CN207298394U - Submarine pipeline detects robot - Google Patents

Abstract

The utility model provides a kind of submarine pipeline detection robot, it includes at least cohesion device, climbing device and detection piece, wherein, cohesion device includes the fixed arm and lever arm being oppositely arranged, what can be rotated on fixed arm is connected with the first holding wheel, what can be rotated on lever arm is connected with the second holding wheel, drives lever arm to be moved close to fixed arm by connector, and first holds the opposite sides for being clamped in submarine pipeline taken turns and hold wheel tightly with second and can rotate tightly；Climbing device includes climbing driving motor and propulsion assembly, climbing driving motor connects with the first holding wheel and the second holding wheel and the first holding wheel and second can be driven to hold wheel synchronous rotation tightly, and propulsion assembly is connected on cohesion device and cohesion device can be driven to move under water；Detection piece is positioned at the first side for holding wheel or the second holding wheel tightly.The submarine pipeline detects robot, and detection piece can closely submarine pipeline be detected all the time, reduces submarine pipeline failure accidents, ensures the safe operation of submarine pipeline.

Description

Submarine pipeline detects robot

Technical field

It the utility model is related to oil field and help and adopt development operation technical field, more particularly to a kind of submarine pipeline detection machine People.

Background technology

With the further exploitation of offshore petroleum resources, ocean is by as the main source of following oil output, to corresponding Technical need is also more next big.Deep water delivery line and marine riser are that composition portion indispensable in offshore and gas development is ocean Indispensable composition portion in oil and gas development.Deepwater pipelines are located in the seabed of bad environments, and on the one hand it subjects internal higher Temperature and pressure load effect, on the other hand, outside subject relatively low temperature loading, hydrostatic pressure and wave ocean current etc. Dynamic long term.Therefore, submerged pipeline can not avoid damage to accumulate during military service, corrode flexing, from And trigger accident.Submarine pipeline and connecting line or flexible hose are known as pipeline riser on the bank or between the production equipment of platform. The riser systems include standpipe pipeline section and supporting member two parts, and standpipe pipeline section is by seabed pipe, changeover portion, vertical pipeline section, first Plate pipeline section and expansible bend etc. form.Vertical pipeline section is a ring important and weak in submarine pipeline, with general submarine pipeline To compare, vertical section is in more severe complicated foreign environment, not only service load should be waited to be used be subject to oil-air pressure and alternating temperature, Also to be acted on be subject to environmental loads such as load wave, ocean current, ice and earthquakes, and in the splash zone of standpipe, seawater is to vertical The corrosion of pipeline section is also more than the seriously corroded for being embedded in submarine pipeline.In a sense, the security of vertical pipeline section determines The security of whole submarine cable system.Oil ＆ gas industry will put into the detection and monitoring that billions of funds is used for equipment daily, The repair welding and repairing of etching apparatus.

In June, 2011, July, two offshore oilfield oil spill accidents successively occur for China Bohai Sea Area, huge except causing Beyond the direct economic loss of volume, return surrounding sea areas water quality and bring serious pollution.

In order to ensure the safe operation of deepwater pipelines, it is necessary to which timing is detected pipeline, judgement ensures that deepwater pipelines are pacified Row for the national games.It is main using the on-line monitoring system based on SCDA (data acquisition is controlled with monitoring) in pipeline study on monitoring, lead to The monitoring to flow, pressure etc. is crossed to judge whether pipeline leaks.In recent years, Fibre Optical Sensor, guided wave be have studied both at home and abroad The technologies such as monitoring, judge the feasibility of its monitoring to deep underwater pipes damage.But the particularity of environments such as subsea is to sensor Long-term reliability proposes very big challenge.Therefore, deepwater pipelines monitoring technology is studied, the exploitation to ensureing offshore oil has Important practical significance.

The submarine pipeline monitoring system developed and developed is mostly dew point position after being revealed for submarine pipeline Judgement is put, the effect to submarine pipeline early warning failure can't be truly realized.

It can be divided into detection and pipe outside detection in pipe from the position of detection to divide.

(1) detection in pipe

In pipe detection mainly check the genetic defects of pipeline, pipe radial deformation, the damage day after tomorrow (such as human accident and Fatigue crack etc.) and corrosion etc..Detection needs that by means of various pipe internal detectors, this detector two major classes can be divided into pipe： Deformation detector, and corrosion and crack detector.The situation of change that the former is primarily used to detection pipe diameter (is recessed and ellipse Circularity).The latter usually utilizes the means such as ultrasonic wave and magnetic source (leakage field technology) the detection situation such as corrosive pipeline and fatigue crack.On The two class detectors stated are using its advance of the liquid driven in pipeline, are detected during advance.

(2) pipe outside detection

Pipe outside detection is mainly position, the buried depth for checking pipeline；Outer anticorrosive coating and protection current current potential；Pipeline suspended span shape Condition；Standpipe and disembarkation part situation etc..Work for most of pipe outside detection, various boat-carrying depth measurements and sonar system can be used System.ROV (Remotely Operated Vehicle, also known as remote control vehicle, remote-controlled vehicle and underwater machine can also be used Device people), especially for some special pipe outside detection contents, often using ROV.

