arc two (52) have two and the symmetry setting, and the one end and connecting plate (4) of arc two (52) are articulated, the both ends of pneumatic cylinder (53) are articulated with connecting block (10), arc two (52) respectively and are used for realizing opening and shutting of arc two (52), shower nozzle (62) have a plurality of and use the axle center of connecting plate (4) to be circular array setting as the centre of a circle, and the end of intaking of shower nozzle (62) is connected to the high pressure water pump on the hull, the axle center of the directional connecting plate (4) of shower nozzle (62) spun rivers direction.
6. An underwater pipeline inspection robot for shallow water according to claim 5, wherein: the supporting mechanism (8) is provided with a plurality of supporting rods (81), supporting tubes (82), springs (83) and balls (84), the supporting rods (81), the supporting tubes (82), the springs (83) and the balls (84) are arranged along the circumferential direction of the inner wall of the second arc-shaped plate (52), one ends of the supporting rods (81) are fixed on the inner wall of the second arc-shaped plate (52), the supporting tubes (82) are connected to the supporting rods (81) in a sliding mode and are limited through locking bolts installed at the other ends of the supporting rods (81), the springs (83) are sleeved on the supporting rods (81), and the balls (84) are connected to the tail ends of the supporting tubes (82.
7. An underwater pipeline inspection robot for shallow water according to claim 1, wherein: the telescopic mechanism (1) is specifically two telescopic rods, the lower ends of the telescopic rods are connected with the rack (2), and the upper ends of the telescopic rods are connected to a crane on the ship body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011180779.1A CN112338931B (en) | 2020-10-29 | 2020-10-29 | Underwater pipeline detection robot for shallow water area |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011180779.1A CN112338931B (en) | 2020-10-29 | 2020-10-29 | Underwater pipeline detection robot for shallow water area |
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| CN112338931A true CN112338931A (en) | 2021-02-09 |
| CN112338931B CN112338931B (en) | 2022-01-11 |
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Cited By (4)
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| CN114705622A (en) * | 2022-02-28 | 2022-07-05 | 浙江宏宇工程勘察设计有限公司 | Spiral visual inspection device of pile foundation under water |
| CN114720484A (en) * | 2022-04-12 | 2022-07-08 | 江苏省特种设备安全监督检验研究院 | Auxiliary device for special equipment detection |
| CN117103312A (en) * | 2023-10-19 | 2023-11-24 | 江苏兴国气体有限公司 | Manipulator assembly for collecting combustible ice |
| CN117182974A (en) * | 2023-11-03 | 2023-12-08 | 广东海洋大学 | Positioning fastener of underwater pipeline detection robot |
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| CN117182974A (en) * | 2023-11-03 | 2023-12-08 | 广东海洋大学 | Positioning fastener of underwater pipeline detection robot |
| CN117182974B (en) * | 2023-11-03 | 2024-01-05 | 广东海洋大学 | Positioning fastener of underwater pipeline detection robot |
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| CN112338931B (en) | 2022-01-11 |
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