CN208026674U - A kind of jacket Corrosion monitoring equipment of no magnetic interference - Google Patents
A kind of jacket Corrosion monitoring equipment of no magnetic interference Download PDFInfo
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- CN208026674U CN208026674U CN201820213617.5U CN201820213617U CN208026674U CN 208026674 U CN208026674 U CN 208026674U CN 201820213617 U CN201820213617 U CN 201820213617U CN 208026674 U CN208026674 U CN 208026674U
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- sliding block
- guide rail
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Abstract
The utility model discloses a kind of jacket Corrosion monitoring equipment of no magnetic interference, including master control system, robot body, operation chassis, hydraulic pressure holding unit, slide rail type detection mounted unit and corrosion detecting element；Hydraulic pressure holds unit setting tightly on operation chassis, and hydraulic pressure is held unit tightly and connect with the master control system signal, holds the holding tube action of unit tightly for controlling hydraulic pressure, so that operation chassis is held unit holding jacket tightly by hydraulic pressure and realizes that holding tube climbs pipe movement；Slide rail type detection mounted unit is arranged on operation chassis and can move back and forth along operation chassis, and corrosion detecting element is mounted on slide rail type detection mounted unit, and is moved synchronously with slide rail type detection mounted unit.The utility model realizes the ocean platform jacket Corrosion Electric Field detection technique of no electromagnetic interference and motion artifacts, ensure that the accuracy of testing result.
Description
Technical field
The utility model belongs to the jacket corrosion of ocean platform detection technique field more particularly to a kind of no magnetic interference
Detection device.
Background technology
With the arrival in marine economy epoch, various Offshore Units are more and more, such as ocean platform jacket, over strait big
Bridge, sea wall dam, steamer and Deep-sea vessel etc., most marine structures are all made of application and combine protection with cathodic protection.
The metal structure of ocean platform by sunshine, sea wind, wave stroke, the seawer system of complexity, round the clock with seasonal temperature variation and
The rate that the influence of the factors such as marine growth erosion makes ocean platform corrode is very fast, and the corrosion resistance of metal material is with exposure
The difference of condition and different variations occurs.Splash zone is influenced by stormy waves, sunshine, tidewater fluctuation factors, steel structure surface
Alternation of wetting and drying, additionally, due to sufficient oxygen, along with the impact of wave, the shock of floating material and erosion, seawater electrolysis matter
Corrosion, the splash zone of jacket platform are often the position of platform corrosion most serious, in order to ensure the safety fortune of marine structure
Row, needs to detect jacket corrosion condition using rational detection means.
Often it is only newly-built ocean platform jacket and 30 sets is just no less than for the demand of cathodic protection monitoring system in China；
And old jacket more has hundreds of thousands of seats, existing cathodic protection detecting system that must be installed on new jacket, and nothing
Method ensure jacket life-cycle detection, therefore the maintenance of old platform jacket, lengthen the life, safety monitoring there is no effective means.
It is also fewer using underwater robot platform on jacket Corrosion monitoring both at home and abroad at present, it is to take manually mostly
The mode of contact electric field detection obtains jacket and submarine pipeline Corrosion monitoring data.Just begin to use both at home and abroad at present underwater
Robot carries out the research and trial of jacket detection, and Japan in 2016 carries out sea using HYPER DOLPHIN underwater robots
Bottom observational network cable is laid with, and work capacity is strong, vdiverse in function, but the underwater robot can not because of strong electromagnetic interference environment
Corrosion monitoring suitable for jacket.Britain's Sub-Atlantic operation type underwater robots are put down in oil platform varnish with underwater
The detection of platform building has good foreground with monitoring, but the Sub-Atlantic operation type underwater robots are due to that can not lead
It creeps on pipe support, metastable jacket Corrosion monitoring condition can not be provided.The H2000-ROV of the ECA companies production of France
With small, compact-sized and frame-type modularized design, carrying optical imaging apparatus and U.S. DIDSON double frequency identification sound
It receives device, can guarantee the task of fulfiling assignment and acquisition related data, but it can not carry detection device, can not detect conduit
The corrosion condition of body panel splash zone.Domestic domestic underwater robot relatively advanced at present is by Shanghai Communications University, Zhejiang
Country's advantage unit such as university, Tongji University, Harbin Engineering University and Qingdao Haiyang chemical research institute, cooperates and is developed into
The ＂ hippocampus ＂ of work(, it is equipped with multifunction manipulator, underwater camera photographic system, radiocoustic position finding system, replaceable operation
Chassis etc., however " hippocampus number " still cannot be satisfied jacket corrosion due to its complicated strong electromagnetic environment and huge volume
The demand of detection.