Submarine pipeline added salts usually have following a few classes：

Ultrasound examination

Underwater television

Diver observes

Ultrasonic detection technology is mainly using Side-scan sonar or multi-beam scanner or sub-bottom profiler to Submarine Pipeline Road is detected by the suspended span for washing away generation；Underwater television is mainly used for the damage situations of submarine pipeline or is washed away situation It is observed；When more muddy in water quality and general underwater television can not be observed, then it can be plunged into the commercial sea and be observed by diver.

Pipeline added salts are there are significant limitation at present.Ultrasonic detection technology intuitive compares Difference；Underwater television is under conditions of muddy water using being restricted；Diver is difficult to observation of plunging into the commercial sea in the case of deep water；Simultaneously because Submarine pipeline is typically to be embedded in below the mud face of seabed, and the protection potential of submarine pipeline anode block directly can not be detected.

Utility model content

The purpose of this utility model is to provide a kind of submarine pipeline detection robot that can paste pipe detection submarine pipeline, should Submarine pipeline detection robot, which can be realized, to be monitored and checks to deep underwater pipes, is reduced submarine pipeline failure accidents, is ensured sea The safe operation of bottom pipeline.

To reach above-mentioned purpose, the utility model provides a kind of submarine pipeline detection robot, it is included at least：Hold tightly Device, including the fixed arm and lever arm being oppositely arranged, the lever arm are connected by connector with the fixed arm, the company Fitting can drive the lever arm to be moved back and forth close to or away from the fixed arm, and what can be rotated on the fixed arm is connected with First holds wheel tightly, and what can be rotated on the lever arm is connected with the second holding wheel, and the lever arm is driven by the connector The close fixed arm moves, and described first holds wheel tightly is clamped in the opposite of submarine pipeline with what the described second holding wheel can rotate Both sides；Climbing device, including climbing driving motor and propulsion assembly, the climbing driving motor hold wheel and institute tightly with described first State the second holding wheel to connect and the first holding wheel and described second can be driven to hold wheel synchronous rotation tightly, the propulsion assembly connects It is connected on the cohesion device and the cohesion device can be driven to move under water；For detecting the detection of the submarine pipeline Part, what the detection piece can rotate is connected on the cohesion device and holds wheel or the second holding wheel tightly positioned at described first Side.

Submarine pipeline detection robot as described above, wherein, the submarine pipeline detection robot further includes protection dress Put, the protective device includes protection arm and worm-gear speed reducer, and the worm-gear speed reducer is arranged at the fixed arm Interior, the output shaft of the worm-gear speed reducer stretches out the fixed arm and connects with the protection arm, alternatively, the worm and gear Gear reducer is arranged in the lever arm, and the output shaft of the worm-gear speed reducer stretches out the lever arm and the protection arm Connect, the worm-gear speed reducer can drive the protection arm to be rotated around the output shaft of the worm-gear speed reducer, pass through The rotation of the protection arm, the protection arm can be enclosed bag with the connector, the fixed arm and the lever arm The frame being trapped among outside the submarine pipeline.

Submarine pipeline detection robot as described above, wherein, the submarine pipeline detection robot further includes trash Tool arm, the swing arm of removing contamination being connected in the connection swing arm that the mechanical arm of removing contamination includes connection swing arm and can rotate are described What connection swing arm can rotate is connected on the fixed arm or the lever arm, and the swing arm of removing contamination can be with the submarine pipeline Outside wall surface is in contact.

Submarine pipeline detection robot as described above, wherein, the connector includes at least leading screw and is arranged at described Holding driving motor in fixed arm, the leading screw include screw rod and nut, it is described hold tightly drive the output shaft of motor with it is described One end of screw rod connects and can drive screw rod rotation, and the nut is arranged in the lever arm, the screw rod it is another End extends the fixed arm and penetrates the lever arm and is screwed on the nut, passes through being screwed on for the screw rod and the nut Coordinate, the lever arm is moved back and forth along the screw rod axially adjacent to or away from the fixed arm.

Submarine pipeline detection robot as described above, wherein, the connector further includes at least one parallel to described The guide rod that screw rod is set, one end of the guide rod are connected on the fixed arm, and the other end of the guide rod can move Penetrate the lever arm.

Submarine pipeline detection robot as described above, wherein, the fixed arm is by the first sealed compartment full of hydraulic oil Form, the lever arm is made of the second gas-tight silo full of hydraulic oil, first sealed compartment and the screw rod and described the One holds the junction of wheel and second sealed compartment tightly is equipped with axis with the screw rod and the described second junction for holding wheel tightly Hold sealing structure, the submarine pipeline detection robot further includes bellows, the Single port of the bellows and described second close The bore seal of batten down is connected, the another port closing of the bellows.

