CN211780261U - Underwater pipeline inspection robot - Google Patents
Underwater pipeline inspection robot Download PDFInfo
- Publication number
- CN211780261U CN211780261U CN202020362063.2U CN202020362063U CN211780261U CN 211780261 U CN211780261 U CN 211780261U CN 202020362063 U CN202020362063 U CN 202020362063U CN 211780261 U CN211780261 U CN 211780261U
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- floating body
- carrier frame
- inspection robot
- pipeline inspection
- connecting rod
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Abstract
The utility model discloses a pipeline patrols and examines robot under water, including handle and lighting system, handle threaded connection is at the upside of body, and the equal bolt fastening in the left and right sides of body upside has screw propeller, magnetic sensor is all installed to the left and right sides of top before the body, lighting system fixed mounting is at the middle part of top before the body, and the outside fixed mounting of body has the carrier frame, screw propeller is installed to the inboard rear of carrier frame, and installs the withstand voltage cabin in the inboard the place ahead of carrier frame, the left and right sides in withstand voltage cabin all is provided with the battery compartment, the articulated fixture that hinders more that is connected with in the outside of carrier frame. This whole device of pipeline inspection robot under water combines to use withstand voltage storehouse internally mounted's camera under water to the cooperation uses magnetic sensor, can trail the pipeline under water fast, saves time, improves the successful probability of operation, adopts the remote control mode simultaneously, improves the operation autonomy, the material resources of using manpower sparingly.
Description
Technical Field
The utility model relates to an underwater operation technical field specifically is a pipeline inspection robot under water.
Background
At present, along with the development and use of a large amount of onshore oil gas, the storage capacity is reduced day by day, the energy requirements in the current world are difficult to meet, the exploration and exploitation of underwater oil gas become trends, according to statistics, the storage capacity of the underwater oil gas is about 100 times of that of the land, the south China sea has rich oil gas resources, the oil storage capacity is about 230 hundred million-300 hundred million tons, a seabed oil gas pipeline is an important component of an oil gas field development and production system and is the safest and most reliable mode for guaranteeing the seabed oil gas transportation, however, the seabed environment is severe, the phenomena of cracks, fatigue damage, leakage holes and the like of the pipeline can be caused, and the pipeline must be regularly monitored and maintained.
However, for underwater pipelines, the difficulty of manual maintenance is high, and the pipelines are provided with obstacles such as flanges, and the traditional underwater robot has the defects of insufficient obstacle-crossing capability, complex control, susceptibility to ocean current influence, single adaptive pipe diameter and the like.
Therefore, we propose an underwater pipeline inspection robot in order to solve the above-mentioned proposed problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a pipeline inspection robot under water to solve to the pipeline under water on the present market that above-mentioned background art provided, the artifical degree of difficulty of overhauing is big, and has barriers such as flange on the pipeline, and traditional underwater robot exists obstacle crossing ability not enough, control complicacy, easily receive the ocean current influence, adapt to the too single problem of pipe diameter.
In order to achieve the above object, the utility model provides a following technical scheme: an underwater pipeline inspection robot comprises a handle and a lighting system, wherein the handle is in threaded connection with the upper side of a floating body, the left side and the right side of the upper side of the floating body are respectively provided with a propeller, the left side and the right side of the upper front side of the floating body are respectively provided with a magnetic sensor, the lighting system is fixedly arranged in the middle of the upper front side of the floating body, a carrier frame is fixedly arranged on the outer side of the floating body, the propeller is arranged at the rear of the inner side of the carrier frame, a pressure-resistant cabin is arranged in front of the inner side of the carrier frame, the left side and the right side of the pressure-resistant cabin are respectively provided with a battery cabin, the outer side of the carrier frame is hinged and connected with an obstacle crossing clamping mechanism, an upper mechanical connecting rod is arranged inside the obstacle crossing clamping mechanism, the upper mechanical connecting rod is hinged and connected with the outer side of the, and the upper part of the lower mechanical connecting rod is hinged with a hydraulic supporting rod, the outer side of the hydraulic supporting rod is hinged with a hinged sliding block, the hinged sliding block is fixedly arranged at the tail part of a double-piston rod double-piston hydraulic cylinder, the double-piston rod double-piston hydraulic cylinder is arranged at the middle part of a chassis guide rail, and the chassis guide rail is fixedly arranged at the lower end of the carrier frame.
Preferably, the carrier frames are symmetrically arranged about a longitudinal center line of the floating body, and a hollow structure is arranged between 2 oppositely arranged carrier frames.