In conclusion being put down not yet specifically for the special underwater robot that jacket health status is detected both at home and abroad
Platform, traditional underwater television, water inlet structure part method of testing, the routine non-destructive testing technology such as underwater ultrasound thickness measuring are still jacket
Corrosion monitoring, the main means of potentiometric detection.But traditional underwater detection technique is point-to-point detection mode mostly, can only be detected
Situation in sensor coverage checks inefficiency, it is difficult to carry out comprehensive corrosion condition detection to jacket.
It can be seen that the prior art is up for further improving.
Utility model content
The utility model is in place of avoiding above-mentioned the shortcomings of the prior art, to provide a kind of conduit of no magnetic interference
Frame Corrosion monitoring equipment, to realize that the gamut to ocean platform jacket detects.
Technical solution used by the utility model is：
A kind of jacket Corrosion monitoring equipment of no magnetic interference, including master control system, robot body, operation chassis,
Hydraulic pressure holds unit, slide rail type detection mounted unit and corrosion detecting element tightly；Operation chassis is arranged in the bottom end of robot body,
Motion is provided on robot body, motion is controlled by the master control system, control of the motion in master control system
The drive robot body and the completion advance of operation chassis, retrogressing, left-hand rotation, right-hand rotation, floating, dive and rotary movement under making；
Hydraulic pressure is held unit tightly and is arranged on operation chassis, and hydraulic pressure is held unit tightly and connect with the master control system signal, for controlling hydraulic pressure
The holding tube action for holding unit tightly makes operation chassis hold unit holding jacket tightly by hydraulic pressure and realizes that holding tube climbs pipe movement；Sliding rail
It includes guide rail mechanism, sliding block and weight that formula, which detects mounted unit, and guide rail mechanism includes outer guide and can be slided along outer guide
Interior guide rail, outer guide are arranged in operation chassis, and weight is connected with sliding block and below sliding block, and slide rail type detects mounted unit
Further include for driving the sliding block to move to the first straight line driving mechanism on interior guide rail top from interior guide rail bottom end and be used for
The interior guide rail is driven to make the second straight line driving mechanism of straight reciprocating motion along outer guide, the corrosion detecting element is mounted on
It is moved synchronously on sliding block and with sliding block, the bottom center hollow out on operation chassis, the area to be detected of the void region face jacket
Domain, corrosion detecting element with face operation chassis when slide block movement void region；First straight line driving mechanism and second straight line
Driving mechanism is controlled by the master control system, and interior guide rail can be stretched under the action of second straight line driving mechanism from operation chassis
Go out or be fully located at operation inside chassis, when the top pole for moving to interior guide rail under drive of the sliding block in first straight line driving mechanism
When at extreme position, master control system control first straight line driving mechanism and second straight line driving mechanism shut down, sliding block together with
Together, guide rail glides corrosion detecting element in the gravity lower edge of weight；It is rotten when interior guide rail is located at operation inside chassis
What erosion detection unit detected when gliding with sliding block is the underwater region part of jacket within the scope of sliding block sliding stroke；When interior guide rail
When extending out to outside operation chassis, what is detected when corrosion detecting element glides with sliding block is the conduit within the scope of sliding block sliding stroke
Frame splashing region part.
The top of the interior guide rail and the top of outer guide are both provided with limit sensors, and limit sensors will detect
Signal real-time Transmission to master control system, master control system controls the first, second straight line according to the signal that limit sensors detect
The operating of driving mechanism.