Submarine pipeline detection robot as described above, wherein, the bottom of first gas-tight silo and second gas-tight silo Portion is equipped with roller easy to remove.

Submarine pipeline detection robot as described above, wherein, described first, which holds wheel and the described second holding wheel tightly, is Outer circumferential surface is in spill silica gel wheel low between the senior middle school of both sides.

Submarine pipeline detection robot as described above, wherein, the propulsion assembly includes that the cohesion device can be driven The horizontal propeller of horizontal movement and the vertical propeller that can drive the cohesion device vertical and straight movement, the horizontal propeller with The vertical propeller is all connected to the bottom of the cohesion device.

Submarine pipeline detection robot as described above, wherein, the detection piece includes being used to detect the submarine pipeline Supersonic reflectoscope inside the colour imagery shot and the detection submarine pipeline of outer surface.

Compared with prior art, it is as follows the advantages of the utility model：

Submarine pipeline provided by the utility model detects robot, holds wheel tightly by first and the second holding clamps subaqueous pipe Road, and drive motor driving the first holding wheel and the second holding wheel to be moved up along submarine pipeline by climbing, make Submarine pipeline movement can be close to by obtaining submarine pipeline detection robot, by the way that detection piece is arranged at the first holding wheel or second armful The side of bearing up pulley so that in detection process, detection piece can closely submarine pipeline be detected all the time, so as to improve inspection The reliability of result is surveyed, and then reduces submarine pipeline failure accidents, ensure that the safe operation of submarine pipeline；

Submarine pipeline provided by the utility model detects robot, is driven by propulsion assembly, it can be achieved that underwater water Flat, vertical and rotary motion；

Submarine pipeline provided by the utility model detects robot, and the opposite position of lever arm and fixed arm is adjusted by leading screw Relation is put, using the stroke stability of leading screw, wheel is held in control first tightly and the second holding wheel well agrees with submarine pipeline, can Prevent Stroke Control is improper from causing the first holding wheel and second to hold wheel damage tightly, and can guarantee that the size of enclasping force；

Submarine pipeline provided by the utility model detects robot, and first holds wheel and the second holding wheel tightly is tied using concave surface Structure, increases the outside wall surface friction coefficient with submarine pipeline, ensure that the reliability connected between cohesion device and submarine pipeline；

Submarine pipeline provided by the utility model detects robot, and oil recovery liquid balancing technique is realized puts down with extraneous pressure Weighing apparatus, by bearing seal structure, lip seal configuration and bellows pressure compensation structure, has been effectively ensured sealing effect and has put down The sealed compartment intracavitary that weighs and seawater pressure.

Brief description of the drawings

The following drawings is only intended in doing schematic illustration and explanation to the utility model, does not limit the model of the utility model Enclose.Wherein：

Fig. 1 is structure diagram of the submarine pipeline detection robot of the utility model in use state；

Fig. 2 is the side structure schematic view of the submarine pipeline detection robot shown in Fig. 1；

Fig. 3 is the vertical view broken section structure diagram of the submarine pipeline detection robot shown in Fig. 1.

Drawing reference numeral explanation：

1- cohesion devices；11- fixed arms；12- lever arms；13- connectors；131- screw rods；132- holds driving motor tightly； 133- guide rods；14- first holds wheel tightly；15- second holds wheel tightly；2- propulsion assemblies；21- horizontal propellers；22- is promoted vertically Device；3- detection pieces；4- protection arms；5- removes contamination mechanical arm；51- connection swing arms；52- removes contamination swing arm；6- bellowss；7- rollers；8- Submarine pipeline.

Embodiment

In order to have clearer understanding to the technical solution of the utility model, purpose and effect, in conjunction with brief description of the drawings originally The embodiment of utility model.

