CN117628318A - Underwater robot suitable for detecting inner wall and outer wall of pipeline - Google Patents

Abstract

The invention provides an underwater robot adapted to detection of inner and outer walls of a pipeline, comprising: a robot body and a reducing crawler chassis device; the robot body is arranged on the reducing crawler chassis device, and the reducing crawler chassis device is used for reducing according to the diameter of the inner wall or the outer wall of the pipeline to be detected so as to adapt to and attach to the inner wall or the outer wall of the pipeline to be detected, and further, the robot body is used for carrying out attached walking on the inner wall or the outer wall of the pipeline to be detected so as to carry out attached detection on the inner wall or the outer wall of the pipeline to be detected. The invention adjusts the variable-diameter crawler chassis device to adapt to different pipe diameters, so that the underwater robot can be attached to the pipe wall for detection all the time, and the problem that the existing underwater machine is difficult to attach to the pipe, so that the pipe detection effect is poor is solved.

Description

Underwater robot suitable for detecting inner wall and outer wall of pipeline

Technical Field

The invention relates to the technical field of pipeline detection, in particular to an underwater robot suitable for detecting inner and outer walls of a pipeline.

Background

With the continued development of offshore oil, it is becoming increasingly important as an equipment-pipeline for underwater oil transport. The submarine pipelines are erected in a large number in various countries in the world to meet the exploitation needs of offshore oil, and due to long-term corrosion in sea water and corrosion of marine organisms, the safety detection of the submarine pipelines is more and more important, but the detection of the submarine pipelines is very difficult, the manpower detection cost is high, the efficiency is low, the detection by using underwater machines is more and more popular, however, the pipelines are not easy to attach, and the specific situation of the pipelines cannot be detected well. Therefore, it is necessary to be able to adapt to the attachment detection of pipes of different pipe diameters.

The Chinese publication number is: CN 111365562A discloses a pipeline inspection robot adapting to multiple pipe diameters, comprising a vehicle body component, wherein the front end of the vehicle body component is provided with a front-view camera component, the rear end of the vehicle body component is provided with a rear-view camera component, two sides of the vehicle body component are symmetrically provided with a driving component, an adjustable crawler walking component and a crawler, and the driving component is arranged on the vehicle body component and drives the adjustable crawler walking component to move forwards or backwards relative to the ground through the crawler; the front-view camera component is used for monitoring the condition of the pipeline at the front end of the vehicle body component in the pipeline; the rearview camera assembly is used for detecting the condition of a pipeline at the rear end of the vehicle body assembly in the pipeline.

The pipeline detection robot adapting to the multiple pipe diameters is only suitable for pipeline detection on land, and the adjustable crawler belt walking assembly is complex in structure and limited in effect.

Disclosure of Invention

In view of the above, the invention provides an underwater robot suitable for detecting the inner wall and the outer wall of a pipeline, and aims to solve the problem that the pipeline detection effect is poor due to the fact that the existing underwater robot is difficult to attach to the pipeline.

The invention provides an underwater robot suitable for detecting inner and outer walls of a pipeline, which comprises: a robot body and a reducing crawler chassis device; the robot body is arranged on the reducing crawler chassis device, and the reducing crawler chassis device is used for reducing according to the diameter of the inner wall or the outer wall of the pipeline to be detected so as to adapt to and attach to the inner wall or the outer wall of the pipeline to be detected, and further, the robot body is used for carrying out attached walking on the inner wall or the outer wall of the pipeline to be detected so as to carry out attached detection on the inner wall or the outer wall of the pipeline to be detected.

Further, the above-mentioned underwater robot that adapts to pipeline inner and outer wall and detects, reducing caterpillar chassis device includes: the crawler belt chassis comprises a crawler belt chassis upper plate, a crawler belt chassis right side plate, a crawler belt chassis left side plate and a crawler belt chassis reducing adjusting assembly; the crawler chassis reducing adjusting component is arranged below the crawler chassis upper plate and parallel to the crawler chassis upper plate, and the crawler chassis upper plate, the crawler chassis right side plate, the crawler chassis reducing adjusting component and the crawler chassis left side plate are surrounded to form a quadrilateral structure; the right side plate of the crawler chassis and the opposite side wall of the left side plate of the crawler chassis are respectively provided with a crawler body, the two sides of the upper plate of the crawler chassis and the two sides of the variable-diameter adjusting component of the crawler chassis are respectively and rotatably connected with the right side plate of the crawler chassis and the left side plate of the crawler chassis, the track chassis reducing adjusting component is used for adjusting the length, so that the inclination of the right side plate of the track chassis and the left side plate of the track chassis is adjusted, the inclination of the track body is adjusted, and the reducing adjustment based on the diameter of the inner wall or the outer wall of the pipeline to be detected is realized.

Further, the above-mentioned adaptation pipeline inner and outer wall detects robot under water, crawler chassis reducing adjusting part is the extensible member, and it includes: a main track chassis reducing plate and a subsidiary track chassis reducing plate; the crawler chassis reducing main board is provided with a sliding groove, one end of the crawler chassis reducing auxiliary board is slidably inserted into the sliding groove, a reducing fastener is arranged between the crawler chassis reducing main board and the crawler chassis reducing auxiliary board, and the reducing fastener is used for locking the crawler chassis reducing auxiliary board and the crawler chassis reducing main board when the crawler chassis reducing auxiliary board slides in place.