It includes hydraulic oil unit and at least one set of hydraulic pressure hold-fast body that the hydraulic pressure, which holds unit tightly, and hydraulic oil unit is arranged in machine
Human body is upper and supplies hydraulic oil for the hydraulic pressure hold-fast body, and each hydraulic pressure hold-fast body includes being symmetricly set on operation chassis
Both sides are used to hold tightly the holding tube manipulator of jacket, and each hydraulic pressure hold-fast body further includes two symmetrically set first hydraulic stem,
Piece first hydraulic stem corresponds to one holding tube manipulator of driving, and the top of each holding tube manipulator and for driving that it acts the
It is hinged between one hydraulic stem, two opposite holding tube manipulators are realized under the driving of the first hydraulic stem embraces jacket
It holds or unclamps.
It is provided with pressure sensor on the side surface that the holding tube manipulator is used to contact with jacket.
The first straight line driving mechanism includes motor, conveyer belt, upper belt pulley and bottom pulley, upper belt pulley and hypodermis
Belt wheel is respectively set on the top and bottom end of interior guide rail, and conveyer belt is nested on upper and lower belt pulley, upper belt pulley or bottom pulley
It is driven and is rotated by the motor, the sliding block is fixed on conveyer belt, and the start and stop of the motor are controlled by master control system.
The second straight line driving mechanism includes the second hydraulic stem, and one end of the second hydraulic stem is connected and drives with interior guide rail
Interior guide rail makees straight reciprocating motion.
The corrosion detecting element includes detection probe, searchlight, camera and reference electrode, the detection probe, spy
Illuminator and camera are arranged at sliding block bottom face to the side of jacket area to be tested；The reference electrode is mounted on holding tube
The side surface that manipulator is used to contact with jacket.
It is provided with sensor unit on the robot body, sensor unit includes hydraulic pressure sensor and electronic compass,
Hydraulic pressure sensor is used to determine that the submarine site of robot body, electronic compass to be used to determine the posture of robot body.
It is provided with multiple floating blocks at the top of the robot body.
The motion includes four vertical thrusters and four horizontal propellers, and four vertical thrusters are respectively set
In the left and right sides of robot body front end and the left and right sides of rear end, four horizontal propellers are separately positioned on robot body
The left and right sides of front end and the left and right sides of rear end, four vertical thrusters and four horizontal propellers are by the master control system
Control.
By adopting the above-described technical solution, having the beneficial effect that acquired by the utility model：
Underwater robot is during climbing pipe, on the one hand, inevitably by flow influenced and jacket on adhere to
The influence of object so that underwater robot and the relative position on jacket surface constantly change, and have thus interfered with the steady of detection data
Qualitative, on the other hand, the electromagnetic field that the electromagnetic components such as propeller in robot generate is even more to have seriously affected Corrosion Electric Field
Detection.Therefore detection data exception, not can determine that be due to Corrosion Electric Field extremely caused by also have due to movement mutation or
Electromagnetic interference causes.And the utility model has well solved the detection data caused by above-mentioned electromagnetic interference and motion artifacts
Inaccurate problem.
The utility model holds unit tightly by hydraulic pressure and holds what jacket was passively slided with sliding block under weight gravity tightly
Method has effectively evaded above two interference.Robot in the utility model corrosion detecting element when creeping is not examined
It surveys, after hydraulic pressure is held tightly, corrosion detecting element detects when synchronizing downslide with sliding block, has evaded the motion artifacts of robot.Meanwhile it adopting
After being held tightly with hydraulic pressure, robot body described in the utility model not will produce electromagnetic interference, and sliding block is in motor and conveyer belt
Under effect when active upward sliding, corrosion detecting element does not detect, and when sliding block passively sinks, motor is closed, and it is dry not generate electromagnetism
It disturbs, corrosion detecting element just starts to detect at this time, has thoroughly evaded electromagnetic interference, and the weak electric field signal for being difficult to detect is made to obtain
Effective detection, ensure that the accuracy of detection data.
In addition, the utility model holds unit tightly using hydraulic pressure realizes clasping or unclamp to jacket, solves underwater machine
Device people carries out the problem of detection across jacket node region, and the gamut for realizing underwater robot in jacket detects.This
Interior guide rail in utility model can be extend out to along outer guide on the outside of operation chassis, solve underwater robot the case where not being discharged
The corrosion condition problem of lower detection approximately level area jacket.