Preferably, the pressure-resistant cabin is an acrylic hemispherical air guide sleeve, and the pressure-resistant cabin is connected with the floating body through a flange bolt.
Preferably, the battery compartment and the propeller thruster are symmetrically arranged about a longitudinal center line of the floating body, and the highest point of the propeller thruster is lower than that of the floating body.
Preferably, the obstacle crossing clamping mechanisms are symmetrically provided with 2 groups about a longitudinal central line of the floating body, and each group of obstacle crossing clamping mechanisms is provided with 3.
Preferably, the rotating roller and the lower mechanical link form a rotating mechanism, and the side view surface of the rotating roller is in a V-shaped structure.
Compared with the prior art, the beneficial effects of the utility model are that: the underwater pipeline inspection robot;
1. the underwater pipeline inspection robot is provided with the obstacle crossing clamping mechanism, the control algorithm is greatly simplified, the stability of underwater operation is improved, the inspection efficiency is improved, the image quality is improved and the data transmission quantity is reduced by arranging the optical vision computer in the pressure-resistant cabin, and the inspection effect can be improved by using a Hough transform pipeline detection method;
2. the whole device combines the underwater camera installed inside the pressure-resistant bin and is matched with the magnetic sensor, an underwater pipeline can be quickly tracked, time is saved, the success probability of operation is improved, and meanwhile, the remote control mode is adopted, so that the autonomy of operation is improved, and manpower and material resources are saved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the present invention;
fig. 3 is a schematic view of the bottom view structure of the present invention;
FIG. 4 is a schematic side view of the connection between the lower mechanical link and the rotary roller according to the present invention;
FIG. 5 is a schematic view of a side view of the joint of the hydraulic support rod and the hinge block of the present invention;
fig. 6 is the overall structure schematic diagram of the utility model after folding the obstacle crossing clamping mechanism.
In the figure: 1. a handle; 2. a float; 3. a carrier frame; 4. a pressure-resistant cabin; 5. a battery compartment; 6. a propeller thruster; 7. an illumination system; 8. a magnetic sensor; 9. an obstacle crossing clamping mechanism; 91. an upper mechanical link; 92. a lower mechanical link; 93. a hydraulic support rod; 94. a ball bearing; 95. rotating the roller; 96. a chassis rail; 97. a double piston rod and a double piston hydraulic cylinder; 98. the sliding block is hinged.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: an underwater pipeline inspection robot comprises a handle 1, a floating body 2, a carrier frame 3, a pressure-resistant cabin 4, a battery cabin 5, a propeller thruster 6, a lighting system 7, a magnetic sensor 8, an obstacle crossing clamping mechanism 9, an upper mechanical connecting rod 91, a lower mechanical connecting rod 92, a hydraulic supporting rod 93, a ball bearing 94, a rotary roller 95, a chassis guide rail 96, a double-piston-rod double-piston hydraulic cylinder 97 and a hinged sliding block 98, wherein the handle 1 is in threaded connection with the upper side of the floating body 2, the left side and the right side of the upper side of the floating body 2 are respectively fixed with the propeller thruster 6 through bolts, the left side and the right side of the front upper part of the floating body 2 are respectively provided with the magnetic sensor 8, the lighting system 7 is fixedly arranged in the middle part of the front upper part of the floating body 2, the outer side of the floating body 2 is fixedly provided with the carrier frame 3, the left and right sides of withstand voltage cabin 4 all is provided with battery compartment 5, the articulated obstacle-surmounting fixture 9 that is connected with in the outside of carrier frame 3, and the inside of obstacle-surmounting fixture 9 is provided with mechanical connecting rod 91, upper mechanical connecting rod 91 articulates the outside of connecting at carrier frame 3, and the lower part of upper mechanical connecting rod 91 is connected with lower mechanical connecting rod 92 is articulated, lower mechanical connecting rod 92 passes through ball bearing 94 and is connected with rotatory gyro wheel 95, and the articulated hydraulic support pole 93 that is connected with in the upper portion of lower mechanical connecting rod 92, the articulated slider 98 that is connected with in the outside of hydraulic support pole 93, and articulated slider 98 fixed mounting is at the afterbody of double-piston pole double-piston pneumatic cylinder 97, double-piston pneumatic cylinder 97 is installed in the middle part of chassis guide rail 96, and.