Further, the underwater robot adapted to detection of the inner wall and the outer wall of the pipeline is further provided with a limiter between the right side plate of the track chassis and the left side plate of the track chassis, and the limiter is used for locking and limiting the right side plate of the track chassis and the left side plate of the track chassis after the inclination angle of the right side plate of the track chassis and the left side plate of the track chassis are adjusted in place.

Further, the above-mentioned underwater robot that adapts to pipeline inner and outer wall and detects, the stopper includes: two limiting plates; the two limiting plates are respectively arranged on the right side plate of the crawler chassis and the left side plate of the crawler chassis, limiting holes are formed in the two limiting plates, the two limiting holes are connected through limiting fasteners and used for penetrating through the limiting holes of the two limiting plates and clamping and fastening the two limiting plates after the inclination angles of the right side plate of the crawler chassis and the left side plate of the crawler chassis are adjusted in place.

Further, the underwater robot adapted to the detection of the inner wall and the outer wall of the pipeline is provided with the suspension support frame on the bottom wall of the upper plate of the crawler chassis, and the suspension support frame is used for carrying out suspension support on the detection device of the robot body so that the detection device detects the inner wall or the outer wall of the pipeline to be detected.

Further, the underwater robot adapted to detection of the inner wall and the outer wall of the pipeline is provided with a sliding groove, and the detecting device is connected with the sliding groove in a sliding manner and used for sliding to the position where the detecting device and the track chassis reducing adjusting assembly are arranged in a dislocation manner so as to detect the inner wall or the outer wall of the pipeline to be detected.

Further, the underwater robot adapted to detection of the inner wall and the outer wall of the pipeline is characterized in that each crawler body is connected with a crawler sealing driving motor for driving the crawler body to rotate.

Further, the above-mentioned underwater robot that adapts to pipeline inner and outer wall and detects, the robot body includes: a support frame; the propeller is arranged on the support frame and is used for providing power for changing the position and the posture of the support frame; the electronic cabin is arranged on the supporting frame, and a control system is arranged in the electronic cabin and is connected with the propeller and the variable-diameter crawler chassis device and used for controlling the propeller and the variable-diameter crawler chassis device; the buoyancy material is arranged on the support frame and used for providing buoyancy; and the detection device is arranged on the reducing crawler chassis device and is used for detecting the inner wall or the outer wall of the pipeline to be detected.

Further, the above-mentioned underwater robot that adapts to pipeline inner and outer wall and detects, the support frame includes: the two annular fixtures are arranged side by side and at intervals; the middle position bracket is arranged between the two annular fixtures, and is of an annular structure, and the middle position bracket and the two annular fixtures are coaxially arranged to provide clamping holes for clamping the electronic cabin; the lifting handle connecting plate is respectively connected with the two annular retainers and the middle-position support, and penetrates through the mounting hole of the buoyancy material to the upper side of the buoyancy material to serve as a connecting bridge between the two annular retainers and the middle-position support and serve as a lifting handle of the robot body so as to facilitate application of external force.

Furthermore, the underwater robot adapted to detection of the inner wall and the outer wall of the pipeline is characterized in that the annular fixer is provided with an angle code, and the angle code is provided with an illuminating lamp.

Furthermore, the underwater robot adapted to the detection of the inner wall and the outer wall of the pipeline is provided with the propeller fixing support which is used for supporting the propeller, wherein the two annular fixing supports and/or the middle position support are/is provided with the propeller fixing support.

Furthermore, in the underwater robot adapted to detection of the inner and outer walls of the pipeline, the two annular retainers and/or the middle support are provided with fixing bases for mounting the robot body on the reducing crawler chassis device.

Furthermore, the underwater robot adapting to detection of the inner wall and the outer wall of the pipeline is characterized in that the annular fixer is provided with a buoyancy connecting hole for connecting a buoyancy material.

The underwater robot suitable for detecting the inner wall and the outer wall of the pipeline can adapt to different pipeline pipe diameters by adjusting the variable-diameter crawler chassis device, so that the underwater robot can be attached to the pipe wall for detection all the time, the problem that the pipeline detection effect is poor due to the fact that the existing underwater robot is difficult to attach to the pipeline is solved, and meanwhile, the underwater robot is also suitable for detecting the seabed or the plane topography. The underwater robot is convenient to use, simple in structure and wide in application range.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

fig. 1 is a schematic structural diagram of an underwater robot adapted to detection of inner and outer walls of a pipeline according to an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of an underwater robot adapted to detect the inner and outer walls of a pipeline for detecting the outer walls of the pipeline according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an underwater robot adapted to detect the inner and outer walls of a pipeline for detecting the inner wall of the pipeline according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a robot body according to an embodiment of the present invention;

FIG. 5 is a schematic view of a structure of an underwater robot adapted to detect the inner and outer walls of a pipeline according to an embodiment of the present invention;

FIG. 6 is a schematic view of another direction structure of the underwater robot adapted to detect the inner and outer walls of a pipeline according to an embodiment of the present invention;

FIG. 7 is a schematic view of a ring-shaped holder according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of a middle support according to an embodiment of the present invention;

fig. 9 is a schematic structural view of a fixing base according to an embodiment of the present invention;

fig. 10 is a schematic structural view of a variable-diameter crawler chassis device according to an embodiment of the present invention;

FIG. 11 is a schematic view of another directional structure of a variable diameter crawler chassis device according to an embodiment of the present invention;

fig. 12 is a schematic structural view of an upper plate of a crawler chassis according to an embodiment of the present invention;

Fig. 13 is a schematic structural view of a track chassis reducing main board according to an embodiment of the present invention;

fig. 14 is a schematic structural view of a variable-diameter subplate of a crawler chassis according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of a limiting plate according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