As shown in Figure 1, Figure 2 and Figure 3, the utility model provides a kind of submarine pipeline 8 and detects robot, it is included at least Cohesion device 1, climbing device and the detection piece 3 for detecting submarine pipeline 8, wherein, what cohesion device 1 included being oppositely arranged consolidates Fixed arm 11 and lever arm 12, preferable fixed arm 11 are arranged in parallel with lever arm 12, and lever arm 12 is by connector 13 with fixing Arm 11 connects, and connector 13 can drive lever arm 12 close or be moved back and forth away from fixed arm 11, with suitable for different tube diameters Submarine pipeline 8；What can be rotated on fixed arm 11 is connected with the first holding wheel 14, and what can be rotated on lever arm 12 is connected with second Hold wheel 15 tightly, drive lever arm 12 to be moved close to fixed arm 11 by connector 13, first, which holds wheel 14 and second tightly, holds wheel 15 tightly The opposite sides for being clamped in submarine pipeline 8 that can be rotated, is driven by the first rotation for holding 14 and second holding wheel 15 of wheel tightly and embraced Tight device 1 is overall to be moved up and down along submarine pipeline 8, so that the submarine pipeline 8 detection robot can be all the time in detection process Fitting submarine pipeline 8 is creeped；Climbing device includes climbing driving motor (not shown) and propulsion assembly 2, climbing driving electricity Machine connects with the first holding wheel 14 and the second holding wheel 15 and the first holding wheel 14 and the second holding can be driven to take turns 15 and rotate synchronously, Drive first to hold 14 and second holding wheel 15 of wheel tightly at the same time by a motor to rotate synchronously, in such manner, it is possible to simplify subaqueous pipe The overall structure of the detection robot of road 8, and to control the first holding wheel 14 and 15 synchronous rotation of the second holding wheel easy to operate It is convenient, it is of course also possible to use two motors drive the first holding wheel 14 and second to hold the rotation of wheel 15, propulsion assembly 2 tightly respectively It is connected on cohesion device 1 and cohesion device 1 can be driven to move under water, specifically, propulsion assembly 2 can drives cohesion device 1 vertically, horizontal direction is mobile and rotary motion, normal when advancing, and wheel 14 is held in climbing driving motor driving first tightly Wheel 15 being held tightly with second offer main drive being provided, propulsion assembly 2 provides auxiliary driving force, drives 8 detection machine of submarine pipeline Device people integrally moves up and down along submarine pipeline 8, and traveling process, is clamped under water by the first holding wheel 14 and the second holding wheel 15 Pipeline 8, ensure that submarine pipeline 8 detects robot and can be bonded the traveling of 8 outer wall of submarine pipeline, the dirt on because of submarine pipeline 8 When excessively causing to be hampered, drive submarine pipeline 8 to detect after robot integrally surmounts obstacles by propulsion assembly 2 and continue on；Inspection The side for being connected on cohesion device 1 and being located at the first holding wheel 14 or the second holding wheel 15 that part 3 can rotate is surveyed, so that examining Surveying part 3 can be closer to submarine pipeline 8, so that testing result is more accurate.

Further, detection piece 3 includes colour imagery shot and supersonic reflectoscope, wherein, colour imagery shot is used to detect water Lower 8 surface defect of pipeline, supersonic reflectoscope are ultrasonic proximity detector, for detecting 8 internal flaw of submarine pipeline, i.e., Detected by ul-trasonic irradiation whether defective inside submarine pipeline 8.

When in use, drive cohesion device 1 to be moved to the outside of submarine pipeline 8 by propulsion assembly 2, and make submarine pipeline 8 Between fixed arm 11 and lever arm 12, i.e., submarine pipeline 8 is detected into robot and be moved at submarine pipeline 8, pass through connection Part 13 drives lever arm 12 to be moved towards fixed arm 11, until the first holding wheel 14 and the second holding wheel 15 are clamped in submarine pipeline 8 Both sides, open climbing driving motor, climbing driving motor driving first holds wheel 14 and second tightly and holds wheel 15 tightly along submarine pipeline 8 Move up, specifically, the rotating by climbing driving motor, you can wheel 14 and second armful are held in driving first tightly Bearing up pulley 15 is moved up along submarine pipeline 8, such as：Wheel 14 and the is held in the forward drive first of climbing driving motor tightly Two hold wheel 15 tightly moves up along submarine pipeline 8, and the wraparound driving first of climbing driving motor holds wheel 14 and second tightly and holds wheel tightly 15 move down along submarine pipeline 8, climb the rotating speed for driving motor by varying crossing, you can change first and hold wheel 14 and second tightly Hold the speed that wheel 15 is moved along submarine pipeline 8 tightly, meanwhile, first holds 14 and second holding wheel 15 of wheel tightly drives fixed arm 11 respectively Moved up with lever arm 12 along submarine pipeline 8, i.e., submarine pipeline 8 detects moves down on Robot submarine pipeline 8 Dynamic, in moving process, detection piece 3 checks submarine pipeline 8, is held tightly due to detection piece 3 positioned at first and takes turns 14 or second Hold the side of wheel 15 tightly, and the first outer circumferential surface for holding 14 and second holding wheel 15 of wheel tightly can be bonded 8 outer wall of submarine pipeline, because This, in detection process, detection piece 3 can closely submarine pipeline 8 be detected all the time, so that improve testing result can By property；

When 8 somewhere of submarine pipeline, which is covered with mud, can not be moved when debris along 8 outside wall surface of submarine pipeline, pass through connector 13 Driving lever arm 12 is moved away from fixed arm 11, the first holding wheel 14 and second is held the release submarine pipeline 8, Ran Houtong of wheel 15 tightly Cross propulsion assembly 2 to drive after cohesion device 1 is moved across obstacle under water, then pass through connector 13 and drive movable plate close to fixed Arm 11 moves, and the first holding wheel 14 and second is held the holding submarine pipeline 8 again of wheel 15 tightly, you can to continue on and be detected.