Description of the drawings
Fig. 1 is a kind of working state schematic representation of embodiment of the utility model.
Fig. 2 is a kind of rearview of embodiment of the utility model.
Fig. 3 is that a kind of embodiment of the utility model is looked up when detecting jacket waves splash about region using the utility model
Figure.
Fig. 4 is a kind of another working state schematic representation of embodiment of the utility model.
A kind of upward view of embodiment of the utility model when Fig. 5 is region underwater using the utility model detection jacket.
Wherein,
1, robot body 2, floating block 3, reference electrode 4, hydraulic oil unit 5, vertical thrusters 6, horizontal propeller
7, operation chassis 8, the first hydraulic stem 9, holding tube manipulator 10, pressure sensor 11, follower rail 12, inboard track
13, weight 14, sliding block 15, camera 16, detection probe 17, searchlight 18, motor 19, limit sensors 20, second
Hydraulic stem
Specific implementation mode
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings, but the utility model
It is not limited to these examples.
As shown in Figures 1 to 5, the jacket Corrosion monitoring equipment of a kind of no magnetic interference, including master control system, robot
Ontology 1, operation chassis 7, hydraulic pressure hold unit, slide rail type detection mounted unit and corrosion detecting element tightly.
The robot body 1 uses open-shelf structure, and in order to carry all kinds of instrument and equipments, and robot body 1 is adopted
It is made with aluminum alloy materials to mitigate gravity.The top of the robot body 1 is provided with multiple floating blocks 2, and each floating block 2 is all made of
Glass microballoon buoyant material is made, to provide quiet buoyancy for entire robot.
Motion is provided on the robot body 1, motion is controlled by the master control system.Specifically come
It says, the motion includes four vertical thrusters 5 and four horizontal propellers 6, and four vertical thrusters 5 are separately positioned on
The left and right sides of 1 front end of robot body and the left and right sides of rear end, four horizontal propellers 6 are separately positioned on robot body
The left and right sides of 1 front end and the left and right sides of rear end, four vertical thrusters 5 and four horizontal propellers 6 are by the master control
System controls.
The topology layout of 6 symmetrical expression of the vertical thrusters 5 and horizontal propeller ensure that robot advances, retreats, is left
Turn, right-hand rotation, floating, the elemental motions such as dive realization, while ensure that the stationarity of action.The robot body 1 may be used also
Realize that the left and right overturning of entire robot and pitching are overturn with the cooperation by the vertical thrusters 5 of left and right ends and rear and front end
Deng some highly difficult actions.
Sensor unit is additionally provided on the robot body 1, sensor unit includes hydraulic pressure sensor and electronics sieve
Disk, hydraulic pressure sensor are used to determine that the submarine site of robot body 1, electronic compass to be used to determine the posture of robot body 1.
Hydraulic pressure sensor and electronic compass are by the information real-time Transmission detected to master control system, by master control system by controlling respectively respectively
A vertical thrusters 5 and each horizontal propeller 6 are to realize the adjustment of robot position and posture under water.
The operation chassis 7 is arranged in the bottom end of robot body 1.The top on the operation chassis 7 and robot body 1
It is detachable connection between bottom end.The front-end and back-end on the operation chassis 7 are uncovered structure.The bottom end on operation chassis 7
Center is a void region, and the health status information of jacket can be smoothly detected to facilitate corrosion detecting element.
The hydraulic pressure is held unit tightly and is arranged on operation chassis 7, and hydraulic pressure is held unit tightly and connect with the master control system signal,
The holding tube action for holding unit tightly for controlling hydraulic pressure makes operation chassis 7 hold unit tightly by hydraulic pressure and holds jacket realization holding tube tightly
Climb pipe movement.