Referring to fig. 1 to 3, a preferred structure of an underwater robot adapted to detect inner and outer walls of a pipeline according to an embodiment of the present invention is shown. As shown, the underwater robot includes: a robot body 1 and a variable-diameter crawler chassis device 2; wherein,

The robot body 1 is arranged on the reducing crawler chassis device 2, the reducing crawler chassis device 2 is used for being transformed according to the inner wall or the outer wall of the pipeline 3 to be detected so as to adapt to and be attached to the inner wall or the outer wall of the pipeline 3 to be detected, and then the robot body 1 is used for carrying out attached walking on the inner wall or the outer wall of the pipeline 3 to be detected so as to carry out attached detection on the inner wall or the outer wall of the pipeline 3 to be detected. Specifically, the robot body 1 may be disposed on the reducing crawler chassis device 2, the reducing crawler chassis device 2 is used as a driving support chassis for the robot body 1 to travel along the pipeline 3 to be detected, the robot body 1 may implement adjustment of the posture position, so that the whole underwater robot moves to the pipeline 3 to be detected in water, and the posture adjustment may be performed, for example, by turning, through the robot body 1, as shown in fig. 2 and 3, so that the underwater robot is attached to the outer wall or the inner wall of the pipeline 3 to be detected along the axial direction of the pipeline 3 to be detected, so that the robot body 1 is driven by the reducing crawler chassis device 2 to move along the axial direction of the pipeline 3 to be detected, and the outer wall or the inner wall of the pipeline 3 to be detected is detected while moving.

Referring to fig. 4 to 6, the robot body 1 includes: a supporting frame 11, a propeller 12, an electronic cabin 13, a buoyancy material 14 and a detection device (not shown in the figure); wherein, the propeller 12 is arranged on the supporting frame 11 and is used for providing power for changing the position and the posture of the supporting frame 11; an electronic cabin 13 is arranged on the supporting frame 11, and a control system (not shown in the figure) is arranged in the electronic cabin 13 and connected with the propeller 12 and the reducing crawler chassis device 2 for controlling the propeller 12 and the reducing crawler chassis device 2; the buoyancy material 14 is arranged on the supporting frame 11 and is used for providing buoyancy; the detection device is arranged on the reducing crawler chassis device 2 and is used for detecting the inner wall or the outer wall of the pipeline 3 to be detected.

Specifically, the supporting frame 11 plays a supporting role to support the propeller 12, the electronic cabin 13, and the buoyancy material 14. In this embodiment, the support 11 is further provided with an illumination lamp 15. In this embodiment, as shown in fig. 4, two sets of propellers 12 may be respectively disposed on the left and right sides of the support frame 11, where each set of propellers 12 is provided with two types, that is, a transverse propeller 1201 disposed along the travelling direction of the underwater robot and a longitudinal propeller 1202 disposed along a direction perpendicular to the travelling direction of the underwater robot, so as to provide power for movement in multiple directions, and control various movements of the underwater robot in water may be achieved by controlling the multiple propellers 12, for example, linear movement, rotary movement, overturning movement, etc. may be performed, so as to further achieve adjustment of the position and posture of the underwater robot; two longitudinal thrusters 1202 in the two sets of thrusters 12 are respectively arranged on the front side and the rear side (the left side and the right side as shown in fig. 5) of the transverse thrusters 1201, that is, six thrusters 12, four longitudinal thrusters 1202 and two transverse thrusters 1201 are arranged on the supporting frame 11; wherein, the front and the back are the forward and backward directions of the underwater robot respectively. The electronic cabin 13 is transversely arranged on the supporting frame 11, and a control system arranged in the electronic cabin 13 can control the whole underwater robot, so that not only can the variable-diameter crawler chassis device 2 be controlled to walk, but also the propeller 12 and the detection device can be controlled, and the underwater robot can perform underwater movement and pipeline detection according to actual conditions. A buoyancy material 14 may be provided on the support frame 11 to provide buoyancy of the underwater robot. The detection device is arranged on the variable-diameter crawler belt chassis device 2, and a yielding hole is formed in the variable-diameter crawler belt chassis device 2, so that the detection device can penetrate through the variable-diameter crawler belt chassis device 2 to detect the inner wall or the outer wall of the pipeline 3 to be detected; the detection device can be connected with the control system to control the detection device through the control system, and can receive detection data acquired by the detection device to perform data processing and the like on the detection data.

With continued reference to fig. 5 and 6, the support frame 11 includes: two ring-shaped holders 111, a middle support 112 and a handle connecting plate 113; wherein, the two annular retainers 111 are respectively a front annular retainer 11101 and a rear annular retainer 11102, which are arranged side by side and at intervals along the transverse direction; a middle support 112 is arranged between the two annular retainers 111, and the middle support 112 has an annular structure, and the middle support 112 and the two annular retainers 111 are coaxially arranged to provide a clamping hole for clamping the electronic compartment 13; the handle connecting plate 113 is respectively connected with the two annular retainers 111 and the middle support 112, as shown in fig. 1, the handle connecting plate 113 also passes through the mounting hole 141 of the buoyancy material 14 to the upper side of the buoyancy material 14, and is used as a connecting bridge between the two annular retainers 111 and the middle support 112, and also is used as a handle of the robot body 1, so as to facilitate the application of external force.