Submarine pipeline 8 provided by the utility model detects robot, holds wheel 14 and second tightly by first and holds clamping water tightly Lower pipeline 8, and by climb driving motor driving first hold tightly wheel 14 and second hold tightly wheel 15 along submarine pipeline 8 upwards or to Lower movement so that the detection of submarine pipeline 8 robot can be close to submarine pipeline 8 and move, by the way that detection piece 3 is arranged at first armful Bearing up pulley 14 or second hold tightly wheel 15 side so that in detection process, detection piece 3 can all the time closely submarine pipeline 8 into Row detection, so as to improve the reliability of testing result, and then reduces submarine pipeline failure accidents, ensure that submarine pipeline Safe operation.

In a kind of embodiment of the utility model, submarine pipeline 8 detects robot and occurs not embracing in order to prevent The situation that tight pipeline is outwards sauntered out, as shown in figure 3, submarine pipeline 8, which detects robot, further includes protective device, protective device includes Protection arm 4 and worm-gear speed reducer (not shown), worm-gear speed reducer are arranged in fixed arm 11, and worm and gear subtracts The output shaft of fast machine stretches out fixed arm 11 and connects with protection arm 4, alternatively, worm-gear speed reducer is arranged in lever arm 12, snail The output shaft of worm and gear gear reducer stretches out lever arm 12 and connects with protection arm 4, which passes through shaft coupling phase with protection arm 4 Connect, and in order to avoid the rotation that fixed arm 11 or lever arm 12 influence the output shaft, in the output shaft and fixed arm 11 or living Rolling bearing is equipped between swing arm 12, worm-gear speed reducer can drive protection arm 4 to turn around the output shaft of worm-gear speed reducer It is dynamic, drive rotation protection arm 4 to work using worm gear pole motor, simple in structure, good reliability, in an initial condition, protection arm 4 In fixed arm 11 either above lever arm 12 and protection arm 4 axis parallel in fixed arm 11 or lever arm 12 Axis, when being detected, drives protection arm 4 to rotate, protection arm 4 is rotated about towards outer by worm-gear speed reducer 270 degree, at this time, protection arm 4 is enclosed with connector 13, fixed arm 11 and lever arm 12 and is enclosed in outside submarine pipeline 8 Frame, submarine pipeline 8 is placed in frame.

In a kind of embodiment of the utility model, in order to solve to influence to examine because there is mud on submarine pipeline 8 The problem of surveying result, as shown in Figure 1, submarine pipeline 8, which detects robot, further includes mechanical arm 5 of removing contamination, mechanical arm 5 of removing contamination includes connecting The swing arm 52 of removing contamination being connected in connection swing arm 51 that connects swing arm 51 and can rotate, what connection swing arm 51 can rotate is connected to fixation On arm 11 or lever arm 12, specifically, connection swing arm 51 is connected by shaft with fixed arm 11 or lever arm 12, in order to keep away Exempt from fixed arm 11 or 12 countershaft of lever arm produces frictional resistance, rolling is equipped between shaft and fixed arm 11 or lever arm 12 Dynamic bearing, and connect swing arm 51 and driven respectively by motor with swing arm 52 of removing contamination to swing, swing arm 52 of removing contamination can be with submarine pipeline 8 Outside wall surface be in contact, under water 8 outer surface of pipeline have mud block submarine pipeline 8 detect robot advance when, by removing contamination Mud is scraped removing by the end point pawls of swing arm.

In a specific embodiment of the utility model, it is contemplated that mechanical structure is the most reliable and stable machine of ocean Structure, therefore, connector 13 use mechanical structure, as shown in figure 3, connector 13 includes at least leading screw and is arranged in fixed arm 11 Holding driving motor 132, the clamping force of screw structure is very big, by select different types of motor can change leading screw press from both sides Locking structure dynamics and working time, in addition can also by select the leading screw of different lead change the clamping dynamics of the structure and Clamping time, thus the mode reliability of leading screw and it is controllable be all it is best, leading screw includes screw rod 131 and nut (in figure not Show), the output shaft for holding driving motor 132 tightly connects with one end of screw rod 131 and screw rod 131 can be driven to rotate, and nut is set It is screwed on nut in lever arm 12, the other end of screw rod 131 extends fixed arm 11 and penetrates lever arm 12, i.e. the one of leading screw End is arranged in fixed arm 11, and the other end penetrates lever arm 12 and is screwed on nut, by the cooperation that is screwed on of screw rod 131 and nut, Lever arm 12 is moved back and forth along screw rod 131 axially adjacent to or away from fixed arm 11, realizes the first holding wheel 14 and second armful Bearing up pulley 15 clamps or unclamps submarine pipeline 8.

Further, in order to improve stability of the lever arm 12 in moving process, connector 13 further includes at least one flat The guide rod 133 that row is set in screw rod 131, one end of guide rod 133 are connected on fixed arm 11, the other end of guide rod 133 It is mobile to penetrate lever arm 12, it is preferred to use guide rod 133 is square aluminum pipe, and 4 square aluminium are uniformly arranged on the periphery of screw Pipe, square aluminum pipe will not be relatively fixed arm 11 or lever arm 12 reverses, so as to be effectively guaranteed lever arm 12 in moving process In stability.