Specifically, it includes hydraulic oil unit and hydraulic pressure hold-fast body that the hydraulic pressure, which holds unit tightly,.Such as Fig. 1, Fig. 3, Fig. 4 and
Shown in Fig. 5, the hydraulic pressure hold-fast body in the present embodiment has two groups.Hydraulic pressure hold-fast body in certain the utility model is not merely
It is confined to need two groups of setting as shown in above-mentioned each figure, at least one group of the hydraulic pressure hold-fast body in the utility model, when only
When one group of hydraulic pressure hold-fast body, which is arranged at the middle part on operation chassis 7, when hydraulic pressure of the setting more than one group is embraced
When tight mechanism, each group hydraulic pressure hold-fast body can be uniformly distributed along the length direction on operation chassis 7.
The hydraulic oil unit 4 is arranged on robot body 1 and supplies hydraulic oil for the hydraulic pressure hold-fast body.It is preferred that
The hydraulic oil unit 4 is installed and is embedded in the floating block 2 of robot body 1 for providing positive buoyancy by ground, entire to ensure
The balance of robot center of gravity hull position.
Each hydraulic pressure hold-fast body includes the holding tube machinery for being symmetricly set on 7 both sides of operation chassis for holding jacket tightly
Hand, each hydraulic pressure hold-fast body further include two symmetrically set first hydraulic stem 8, and first hydraulic stem 8 corresponds to driving one
Holding tube manipulator 9, and the top of each holding tube manipulator 9 and for drive its act the first hydraulic stem 8 between be hinged, answer
Opening, the closed action of holding tube manipulator 9 are driven with the mode of lever, to realize clasping or unclamp to jacket.Each
One hydraulic stem 8 is installed in inside operation chassis 7, effectively prevents producing because the first hydraulic stem 8 is external mounted on robot
It is raw accidentally to touch the accident for causing the first hydraulic stem 8 to damage.
It is provided with pressure sensor 10 on the side surface that the holding tube manipulator 9 is used to contact with jacket, the pressure
Sensor 10 judges whether holding tube manipulator holds jacket tightly for detecting.
The features such as type of drive that hydraulic pressure is held tightly in the utility model not only has driving force big, stable movement, and adopt
Hydraulically biggest advantage, which is hydraulic cylinder, has power-off locking function, when robot holds jacket tightly, can accomplish do not have
There is motor work, eliminates robot holding tube to greatest extent and climb the influence that pipe detects electric field.Robot into the water after, lead to
It crosses horizontal, vertical thrusters effect and adjusts posture by vertical thrusters 5 close to jacket, then pass through the first hydraulic pressure
Bar 8 drives holding tube manipulator 9 to complete holding tube and acts and lock, and robot can be according to mounted on 9 contact surface of holding tube manipulator
On pressure sensor 10 judge whether holding tube manipulator 9 locks, to provide a stable and firm inspection to detect work
Survey environment.
When robot completes part detection work or needs across node, the first hydraulic stem 8 can drive holding tube machine
Tool hand 9 unclamps jacket, drives the movement of Robot jacket to climb pipe work to realize by horizontal, vertical thrusters.This
Robot in utility model holds unit tightly by hydraulic pressure and act as realizing jacket multizone with horizontal, vertical thrusters
Good basis has been made in detection.Meanwhile the first hydraulic stem 8 in the utility model has a water-proof function in itself, therefore can be with
Save a large amount of waterproof sealing work.
The slide rail type detection mounted unit includes guide rail mechanism, sliding block 14 and weight 13, and guide rail mechanism includes outer guide
11 and can along outer guide 11 slide interior guide rail 12, outer guide 11 be arranged in operation chassis 7, weight 13 is connected with sliding block 14
And positioned at 14 lower section of sliding block.Slide rail type detection mounted unit further includes for driving the sliding block 14 to be moved from 12 bottom end of interior guide rail
To the first straight line driving mechanism on 12 top of interior guide rail and for driving the interior guide rail 12 to make linear reciprocation along outer guide 11
The second straight line driving mechanism of movement.The first straight line driving mechanism and second straight line driving mechanism are controlled by the master control
System.