Specifically, the two annular retainers 111 and the middle support 112 are in annular structures, and the two annular retainers 111 and the middle support 112 are coaxially arranged, so that the electronic cabin 13 sequentially passes through the front annular retainer 11101 and the rear annular retainer 11102 of the middle support 112 and is clamped on the front annular retainer 11101 and the rear annular retainer 11102 of the middle support 112, the degree of freedom of the electronic cabin 13 can be limited, and bending moment born by the electronic cabin 13 can be reduced. The handle connecting plate 113 is transversely arranged on the two annular retainers 111 and the middle support 112, and the handle connecting plate 113 is respectively connected with the two annular retainers 111 and the middle support 112 to serve as a connecting bridge of the two annular retainers 111 and the middle support 112 and also serve as a handle of the robot body 1 so as to facilitate application of external force and facilitate overall displacement of the underwater robot.

With continued reference to fig. 4, the two ring-shaped holders 111 and the middle support 112 are provided with fixing bases 114 for mounting the robot body 1 to the reducing crawler apparatus 2, so that the whole apparatus is more compact and small. Specifically, at least one of the two ring-shaped retainers 111 and the middle support 112 is provided with a fixing base 114, so as to be fixedly mounted on the reducing crawler chassis device 2 through the fixing base 114, thereby realizing the fixed connection between the robot body 1 and the reducing crawler chassis device 2; preferably at least two of the two ring-shaped holders 111 and the neutral support 112 are provided with a fixing base 114 to ensure connection stability.

With continued reference to fig. 5 and 6, a propeller fixing bracket 115 may be provided on both the ring-shaped holder 111 and the center bracket 112 for supporting and fixing the propeller 12; wherein, two sides of the two ring-shaped retainers 111 may be provided with longitudinal pusher retaining brackets for supporting and retaining four longitudinal pusher 1202; lateral pusher fixing brackets may be provided on both sides of the middle position bracket 112 to support and fix the two lateral pusher 1201; as shown in fig. 5, a steel ring tightening belt 1151 may be provided on the propeller fixing bracket 115, so that the propeller 12 is fixed on the propeller fixing bracket 115 through the steel ring tightening belt 1151. Of course, the number of the two ring-shaped holders 111 and the center support 112 provided with the pusher holding supports 115 may be determined according to practical situations such as the pusher 12, and is not limited in this embodiment.

With continued reference to fig. 5, the ring holder 111, and in particular the front ring holder 11101, may also be provided with a corner bracket 116 for supporting the illumination lamp 15. Specifically, the illumination lamp 15 is connected to the horn 116 of the front ring holder 11101 by a bolt, and the horn 116 may be fixed to the front ring holder 11101 by a bolt. In the present embodiment, the illumination lamps 15 and the horn 116 are provided in two, respectively, on the left and right sides of the front ring-shaped holder 11101 to illuminate the forward direction of the underwater robot.

Referring to fig. 7, a schematic structural view of a ring-shaped holder according to an embodiment of the present invention is shown. As shown, the annular retainer 111 is provided with a first clamping groove 1111 for clamping the handle connecting plate 113; the side plates on both sides of the first clamping groove 1111 are respectively provided with a first clamping hole 1112, and the handle connecting plate 113 is fixed to the side plates on both sides of the first clamping groove 1111 through the bolt connection penetrating through the first clamping holes 1112, and simultaneously, the electronic cabin 13 is clamped. The annular holder 111 is further provided with a first mounting boss 1113 for supporting a propeller mounting bracket, particularly a longitudinal propeller mounting bracket; the first mounting boss 1113 is provided with a mounting hole, and the longitudinal pusher fixing bracket may be fixed to the first mounting boss 1113 by a bolt. The annular fixer 111 is further provided with a first base fixing hole 1114 below the first mounting boss 1113, and is used for mounting the fixing base 114, and the fixing base 114 can be fixed on the first base fixing hole 1114 through bolts, so that connection between the fixing base 114 and the annular fixer 111 is achieved, and then the fixing base 114 is mounted on the reducing caterpillar chassis device 2. In the present embodiment, the ring-shaped holder 111, particularly the front ring-shaped holder 11101, is further provided with a bracket fixing hole 1115 for fixedly mounting the bracket 116 on the ring-shaped holder 111 by a bolt; the rear ring-shaped holder 11102 may not have the corner fixing hole 1115, that is, the corner fixing hole 1115 may be provided on the ring-shaped holder 111 according to which the illumination lamp is required.

With continued reference to FIG. 7, the annular retainer 111 may also have a support plate 1116 for supporting and retaining the buoyancy material 14; wherein, the supporting plate 1116 may be provided with buoyancy connecting holes 11161 for connecting the buoyancy material 14, and the buoyancy material 14 may be mounted on the supporting plate 1116 by bolts to support the buoyancy material 14 by the two ring-shaped holders 111.

Referring to fig. 8, a schematic structural diagram of a middle bracket according to an embodiment of the present invention is shown. As shown, the middle support 112 is provided with a second clamping groove 1121 for clamping the handle connecting plate 113; the second clamping holes 1122 are provided on the side plates on both sides of the second clamping groove 1121, and the handle connecting plate 113 is fixed to the side plates on both sides of the second clamping groove 1121 of the ring-shaped holder 111 by bolting through the second clamping holes 1122, and simultaneously clamps the electronic compartment 13. The middle support 112 is also provided with a second mounting boss 1123 for supporting a propeller fixing support, particularly a transverse propeller fixing support; the second mounting boss 1123 is provided with a mounting hole, and the lateral thruster fixing bracket may be fixed on the second mounting boss 1123 by a bolt. The middle support 1121 is further provided with a second base fixing hole 1124 below the second mounting boss 1123, for mounting the fixing base 114, and the fixing base 114 may be fixed on the second base fixing hole 1124 by bolts, so as to achieve connection between the fixing base 114 and the middle support 1121, and further be mounted on the reducing crawler chassis device 2 by the fixing base 114.