Certainly, connector 13 can also be spring, by the elastic force lever arm 12 of spring toward and away from fixation Arm 11 moves back and forth.

Further, the underwater units used at present, in order to resist the pressure in the external world, typically by using high intensity Material either increases pressure casing thickness and carrys out anti-ability, but generally the whole weight of device can all had and more significantly increase Adding, device weight occurs as soon as king-sized drawback for those self-powered robots for being detected or monitoring to pipeline, To solve the above-mentioned problems, in the present embodiment, fixed arm 11 is made of the first sealed compartment full of hydraulic oil, lever arm 12 by The second gas-tight silo full of hydraulic oil is formed, i.e., is held tightly and taken turns with screw rod 131 and first using fluid balancing technique, the first sealed compartment The junction that 14 junction and the second sealed compartment hold wheel 15 tightly with screw rod 131 and second is equipped with bearing seal structure, i.e., Fixed arm 11 and lever arm 12 and the junction of other components are equipped with bearing seal structure, in this way, can either make it that first is close Batten down and inside and outside flatten of the second sealed compartment are weighed, and enable to the hydraulic oil in the first sealed compartment and the second sealed compartment can One of a relatively high pressure is produced to bearing seal structure, while enabling each component normal rotation, ensure that sealing effect Fruit；Further, since employing fluid balancing technique, when cohesion device 1 works, leading screw is gradually stretched into inside lever arm 12, this When 12 intracavitary volume of lever arm can diminish, cause hydraulic oil to be contracted, 12 intracavitary pressure of lever arm is more than extraneous seawater, in order to ensure Pressure balance, submarine pipeline 8 detect robot and further include bellows 6, and the Single port of bellows 6 and the inner cavity of the second sealed compartment are close Envelope is connected, and the another port closing of bellows 6, when pressure increases, the corrugated shell of bellows 6 can occur extension and stretch Long, ripple magnitude declines, its volume can accordingly be increased, be changed with equilibrium pressure, and hydraulic oil contracts than very little, so ripple Among actual use moderate finite deformation will not occur for line pipe 6.

Further, since the fluid balancing technique used, therefore, in each driving element of the submarine pipeline 8 detection robot It may be contained within the first sealed compartment and the second sealed compartment, and sealed using lip seal configuration, lip seal configuration work Pressure is bigger, and sealing lip border is expanded further, therefore sealing force also increases, when contact surface portion position is worn, lip-type seal The expansion on border can compensate the part gradually worn out automatically within a certain period of time, therefore, it is possible to which sealing effect is effectively ensured.

In addition, when mounted, set in the contact position of the first sealed compartment and/or the second sealed compartment and moving component (such as screw rod) Moving component movement groove easy to remove is put, and sets two at respective slot in the first sealed compartment and/or the second sealed compartment Lip-type seal part, and moving component, it is arranged at the first sealed compartment and/or groove and two lip-type seals on the second sealed compartment The micro-cavities that part collectively constitutes, when in use, by taking the 500m depth of waters as an example, since the first sealed compartment and the second sealed compartment are by outside Seawater pressure action, and by internal hydraulic pressure oil act on, i.e., under the work of above-mentioned fluid balancing technique so that the first sealed compartment and Pressure is identical inside and outside second sealed compartment, so that the pressure of lip-type seal part both sides is essentially identical, two lippackings are all Sealing function can be played, therefore, which there are dual sealing functions.Further, detected for the ease of mobile submarine pipeline 8 Robot, as depicted in figs. 1 and 2, roller 7 easy to remove is equipped with the bottom of the first gas-tight silo and the second gas-tight silo, is made The movement for obtaining the detection of pipeline 8 robot under water is simple and convenient.

In a preferred embodiment of the utility model, the wheel made of duroplasts or rubber, surface shadow degree is very Greatly, and frictional force is smaller, while its surface configuration is lack of standardization, therefore can cause to jolt or rise and fall in the process of walking；, silicon The frictional force of glue is big, while material is very soft, stronger for the adaptability of the surface condition of different submarine pipelines 8, while silica gel wheel It can also be customized according to not size hardness, therefore, the first holding wheel 14 and the second holding wheel 15 are that outer circumferential surface is in both sides Low spill silica gel wheel between senior middle school, i.e., the first outer circumferential surface for holding 14 and second holding wheel 15 of wheel tightly is concave surface, passes through silica gel wheel Concave surface tightly touch the outside wall surface of submarine pipeline 8.

In a preferred embodiment of the utility model, propulsion assembly 2 includes that 1 horizontal movement of cohesion device can be driven Horizontal propeller 21 and the vertical propeller 22 that 1 vertical and straight movement of cohesion device can be driven, horizontal propeller 21 and vertical propeller 22 be electric plating propulsion, and horizontal propeller 21 and vertical propeller 22 are all connected to the bottom of cohesion device 1, wherein horizontal Propeller 21 can realize the rotary motion of cohesion device 1.