Specifically, the first straight line driving mechanism includes motor 18, conveyer belt, upper belt pulley and bottom pulley,
Upper belt pulley and bottom pulley are respectively set on the top and bottom end of interior guide rail 12, and conveyer belt is nested on upper and lower belt pulley, on
Belt pulley or bottom pulley are driven by the motor 18 to be rotated, and the sliding block 14 is fixed on conveyer belt, the motor 18
Start and stop controlled by master control system.The motor 18 drives upper belt pulley or bottom pulley rotation, to be driven by conveyer belt
The sliding block 14 moves upwards.
The top of the interior guide rail 12 is provided with limit sensors 19, is touched when sliding block 14 moves to the top of interior guide rail 12
Limit sensors 19 are touched, limit sensors 19 send signal to master control system, and master control system controls the motor 18 and powers off, sliding block
14 under the gravity of lower section weight 13, and passive type sliding is done downwards along interior guide rail 12.
The second straight line driving mechanism includes the second hydraulic stem 20, and one end of the second hydraulic stem 20 is connected with interior guide rail 12
And guide rail 12 makees straight reciprocating motion in driving.
The top of the outer guide 11 is provided with limit sensors, when the bottom end of interior guide rail 12 touches on outer guide 11
When limit sensors, the signal real-time Transmission detected to master control system, master control system are controlled the second hydraulic pressure by limit sensors
Bar stops driving.
The corrosion detecting element is mounted on sliding block 14 and is moved synchronously with sliding block 14, the bottom center on operation chassis 7
Hollow out, the area to be tested of the void region face jacket, face operation chassis 7 when corrosion detecting element is moved with sliding block 14
Void region.
The corrosion detecting element includes detection probe 16, searchlight 17, camera 15 and reference electrode 3, the detection
Probe 16, searchlight 17 and camera 15 are arranged at 14 bottom face of sliding block to the side of jacket area to be tested.
The corrosion detecting element is by the detection probe 16 of carrying Corrosion Electric Field, and such contactless detection method was both
The practical corrosion condition in jacket surface can be detected to greatest extent, in turn avoid aggravating to lead because of contact probe puncture of catheter frame
The case where pipe support corrodes.Because this kind of detection mode needs to provide a stable reference signal for detection probe, to avoid reference
The long distance transmission of signal influences signal accuracy, therefore reference electrode 3 is mounted on connecing for holding tube manipulator 9 in a manner of probe
Surface is touched, when hydraulic pressure holding tube unit completes holding tube action, reference electrode 3 just touches jacket, to generate reference signal,
Avoid because reference electrode 3 is fixed on jacket carry out at a distance transmit be mixed into noise, provide one for detection probe
Stable and accurate reference signal, while reference electrode 3 also can leave jacket with the release of holding tube manipulator 9.
The corrosion detecting element, can be in the same of potentiometric detection by the camera 15 of carrying searchlight 17 and short focus
When understand detection surface the case where, convenient for being identified and judging to corrosion condition.
As shown in Figure 1, the interior guide rail 12 in the utility model can be under the action of second straight line driving mechanism from operation
Chassis 7 is stretched out.As shown in figure 4, the interior guide rail 12 in the utility model also can be complete under the action of second straight line driving mechanism
It is located in operation chassis 7 entirely.
As shown in figure 5, when interior guide rail 12 is located at 7 inside of operation chassis, band of the sliding block 14 in first straight line driving mechanism
The top extreme position of interior guide rail 12 is moved under dynamic, master control system control is disconnected for driving the motor 18 that conveyer belt operates
Electricity, sliding block 14 is together with corrosion detecting element, and guide rail 12 glides in the gravity lower edge of weight 13, at this time Corrosion monitoring
What unit detected is the underwater region part of jacket and the interior holding region of robot body 1 within the scope of 14 sliding stroke of sliding block
The detection of pipeline.
As shown in figure 3, when interior guide rail 12 extend out to 7 outside of operation chassis, sliding block 14 is in first straight line driving mechanism
The top extreme position of interior guide rail 12 is moved under drive, master control system control is disconnected for driving the motor 18 that conveyer belt operates
Electricity, sliding block 14 is together with corrosion detecting element, and guide rail 12 glides in the gravity lower edge of weight 13, at this time Corrosion monitoring
The pipe detection in what unit carried out be that more than the water surface within the scope of 14 sliding stroke of sliding block waves splash about region.