Referring to fig. 9, a schematic structural diagram of a fixing base according to an embodiment of the present invention is shown. As shown, the fixed base 114 is provided with a fixed mounting hole 1141 for mounting to the ring-shaped holder 111 and/or the neutral support 112; the fixed base 114 may also be provided with base mounting holes 1142 for mounting the fixed base 114 to the reducing crawler belt chassis 2. Specifically, the fixed mounting hole 1141 is mounted to the first base fixing hole 1114 or the second base fixing hole 1124 by a bolt, and the base mounting hole 1142 is mountable to the reducing crawler chassis device 2 by a bolt.

Referring to fig. 10 to 11, a preferred structure of the reducing crawler chassis device provided by the embodiment of the present invention is shown. As shown, the reducing crawler belt chassis device 2 includes: a track chassis upper plate 21, a track chassis right side plate 22, a track chassis left side plate 23, and a track chassis reducing adjustment assembly 24; wherein,

the track chassis reducing adjusting component 24 is arranged right below the track chassis upper plate 21 and parallel to the track chassis upper plate 21, and the track chassis upper plate 21, the track chassis right side plate 22, the track chassis reducing adjusting component 24 and the track chassis left side plate 23 are surrounded to form a quadrilateral structure. Specifically, the track pan reducing adjustment assembly 24 is located directly below the track pan upper plate 21, and the track pan reducing adjustment assembly 24 is disposed parallel to the track pan upper plate 21, the track pan right side plate 22 and the track pan left side plate 23 are disposed on both sides, respectively, and the track pan upper plate 21, the track pan right side plate 22, the track pan reducing adjustment assembly 24 and the track pan left side plate 23 are enclosed to form an isosceles trapezoid or rectangular structure. In this embodiment, the track chassis reducing adjustment assembly 24 may be one or more, and a plurality of the track chassis adjusting plates 24 are arranged side by side and at intervals along the length direction of the track chassis upper plate 21, so as to yield the detection device arranged on the track chassis upper plate 21, so that the detection device can pass through the pipeline 3 to be detected from the gap between the track chassis reducing adjustment assemblies 24. In this embodiment, two track chassis reducing adjustment assemblies 24 are taken as an example to illustrate that the adjustment stability can be ensured.

The right side plate 22 of the track chassis and the left side plate 23 of the track chassis are respectively provided with a track body 25 on opposite side walls, and both sides (left and right sides as shown in fig. 10) of the upper plate 21 of the track chassis and both sides (left and right sides as shown in fig. 10) of the variable diameter adjusting assembly 24 of the track chassis are respectively rotatably connected with the right side plate 22 of the track chassis and the left side plate 23 of the track chassis for length adjustment so as to adjust the inclination angles of the right side plate 22 of the track chassis and the left side plate 23 of the track chassis and further adjust the inclination angles of the track body 25, thereby realizing variable diameter adjustment based on the diameter of the inner wall or the outer wall of the pipeline 3 to be detected. Specifically, in combination with rotatable connection between any two adjacent sides in the quadrilateral structure, the two adjacent sides can be connected by using bolts through the pin connector 29, and the bottom ends of the right side plate 22 and the left side plate 23 of the crawler chassis are inclined to two sides or inclined inwards through the length adjustment of the left side plate 24 of the crawler chassis, for example, if the length of the left side plate 24 of the crawler chassis is the same as the width of the upper plate 21 of the crawler chassis, the right side plate 22 of the crawler chassis, the left side plate 23 of the crawler chassis are enclosed to form a rectangular structure, that is, the right side plate 22 of the crawler chassis and the left side plate 23 of the crawler chassis are perpendicular to the upper plate 21 of the crawler chassis, the crawler bodies 25 are also vertically arranged, that is, the two crawler bodies 25 are arranged in parallel, and can walk on a plane; if the length of the track chassis reducing adjustment assembly 24 is greater than the width of the track chassis upper plate 21, the track chassis right side plate 22, the track chassis reducing adjustment assembly 24 and the track chassis left side plate 23 are surrounded to form an isosceles trapezoid, the track chassis reducing adjustment assembly 24 is taken as the long side of the isosceles trapezoid, the bottom ends of the track chassis right side plate 22 and the track chassis left side plate 23 are inclined to two sides, as shown in fig. 3, the two track bodies 25 are also inclined to two sides, and can walk on the inner wall of the pipeline; if the length of the track chassis reducing adjustment assembly 24 is smaller than the width of the track chassis upper plate 21, the track chassis right side plate 22, the track chassis reducing adjustment assembly 24 and the track chassis left side plate 23 are surrounded to form an isosceles trapezoid, the track chassis reducing adjustment assembly 24 serves as a short side of the isosceles trapezoid, the bottom ends of the track chassis right side plate 22 and the track chassis left side plate 23 incline inwards, as shown in fig. 2, the two track bodies 25 incline inwards, and can walk on the outer wall of the pipeline.

With continued reference to fig. 10 and 11, each of the track bodies 25 is connected to a track seal drive motor 16 for driving the track bodies 25 in rotation. Specifically, the two track seal driving motors 25 can be respectively connected with the right side plate 22 of the track chassis and the left side plate 23 of the track chassis through bolts to provide advancing power for the track body 25.