The course of work that submarine pipeline 8 provided by the utility model detects robot is illustrated below in conjunction with the accompanying drawings：

As shown in Figure 1, Figure 2 and Figure 3, when pipeline to be held tightly, by horizontal propeller 21 and vertical propeller 22 by water Lower pipeline 8 detects robot and is moved to suitable position, and the first holding wheel 14 and second is held wheel 15 tightly positioned at submarine pipeline 8 Opposite sides, while the first holding wheel 14 is in contact with the outside wall surface of submarine pipeline 8, and screw rod is driven by holding drive motor tightly 131 rotate, and make to move along screw rod 131 towards fixed arm 11 with the nut that screw rod 131 is screwed on, so as to drive lever arm 12 towards admittedly Fixed arm 11 moves, and the first holding wheel 14 and the second holding wheel 15 move closer at this time, takes turns 14 and second due to the first holding and holds tightly Wheel 15 is that outer circumferential surface is in low spill silica gel wheel between the senior middle school of both sides, when first hold tightly wheel 14 and second hold tightly wheel 15 concave surface it is tight When being close to pipeline, close and hold driving motor 132 tightly, cohesion device 1 realizes holding submarine pipeline 8 and operates at this time so that water Lower pipeline 8 detects robot and is directly contacted with submarine pipeline 8, and worm-gear speed reducer drives protection arm 4 to rotate, and allows protection arm 4 Fitting 8 outer surface position of submarine pipeline is rotated to, i.e. protection arm 4, fixed arm 11, lever arm 12 and screw rod 131 is enclosed frame Frame is enclosed in the periphery of submarine pipeline 8, further prevents submarine pipeline 8 from detecting robot and departing from pipeline；Due to detection piece 3 The side that wheel 14 or second holds wheel 15 tightly is held tightly in first, and therefore, in detection process, detection piece 3 being capable of closely water all the time Lower pipeline 8 is detected, so as to improve the reliability of testing result；

During climbing, wheel is held in the climbing driving motor driving first being arranged in fixed arm 11 or lever arm 12 tightly 14 and second hold the synchronous rotation of wheel 15 tightly, while coordinate the horizontal propeller 21 and vertical propeller 22 of 1 bottom of cohesion device, real Existing submarine pipeline 8 detects robot and is climbed along submarine pipeline 8, and the first concave surface for holding 14 and second holding wheel 15 of wheel tightly can be preferably Prevent from departing from pipeline, during climbing, the connection swing arm 51 for mechanical arm 5 of removing contamination can help submarine pipeline 8, be further ensured that Submarine pipeline 8 detects robot without departing from pipeline, when 8 somewhere of submarine pipeline is covered with the debris such as mud can not be along submarine pipeline 8 Outside wall surface by when, by hold tightly driving motor 132 drive lever arm 12 moved away from fixed arm 11, make the first holding wheel 14 Holding of the release of wheel 15 to submarine pipeline 8 is held tightly with second, is pushed directly on and embraced by horizontal propeller 21 and vertical propeller 22 Tight device 1 gets around the pipeline section, after can also removing mud by the end point pawls for swing arm of removing contamination, continues on.

In conclusion submarine pipeline detection robot provided by the utility model, holds wheel and second tightly by first and holds tightly Clamp submarine pipeline, and by climb driving motor driving first hold tightly wheel and second hold tightly wheel along submarine pipeline upwards or to Lower movement so that submarine pipeline detection robot can be close to submarine pipeline movement, by the way that detection piece is arranged at the first holding The side of wheel or the second holding wheel so that in detection process, detection piece can closely submarine pipeline be detected all the time, from And the reliability of testing result is improved, and then reduce submarine pipeline failure accidents, it ensure that the safe operation of submarine pipeline；

Submarine pipeline provided by the utility model detects robot, is driven by propulsion assembly, it can be achieved that underwater water Flat, vertical and rotary motion；

Submarine pipeline provided by the utility model detects robot, and the opposite position of lever arm and fixed arm is adjusted by leading screw Relation is put, using the stroke stability of leading screw, wheel is held in control first tightly and the second holding wheel well agrees with submarine pipeline, can Prevent Stroke Control is improper from causing the first holding wheel and second to hold wheel damage tightly, and can guarantee that the size of enclasping force；

Submarine pipeline provided by the utility model detects robot, and first holds wheel and the second holding wheel tightly is tied using concave surface Structure, increases the outside wall surface friction coefficient with submarine pipeline, ensure that the reliability connected between cohesion device and submarine pipeline；

Submarine pipeline provided by the utility model detects robot, and oil recovery liquid balancing technique is realized puts down with extraneous pressure Weighing apparatus, by bearing seal structure, lip seal configuration and bellows pressure compensation structure, has been effectively ensured sealing effect and has put down The sealed compartment intracavitary that weighs and seawater pressure.