In the embodiment, the carrier frames 3 are symmetrically arranged about the longitudinal center line of the floating body 2, and the 2 oppositely arranged carrier frames 3 are of a hollow structure, so that other parts can be conveniently installed between the 2 carrier frames 3;
the pressure-resistant cabin 4 is an acrylic hemispherical dome, the pressure-resistant cabin 4 and the floating body 2 are connected by flange bolts, the pressure-resistant cabin 4 is convenient to install, and components such as a camera and the like can be installed in the pressure-resistant cabin 4 to protect the components;
the battery compartment 5 and the propeller thruster 6 are symmetrically arranged about the longitudinal central line of the floating body 2, and the highest point of the propeller thruster 6 is lower than that of the floating body 2, so that the whole device can smoothly run due to the design;
the obstacle crossing clamping mechanisms 9 are symmetrically provided with 2 groups about the longitudinal central line of the floating body 2, and 3 obstacle crossing clamping mechanisms 9 are arranged in each group, so that the device and the pipeline are connected and fixed by utilizing the structure;
the rotary roller 95 and the lower mechanical link 92 form a rotating mechanism, and the side view of the rotary roller 95 is a V-shaped structure, so that the damage to the pipeline caused by the contact of the clamping device and the pipeline can be reduced, and the obstacle crossing and the walking are facilitated.
The working principle is as follows: when the underwater pipeline inspection robot is used, firstly, a user carries the whole device into a working area firstly, the device is used for searching the underwater pipeline, when the underwater pipeline inspection robot is used, the robot is firstly thrown into a designated sea area, the robot can freely move in water under the driving of 3 groups of propeller propellers 6, an underwater camera is arranged in a pressure resistant cabin 4, the whole device can be tracked to the related underwater pipeline under the combined action of a magnetic sensor 8 and the underwater camera in the pressure resistant cabin 4, then the whole device can be clamped to the underwater pipeline by using an obstacle crossing clamping mechanism 9, a hydraulic support rod 93 firstly extends to the longest length even if the hydraulic support rod is in a horizontal posture, the underwater robot can adjust the posture through the propeller propellers 6, so that the robot is suspended right above the pipeline, and then the hydraulic support rod 93 begins to retract, when the concave wheel on the rotary roller 95 contacts the wall surface of the pipeline, the hydraulic support rod 93 is immediately locked and does not retract, at the moment, the obstacle crossing clamping mechanism 9 of the robot is used for clamping the lower semicircle of the underwater pipeline, and the clamping stability can be ensured even if the obstacle crossing clamping mechanism is influenced by ocean currents;
then the robot is driven to walk on the pipeline under the push of the propeller thruster 6, the concave wheel on the rotary roller 95 can slide on the pipeline, the pipeline is prevented from being damaged in the clamping process, the next obstacle crossing process is facilitated, when the rotary roller 95 touches obstacles such as flanges and the like, the robot continues to advance under the push of the propeller thruster 6, the obstacle pushes the rotary roller 95 to rotate, when the rotary roller rotates 120 degrees, the obstacle crossing process is completed, and when one group of rotary rollers 95 rotates, the other two groups of rotary rollers still adhere to the pipeline, the stability of the obstacle crossing action is ensured, an underwater camera arranged in the pressure-resistant cabin 4 continuously shoots pictures and transmits the pictures to a land-based control station in real time when the robot walks, when the pipeline is found to be required to be maintained, information such as position and the like is automatically stored, the fixed-point maintenance is facilitated, and the device is provided with an illumination system 7, the lighting system 7 comprises two LED lamps and two floodlights, the lighting system 7 is installed on a movable plate at the front part of the floating body 2, the irradiation angle can be adjusted, the installed floodlights can reduce the scattering effect of light in water to a certain extent so as to enhance the image quality, after the task is finished, the hydraulic support rod 93 is controlled to extend out, the clamping state is removed, the underwater robot is controlled to float upwards to finish the recovery work, the above is the working process of the whole device, and the content which is not described in detail in the specification belongs to the prior art known by professional technicians in the field.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides an underwater pipeline inspection robot, includes handle (1) and lighting system (7), its characterized in that: the handle (1) is in threaded connection with the upper side of the floating body (2), the left side and the right side of the upper side of the floating body (2) are all fixedly provided with a propeller thruster (6) through bolts, the left side and the right side of the front upper side of the floating body (2) are all provided with a magnetic sensor (8), the lighting system (7) is fixedly arranged in the middle of the front upper side of the floating body (2), the outer side of the floating body (2) is fixedly provided with a carrier frame (3), the rear part of the inner side of the carrier frame (3) is provided with the propeller thruster (6), the front part of the inner side of the carrier frame (3) is provided with a pressure cabin (4), the left side and the right side of the pressure cabin (4) are both provided with a battery cabin (5), the outer side of the carrier frame (3) is hinged and connected with an obstacle crossing clamping mechanism (9), an upper mechanical connecting rod (91) is arranged in the obstacle, the lower portion of the upper mechanical connecting rod (91) is hinged to the lower mechanical connecting rod (92), the lower mechanical connecting rod (92) is connected with the rotating roller (95) through a ball bearing (94), the upper portion of the lower mechanical connecting rod (92) is hinged to a hydraulic supporting rod (93), the outer side of the hydraulic supporting rod (93) is hinged to a hinged sliding block (98), the hinged sliding block (98) is fixedly installed at the tail portion of a double-piston-rod double-piston hydraulic cylinder (97), the double-piston-rod double-piston hydraulic cylinder (97) is installed in the middle of a chassis guide rail (96), and the chassis guide rail (96) is fixedly installed at the lower end of the carrier frame (3).