That is, the corrosion detecting element in the utility model, when being detected work, robot body 1 passes through liquid
Pressure holds unit tightly and is in the state for holding jacket tightly, and the movement to eliminate robot is influenced caused by detection.It is same with this
When, for corrosion detecting element when being detected work, the motor 18 for driving conveyer belt to act is in off-position, sliding block 14
It is the sliding realized under the gravity of weight 13, is influenced caused by detection to eliminate electromagnetic field.The utility model
The ocean platform jacket Corrosion Electric Field detection technique for realizing no electromagnetic interference and motion artifacts, ensure that the standard of testing result
True property.
The part that do not addressed in the utility model uses or uses for reference prior art and can be realized.
In the description of the present invention, it should be understood that term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore cannot understand
For limitations of the present invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively important
Property.
Specific embodiment described herein is only the spiritual example explanation to the utility model.This practicality
Novel person of ordinary skill in the field can make various modifications or additions to the described embodiments or adopt
It is substituted with similar mode, but without departing from the spirit of the present application or surmounts model defined in the appended claims
It encloses.
Claims (10)
1. a kind of jacket Corrosion monitoring equipment of no magnetic interference, which is characterized in that
Unit, slide rail type detection mounted unit and corrosion inspection are held tightly including master control system, robot body, operation chassis, hydraulic pressure
Survey unit；
The operation chassis, which is arranged on the bottom end of robot body, robot body, is provided with motion, motion by
It controls in the master control system, before motion drives the robot body and operation chassis to complete under the control of master control system
Into, retreat, turn left, turn right, float, dive and rotary movement；
The hydraulic pressure is held unit tightly and is arranged on operation chassis, and hydraulic pressure is held unit tightly and connect with the master control system signal, is used for
The holding tube action that hydraulic pressure holds unit tightly is controlled, so that operation chassis is held unit holding jacket tightly by hydraulic pressure and realizes that holding tube climbs Guan Yun
It is dynamic；
The slide rail type detection mounted unit includes guide rail mechanism, sliding block and weight, and guide rail mechanism includes outer guide and being capable of edge
The interior guide rail of outer guide sliding, outer guide are arranged in operation chassis, and weight is connected with sliding block and below sliding block, slide rail type
Detection mounted unit further include for drive the sliding block from interior guide rail bottom end move to interior guide rail top first straight line driving
Mechanism and for driving the interior guide rail to make along outer guide the second straight line driving mechanism of straight reciprocating motion；
The corrosion detecting element is mounted on sliding block and is moved synchronously with sliding block, and the bottom center hollow out on operation chassis, this is engraved
The area to be tested of empty region face jacket, corrosion detecting element with face operation chassis when slide block movement void region；
The first straight line driving mechanism and second straight line driving mechanism are controlled by the master control system, and interior guide rail is straight second
Operation inside chassis can be stretched out or is fully located under the action of line driving mechanism from operation chassis, when sliding block drives in first straight line
When moving to the top extreme position of interior guide rail under the drive of motivation structure, master control system controls first straight line driving mechanism and the
Two straight line driving mechanisms shut down, and sliding block is together with corrosion detecting element, the guide rail in the gravity lower edge of weight
It glides；
When interior guide rail is located at operation inside chassis, what is detected when corrosion detecting element glides with sliding block is sliding block sliding stroke model
Enclose the interior underwater region part of jacket；When interior guide rail is extend out to outside operation chassis, corrosion detecting element glides with sliding block
When detect is jacket splashing region part within the scope of sliding block sliding stroke.
2. a kind of jacket Corrosion monitoring equipment of no magnetic interference according to claim 1, which is characterized in that
The top of the interior guide rail and the top of outer guide are both provided with limit sensors, the letter that limit sensors will detect
Number real-time Transmission to master control system, master control system controls the first, second linear drives according to the signal that limit sensors detect
The operating of mechanism.