The above descriptions are merely exemplary embodiments of the present utility model, is not limited to the model of the utility model Enclose.Any those skilled in the art, the equivalent variations made on the premise of the design of the utility model and principle is not departed from With modification, the scope that the utility model is protected should all be belonged to.And it should be noted that each part of the utility model simultaneously It is not limited only to above-mentioned overall applicability, each technical characteristic described in the specification of the utility model can be selected according to being actually needed One individually uses or selects the multinomial use that combines, and therefore, the utility model covers in the nature of things to be invented with this case The related other combinations of point and concrete application.

Claims (10)

1. a kind of submarine pipeline detects robot, it is characterised in that the submarine pipeline detection robot includes at least：

Cohesion device, including the fixed arm and lever arm being oppositely arranged, the lever arm pass through connector and the fixed arm phase Connect, the connector can drive the lever arm to be moved back and forth close to or away from the fixed arm, can turn on the fixed arm Dynamic is connected with the first holding wheel, and what can be rotated on the lever arm is connected with the second holding wheel, is driven by the connector The lever arm is moved close to the fixed arm, and the first holding wheel is clamped under water with what the described second holding wheel can rotate The opposite sides of pipeline；

Climbing device, including climbing driving motor and propulsion assembly, the climbing driving motor hold wheel and institute tightly with described first State the second holding wheel to connect and the first holding wheel and described second can be driven to hold wheel synchronous rotation tightly, the propulsion assembly connects It is connected on the cohesion device and the cohesion device can be driven to move under water；

For detecting the detection piece of the submarine pipeline, what the detection piece can rotate is connected on the cohesion device and is located at Described first holds the side of wheel or the second holding wheel tightly.

2. submarine pipeline according to claim 1 detects robot, it is characterised in that

The submarine pipeline detection robot further includes protective device, and the protective device includes protection arm and worm and gear slows down Machine, the worm-gear speed reducer are arranged in the fixed arm, and the output shaft stretching of the worm-gear speed reducer is described solid Fixed arm connects with the protection arm, alternatively, the worm-gear speed reducer is arranged in the lever arm, the worm and gear subtracts The output shaft of fast machine stretches out the lever arm and connects with the protection arm, and the worm-gear speed reducer can drive the protection arm Output shaft around the worm-gear speed reducer rotates, and by the rotation of the protection arm, the protection arm can be with the connection Part, the fixed arm and the lever arm are enclosed the frame being enclosed in outside the submarine pipeline.

3. submarine pipeline according to claim 1 detects robot, it is characterised in that

The submarine pipeline detection robot further includes mechanical arm of removing contamination, and the mechanical arm of removing contamination includes connection swing arm and can rotate Be connected to it is described connection swing arm on swing arm of removing contamination, it is described connection swing arm can rotate is connected to the fixed arm or the work On swing arm, the swing arm of removing contamination can be in contact with the outside wall surface of the submarine pipeline.

4. submarine pipeline according to claim 1 detects robot, it is characterised in that

The connector includes at least leading screw and the holding being arranged in fixed arm driving motor, and the leading screw includes screw rod And nut, the output shaft for holding driving motor tightly connects with one end of the screw rod and the screw rod can be driven to rotate, described Nut is arranged in the lever arm, the other end of the screw rod extend the fixed arm and penetrate the lever arm with it is described Nut is screwed on, by the cooperation that is screwed on of the screw rod and the nut, the lever arm along the screw rod axially adjacent to or Moved back and forth away from the fixed arm.

5. submarine pipeline according to claim 4 detects robot, it is characterised in that

The connector further includes at least one guide rod set parallel to the screw rod, and one end of the guide rod is connected to On the fixed arm, the other end of the guide rod is mobile to penetrate the lever arm.

6. submarine pipeline according to claim 4 detects robot, it is characterised in that

The fixed arm is made of the first sealed compartment full of hydraulic oil, and the lever arm is by the second gas-tight silo full of hydraulic oil Form, first sealed compartment holds junction and second sealed compartment and the institute of wheel tightly with the screw rod and described first State screw rod and the described second junction for holding wheel tightly is equipped with bearing seal structure, the submarine pipeline detection robot further includes Bellows, the Single port of the bellows are connected with the bore seal of second sealed compartment, the other end of the bellows Mouth closing.

7. submarine pipeline according to claim 6 detects robot, it is characterised in that

The bottom of first gas-tight silo and second gas-tight silo is equipped with roller easy to remove.

8. submarine pipeline according to any one of claim 1 to 7 detects robot, it is characterised in that

The first holding wheel and the second holding wheel are outer circumferential surface in spill silica gel wheel low between the senior middle school of both sides.

9. submarine pipeline according to any one of claim 1 to 7 detects robot, it is characterised in that

The propulsion assembly includes that the horizontal propeller of the cohesion device horizontal movement can be driven and described hold tightly can be driven to fill The vertical propeller of vertical and straight movement is put, the horizontal propeller and the vertical propeller are all connected to the bottom of the cohesion device Portion.

10. submarine pipeline according to any one of claim 1 to 7 detects robot, it is characterised in that

The detection piece includes the colour imagery shot for detecting the submarine pipeline outer surface and detects in the submarine pipeline The supersonic reflectoscope in portion.