With continued reference to fig. 11, a limiter 27 is further disposed between the right side plate 22 of the track chassis and the left side plate 23 of the track chassis, so as to lock and limit the right side plate 22 of the track chassis and the left side plate 23 of the track chassis after the inclination angle of the right side plate 22 of the track chassis and the left side plate 23 of the track chassis are adjusted in place. Specifically, the limiter 27 is respectively connected with the right side plate 22 of the track chassis and the left side plate 23 of the track chassis, after the right side plate 22 of the track chassis and the left side plate 23 of the track chassis are adjusted in place in terms of inclination, in order to better ensure the stability of the variable-diameter track chassis device 2, the right side plate 22 of the track chassis and the left side plate 23 of the track chassis can be locked by the limiter 27 so as to prevent the right side plate 22 of the track chassis and the left side plate 23 of the track chassis from rotating to change in terms of inclination, thereby ensuring that the variable-diameter track chassis device 2 identifies the inner wall or the outer wall of the pipeline 3 to be detected.

With continued reference to fig. 10, a suspension support 28 is provided on the bottom wall of the upper plate 21 of the crawler chassis, and is used for suspending and supporting the detection device of the robot body 1, so that the detection device detects the inner wall or the outer wall of the pipeline 3 to be detected. Specifically, the suspension support 28 may be bolted to the crawler upper plate 21 to provide an installation location for suspension of the detection device; in this embodiment, the suspension support 28 and the track chassis reducing adjustment assembly 24 may be arranged in a staggered manner, so that the detection device and the track chassis reducing adjustment assembly 24 are arranged in a staggered manner, and further detection by the detection device is prevented from being blocked by the track chassis reducing adjustment assembly 24. The suspension supporting frame 28 may further be provided with a sliding groove 281, where the detecting device is connected with the sliding groove 281 in a slidable manner, and is configured to slide to a position where the detecting device and the track chassis reducing adjusting assembly 24 are arranged in a dislocation manner, so as to detect an inner wall or an outer wall of the pipeline 3 to be detected. Meanwhile, the suspension support frame 28 can also be used for mounting different detection equipment, so that the multifunctional detection purpose is realized, and the efficient multifunctional detection robot is provided, so that the multifunctional detection robot is convenient and easy to use, and has comprehensive functions and simple structure.

Referring to fig. 12, a schematic structural diagram of an upper plate of a crawler chassis according to an embodiment of the present invention is shown. As shown, the upper plate 21 of the crawler chassis is provided with a fixing connection hole 211 for installing the robot body 1. Specifically, three groups of fixing connection holes 211 are provided on the track chassis upper plate 21 along the length direction thereof, and are used for respectively connecting the two annular retainers 111 and the fixing bases 114 connected to the middle support 112 through bolts, namely, the base mounting holes 1142 on the three fixing bases 114 are respectively fixedly mounted at the three groups of fixing connection holes 211 on the track chassis upper plate 21 through bolts. The robot body 1 and the variable-diameter crawler belt chassis device 2 are connected by bolts through the base mounting holes 1142 of the robot body 1 and the fixed connection holes 211 of the variable-diameter crawler belt chassis device 2, so that the robot body 1 and the variable-diameter crawler belt chassis device 2 form a unified whole.

With continued reference to fig. 10, the track pan reducing adjustment assembly 24 is a telescoping member that includes: a main chassis reducing plate 241 and a sub chassis reducing plate 242; as shown in fig. 13, a sliding groove 2411 is formed in the main track chassis reducing plate 241, one end of the auxiliary track chassis reducing plate 242 is slidably inserted into the sliding groove 2411, and a reducing fastener 243 is disposed between the main track chassis reducing plate 241 and the auxiliary track chassis reducing plate 242, for locking the auxiliary track chassis reducing plate 242 and the main track chassis reducing plate 241 when the auxiliary track chassis reducing plate 242 slides in place. Specifically, the main plate 241 of the variable diameter of the crawler chassis is matched with the auxiliary plate 242 of the variable diameter of the crawler chassis, and the end part (the lower end as shown in fig. 14) of the auxiliary plate 242 of the variable diameter of the crawler chassis is inserted into the chute 2411 to form a closely attached slideway mechanism; the main limiting slide way 2412 can be arranged on the track chassis reducing main plate 241 along the length direction thereof, the auxiliary limiting slide way 2421 can be arranged on the track chassis reducing auxiliary plate 242 along the length direction thereof, when the end part of the track chassis reducing auxiliary plate 242 is inserted into the slide way 2411, the main limiting slide way 2412 and the auxiliary limiting slide way 2421 can be overlapped, and the overlapped part of the main limiting slide way 2412 and the auxiliary limiting slide way 2421 is inserted into the reducing fastener for screwing and fixing, so that the locking of the track chassis reducing main plate 241 and the track chassis reducing auxiliary plate 242 is realized. As shown in fig. 13 and 14, the ends of the track pan reducing main plate 241 and the track pan reducing sub plate 242 are each provided with a fixed connection hole for connecting the pin connector 29 to be rotatably connected to the track pan right side plate 22 and the track pan left side plate 23 by the pin connector 29, respectively.