3. a kind of jacket Corrosion monitoring equipment of no magnetic interference according to claim 1, which is characterized in that
It includes hydraulic oil unit and at least one set of hydraulic pressure hold-fast body that the hydraulic pressure, which holds unit tightly, and hydraulic oil unit is arranged in robot sheet
Hydraulic oil is supplied on body and for the hydraulic pressure hold-fast body, each hydraulic pressure hold-fast body includes being symmetricly set on operation chassis both sides
Holding tube manipulator for holding jacket tightly, each hydraulic pressure hold-fast body further include two symmetrically set first hydraulic stem, one
First hydraulic stem corresponds to one holding tube manipulator of driving, and the top of each holding tube manipulator and the first liquid for driving it to act
Be hinged between compression bar, two opposite holding tube manipulators realized under the driving of the first hydraulic stem to jacket clasp or
It unclamps.
4. a kind of jacket Corrosion monitoring equipment of no magnetic interference according to claim 3, which is characterized in that
It is provided with pressure sensor on the side surface that the holding tube manipulator is used to contact with jacket.
5. a kind of jacket Corrosion monitoring equipment of no magnetic interference according to claim 1, which is characterized in that
The first straight line driving mechanism includes motor, conveyer belt, upper belt pulley and bottom pulley, upper belt pulley and bottom pulley
It is respectively set on the top and bottom end of interior guide rail, conveyer belt is nested on upper and lower belt pulley, and upper belt pulley or bottom pulley are by institute
Motor driving rotation is stated, the sliding block is fixed on conveyer belt, and the start and stop of the motor are controlled by master control system.
6. a kind of jacket Corrosion monitoring equipment of no magnetic interference according to claim 1, which is characterized in that
The second straight line driving mechanism includes the second hydraulic stem, and one end of the second hydraulic stem is connected with interior guide rail and is led in driving
Rail makees straight reciprocating motion.
7. a kind of jacket Corrosion monitoring equipment of no magnetic interference according to claim 3, which is characterized in that
The corrosion detecting element includes detection probe, searchlight, camera and reference electrode, the detection probe, searchlight
Sliding block bottom face is arranged to the side of jacket area to be tested with camera；The reference electrode is mounted on holding tube machinery
The side surface that hand is used to contact with jacket.
8. a kind of jacket Corrosion monitoring equipment of no magnetic interference according to claim 1, which is characterized in that
Sensor unit is provided on the robot body, sensor unit includes hydraulic pressure sensor and electronic compass, hydraulic pressure
Sensor is used to determine that the submarine site of robot body, electronic compass to be used to determine the posture of robot body.
9. a kind of jacket Corrosion monitoring equipment of no magnetic interference according to claim 1, which is characterized in that
It is provided with multiple floating blocks at the top of the robot body.
10. a kind of jacket Corrosion monitoring equipment of no magnetic interference according to claim 1, which is characterized in that
The motion includes four vertical thrusters and four horizontal propellers, and four vertical thrusters are separately positioned on machine
The left and right sides of device human body front end and the left and right sides of rear end, four horizontal propellers are separately positioned on robot body front end
The left and right sides and rear end the left and right sides, four vertical thrusters and four horizontal propellers are by the master control system control
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820213617.5U CN208026674U (en) | 2018-02-06 | 2018-02-06 | A kind of jacket Corrosion monitoring equipment of no magnetic interference |
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| CN201820213617.5U CN208026674U (en) | 2018-02-06 | 2018-02-06 | A kind of jacket Corrosion monitoring equipment of no magnetic interference |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482618A (en) * | 2018-02-06 | 2018-09-04 | 青岛远创机器人自动化有限公司 | A kind of jacket Corrosion monitoring climbing robot of no magnetic interference |
| CN110824113A (en) * | 2019-11-13 | 2020-02-21 | 中国海洋大学 | Electromagnetic interference-free sea pipe corrosion detection device and detection method |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482618A (en) * | 2018-02-06 | 2018-09-04 | 青岛远创机器人自动化有限公司 | A kind of jacket Corrosion monitoring climbing robot of no magnetic interference |
| CN110824113A (en) * | 2019-11-13 | 2020-02-21 | 中国海洋大学 | Electromagnetic interference-free sea pipe corrosion detection device and detection method |
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