2. The underwater pipeline inspection robot according to claim 1, wherein: the carrier frames (3) are symmetrically arranged relative to the longitudinal central line of the floating body (2), and a hollow structure is arranged between the 2 oppositely arranged carrier frames (3).
3. The underwater pipeline inspection robot according to claim 1, wherein: the pressure-resistant cabin (4) is an acrylic hemispherical air guide sleeve, and the pressure-resistant cabin (4) is connected with the floating body (2) through a flange bolt.
4. The underwater pipeline inspection robot according to claim 1, wherein: the battery compartment (5) and the propeller thruster (6) are symmetrically arranged about the longitudinal central line of the floating body (2), and the highest point of the propeller thruster (6) is lower than that of the floating body (2).
5. The underwater pipeline inspection robot according to claim 1, wherein: the obstacle crossing clamping mechanisms (9) are symmetrically provided with 2 groups about the longitudinal central line of the floating body (2), and each group of obstacle crossing clamping mechanisms (9) is provided with 3.
6. The underwater pipeline inspection robot according to claim 1, wherein: the rotating roller (95) and the lower mechanical connecting rod (92) form a rotating mechanism, and the side surface of the rotating roller (95) is of a V-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020362063.2U CN211780261U (en) | 2020-03-20 | 2020-03-20 | Underwater pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020362063.2U CN211780261U (en) | 2020-03-20 | 2020-03-20 | Underwater pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211780261U true CN211780261U (en) | 2020-10-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020362063.2U Expired - Fee Related CN211780261U (en) | 2020-03-20 | 2020-03-20 | Underwater pipeline inspection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN211780261U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112682701A (en) * | 2020-12-02 | 2021-04-20 | 无锡工艺职业技术学院 | Pollution inspection robot for underwater pipeline |
| CN114291238A (en) * | 2021-12-10 | 2022-04-08 | 中国科学院自动化研究所 | Underwater emergency rescue robot |
| CN114684342A (en) * | 2022-04-14 | 2022-07-01 | 国网浙江省电力有限公司宁波供电公司 | Long-distance and large-span power system line inspection robot |
| CN114954858A (en) * | 2022-06-24 | 2022-08-30 | 江苏科技大学 | Underwater petroleum pipeline flaw detection robot |
-
2020
- 2020-03-20 CN CN202020362063.2U patent/CN211780261U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112682701A (en) * | 2020-12-02 | 2021-04-20 | 无锡工艺职业技术学院 | Pollution inspection robot for underwater pipeline |
| CN112682701B (en) * | 2020-12-02 | 2022-09-02 | 无锡工艺职业技术学院 | Pollution inspection robot for underwater pipeline |
| CN114291238A (en) * | 2021-12-10 | 2022-04-08 | 中国科学院自动化研究所 | Underwater emergency rescue robot |
| CN114684342A (en) * | 2022-04-14 | 2022-07-01 | 国网浙江省电力有限公司宁波供电公司 | Long-distance and large-span power system line inspection robot |
| CN114684342B (en) * | 2022-04-14 | 2023-09-29 | 国网浙江省电力有限公司宁波供电公司 | Line inspection robot for long-distance and long-span power system |
| CN114954858A (en) * | 2022-06-24 | 2022-08-30 | 江苏科技大学 | Underwater petroleum pipeline flaw detection robot |
| CN114954858B (en) * | 2022-06-24 | 2023-12-19 | 江苏科技大学 | Underwater petroleum pipeline flaw detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201027 Termination date: 20210320 |
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| CF01 | Termination of patent right due to non-payment of annual fee |