With continued reference to fig. 11, the limiter 27 includes: two limiting plates 271; wherein, two limiting plates 271 are respectively disposed on the right side plate 22 of the track chassis and the left side plate 23 of the track chassis, and, as shown in fig. 15, limiting holes 2711 are respectively disposed on the two limiting plates 271, and the two limiting holes 2711 are connected by a limiting fastener 272, so that after the inclination angle of the right side plate 22 of the track chassis and the left side plate 23 of the track chassis is adjusted in place, the two limiting plates 271 pass through the limiting holes 2711 of the two limiting plates 271 and clamp and fasten the two limiting plates 271, so as to realize locking and limiting of the right side plate 22 of the track chassis and the left side plate 23 of the track chassis. Specifically, the two limiting plates 271 are respectively connected and fixed with the left side plate 23 of the track chassis and the right side plate 22 of the track chassis through bolts, and the two limiting plates 271 on the left side plate 23 of the track chassis and the right side plate 22 of the track chassis after the fixing are in parallel contact, so that the limiting holes 2711 on the two limiting plates 271 can be at least partially overlapped, and after the limiting fasteners 272 pass through the overlapped limiting holes 2711 and clamp the two limiting plates 271, the freedom degree constraint can be performed for the device, and the stability of the variable-diameter track chassis device 2 is ensured. In this embodiment, the limiting holes 2711 may be circular holes, and when the limiting plates 271 rotate along with the right side plate 22 of the track chassis and the left side plate 23 of the track chassis, the limiting holes 2711 of the two limiting plates 271 are all overlapped so as to be clamped and locked by the limiting fasteners 272; of course, the limiting hole 2711 may be a waist-shaped hole or other suitable structures, which is not limited in this embodiment.

The process of reducing is regulated by the reducing crawler chassis device 2: according to different pipe diameters, the track chassis reducing auxiliary plate 242 is adjusted to a proper position in the chute 2411, so that the track body 25 can be polymerized or expanded, i.e. inclined to the inner side or the two sides, so as to ensure that the reducing track chassis device 2 can be attached to the inner wall or the outer wall of a pipeline to be detected, and the overlapped limiting holes 2711 are screwed by using the limiting fasteners 272 to limit the freedom degree of the reducing track chassis device 2.

The working process of the underwater robot adapting to detection of the inner wall and the outer wall of the pipeline comprises the following steps: firstly, when the underwater robot needs to detect the outer wall of a pipeline under water, according to the outer diameter of the pipeline to be detected 3 to be detected by the underwater robot, the variable-diameter crawler belt chassis device 2 of the underwater robot is adjusted, so that the front crawler belt chassis variable-diameter main plate 241 and the crawler belt chassis variable-diameter auxiliary plate 242 of the variable-diameter crawler belt chassis device 2 are mutually gathered, namely the length of the crawler belt chassis variable-diameter adjusting component 24 is shortened, until two side plates of the variable-diameter crawler belt chassis device 2, namely the right crawler belt chassis side plate 22 and the left crawler belt chassis side plate 23, form a proper angle, the variable-diameter fastening piece 243 is screwed, and the limiting fastening piece 272 is screwed, so that the variable-diameter crawler belt chassis device 2 is stable; then, controlling a transverse propeller 1201 and a longitudinal propeller 1202 of the robot body 1 to enable the underwater robot to integrally move to a pipeline 3 to be detected, adjusting the robot body 1 to enable the robot body 1 to change the posture, and enabling a variable-diameter crawler chassis device 2 of the underwater robot to be attached to the outer wall of the pipeline 3 to be detected for detection, as shown in fig. 2;

Secondly, when the underwater robot needs to detect the inner wall of the pipeline 3 to be detected, according to the inner diameter of the pipeline 3 to be detected by the underwater robot, the variable-diameter crawler belt chassis device 2 of the underwater robot is outwards adjusted, so that a front crawler belt chassis variable-diameter main plate 241 and a crawler belt chassis variable-diameter auxiliary plate 242 of the variable-diameter crawler belt chassis device 2 are mutually separated, namely the length of a crawler belt chassis variable-diameter adjusting component 24 is prolonged, until two side plates of the variable-diameter crawler belt chassis device 2, namely a crawler belt chassis right side plate 22 and a crawler belt chassis left side plate 23, form a proper angle, a variable-diameter fastening piece 243 is screwed, and a limit fastening piece 272 is screwed, so that the variable-diameter crawler belt chassis device 2 is stable; then, the transverse propeller 1201 and the longitudinal propeller 1202 of the robot body 1 are controlled to enable the underwater robot to integrally move to the pipeline 3 to be detected, the robot body 1 is adjusted to enable the robot body 1 to change the posture, as shown in fig. 3, and then the variable-diameter crawler chassis device 2 of the underwater robot is attached to the inner wall of the pipeline 3 to be detected for detection.

In summary, the underwater robot that adaptation pipeline inner and outer wall detected that this embodiment provided can adapt to different pipeline pipe diameters through adjusting reducing caterpillar chassis device to this makes the underwater robot can attach all the time and detects on the pipe wall, has solved the difficult problem that leads to the pipeline detection effect poor of attaching the pipeline of current underwater machine, and simultaneously, this underwater robot is applicable equally to submarine or planar topography's detection. The underwater robot is convenient to use, simple in structure and wide in application range.

It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (14)

1. An underwater robot adapted to detect an inner wall and an outer wall of a pipeline, comprising: a robot body and a reducing crawler chassis device; wherein,

the robot body is arranged on the reducing crawler chassis device, and the reducing crawler chassis device is used for reducing according to the diameter of the inner wall or the outer wall of the pipeline to be detected so as to adapt to and attach to the inner wall or the outer wall of the pipeline to be detected, and then the robot body is used for carrying out attached walking on the inner wall or the outer wall of the pipeline to be detected so as to carry out attached detection on the inner wall or the outer wall of the pipeline to be detected.

2. The underwater robot adapted to detect an inner and outer wall of a pipeline as claimed in claim 1, wherein the reducing crawler unit comprises: the crawler belt chassis comprises a crawler belt chassis upper plate, a crawler belt chassis right side plate, a crawler belt chassis left side plate and a crawler belt chassis reducing adjusting assembly; wherein,

the crawler chassis reducing adjusting component is arranged below the crawler chassis upper plate and parallel to the crawler chassis upper plate, and the crawler chassis upper plate, the crawler chassis right side plate, the crawler chassis reducing adjusting component and the crawler chassis left side plate are surrounded to form a quadrilateral structure;

The right side plate of the crawler chassis and the opposite side wall of the left side plate of the crawler chassis are respectively provided with a crawler body, the two sides of the upper plate of the crawler chassis and the two sides of the variable-diameter adjusting component of the crawler chassis are respectively and rotatably connected with the right side plate of the crawler chassis and the left side plate of the crawler chassis, the track chassis reducing adjusting component is used for adjusting the length, so that the inclination of the right side plate of the track chassis and the left side plate of the track chassis is adjusted, the inclination of the track body is adjusted, and the reducing adjustment based on the diameter of the inner wall or the outer wall of the pipeline to be detected is realized.

3. The underwater robot for adapting to detection of inner and outer walls of a pipeline according to claim 2, wherein the track chassis reducing adjustment assembly is a telescopic member comprising: a main track chassis reducing plate and a subsidiary track chassis reducing plate; wherein,

the crawler chassis reducing main board is provided with a chute, one end of the crawler chassis reducing auxiliary board is slidably inserted into the chute, a reducing fastener is arranged between the crawler chassis reducing main board and the crawler chassis reducing auxiliary board, and the reducing fastener is used for locking the crawler chassis reducing auxiliary board and the crawler chassis reducing main board when the crawler chassis reducing auxiliary board slides in place.

4. The underwater robot adapted to detect the inner and outer walls of a pipeline as claimed in claim 2,

and a limiter is further arranged between the right side plate of the track chassis and the left side plate of the track chassis and used for locking and limiting the right side plate of the track chassis and the left side plate of the track chassis after the inclination angle of the right side plate of the track chassis and the left side plate of the track chassis are adjusted in place.

5. The underwater robot for adapting pipeline inner and outer wall detection of claim 4 wherein the stop comprises: two limiting plates; wherein,

the two limiting plates are respectively arranged on the right side plate of the track chassis and the left side plate of the track chassis, and the two limiting plates are respectively provided with limiting holes, the two limiting holes are connected through limiting fasteners and used for penetrating through the limiting holes of the two limiting plates and clamping and fastening the two limiting plates after the inclination angles of the right side plate of the track chassis and the left side plate of the track chassis are adjusted in place.

6. The underwater robot adapted to detect the inner and outer walls of a pipeline as claimed in claim 2,

the bottom wall of the upper plate of the crawler chassis is provided with a suspension support frame which is used for carrying out suspension support on the detection device of the robot body so that the detection device detects the inner wall or the outer wall of the pipeline to be detected.

7. The underwater robot adapted to detect the inner and outer walls of a pipeline as claimed in claim 6,

the utility model discloses a pipeline detection device, including the chassis, the suspension support frame is equipped with the spout, detection device with slidable is connected between the spout, is used for sliding to detection device with track chassis reducing adjustment subassembly dislocation set's position is in order to right the inner wall or the outer wall of waiting to detect the pipeline.

8. The underwater robot adapted to detect the inner and outer walls of a pipeline as claimed in claim 2,

each crawler body is connected with a crawler sealing driving motor for driving the crawler body to rotate.

9. The underwater robot adapted to detect inner and outer walls of a pipeline as claimed in any one of claims 1 to 8, wherein the robot body comprises:

a support frame;

the propeller is arranged on the support frame and is used for providing power for changing the position and the posture of the support frame;

the electronic cabin is arranged on the supporting frame, and a control system is arranged in the electronic cabin and is connected with the propeller and the variable-diameter crawler chassis device and used for controlling the propeller and the variable-diameter crawler chassis device;

The buoyancy material is arranged on the support frame and used for providing buoyancy;

and the detection device is arranged on the reducing crawler chassis device and is used for detecting the inner wall or the outer wall of the pipeline to be detected.

10. The underwater robot for adapting to pipeline inner and outer wall inspection according to claim 9, wherein the supporting frame comprises:

the two annular fixtures are arranged side by side and at intervals;

the middle position bracket is arranged between the two annular fixtures, and is of an annular structure, and the middle position bracket and the two annular fixtures are coaxially arranged to provide clamping holes for clamping the electronic cabin;

the lifting handle connecting plate is respectively connected with the two annular retainers and the middle-position support, and penetrates through the mounting hole of the buoyancy material to the upper side of the buoyancy material to serve as a connecting bridge between the two annular retainers and the middle-position support and serve as a lifting handle of the robot body so as to facilitate application of external force.

11. The underwater robot adapted to perform inspection of inner and outer walls of a pipeline as set forth in claim 10,

the annular fixer is provided with an angle code, and the angle code is provided with an illuminating lamp.

12. The underwater robot adapted to perform inspection of inner and outer walls of a pipeline as set forth in claim 10,

and the two annular retainers and/or the middle support are provided with propeller fixing supports for supporting the propellers.

13. The underwater robot adapted to perform inspection of inner and outer walls of a pipeline as set forth in claim 10,

and fixing bases are arranged on the two annular fixtures and/or the middle support and used for installing the robot body on the variable-diameter crawler chassis device.

14. The underwater robot adapted to perform inspection of inner and outer walls of a pipeline as set forth in claim 10,

the annular fixer is provided with a buoyancy connecting hole for connecting a buoyancy material.