A pipe diameter self-adaptive claw and pipe diameter self-adaptive underwater fixed-point operation device

Abstract

The invention discloses a pipe diameter adaptive jaw and a pipe diameter adaptive underwater fixed-point operation device. The underwater fixed-point operation device includes a control mechanism, a horizontal propeller group, a vertical propeller group, an Adapt to the jaws; the pipe diameter adaptive jaws include a plurality of jaw units; these jaw units are divided into two rows, and are arranged across each other; each jaw unit includes a proximal phalanx, a middle phalanx and a Terminal knuckles; when the jaw mechanism is closed, the proximal knuckle is the first to contact the pipe, and the distal knuckle is the last to contact the pipe; when the jaw mechanism is opened, the distal knuckle is the first to leave the pipe, and the proximal knuckle is the last to leave the pipe . The pipe diameter self-adaptive claw of the present invention can adapt to different pipe diameters and has strong gripping force, and the claw cooperates with the propeller to realize the rotation of the whole device around the pipe to be operated without additional control signals and conforms to Adaptive pipe diameter, fixed-point operation, and wide range of operation objects.

Description

Technical field [0001] The invention relates to the technical field of underwater operation devices, in particular to a pipe diameter adaptive claw and a pipe diameter adaptive underwater fixed-point operation device. Background technique [0002] With the development and utilization of marine resources, the number of underwater operations required by humans has gradually increased, the operating environment has become increasingly complex, and the difficulty of operations has also increased. At the same time, China is a large country of ocean transportation and water conservancy construction, and a large number of ocean facilities are required. Regular cleaning or safety performance inspections. Current underwater operations are generally carried out by divers carrying operating devices. Not only are operating costs high, but life safety is difficult to guarantee. Therefore, an underwater operating device that integrates repair and cleaning is needed. [0003] Patent document CN10...

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Problems solved by technology

[0002] With the development and utilization of marine resources, the underwater operations required by humans are gradually increasing, the operating environment is becoming more and more complex, and the difficulty of operations is also increasing. At the same time, my country is a big country in marine transportation and water conservancy construction. A large number of marine facilities require Periodic cleaning or safety performance inspection, the current underwater operations are generally completed by divers carrying the operating device, not only the cost of the operation is high, but also the safety of life is difficult to guarantee, so an underwater operating device that integrates repair and cleaning is needed

[0003] Patent document CN107781509A discloses a sit-pipe type underwater operation device, which uses control brake claws to hold the outer wall of the pipeline so that the entire device stays near a predetermined position, but the brake claw is a single-joint mechanism, and the contact point with the pipeline surface Compared with multi-joint joints, the circumferential locking force provided is limited, and the adaptability to pipes with different diameters is poor, so it is difficult to apply to the working occasions with variable pipe diameters

Patent document CN109094761B discloses a propeller underwater cleaning device, which is provided with a buffer mechanism on the cleaning device, and the cleaning device is attached to the surface of the blade through the thrust of the propeller, but the underwater operation has water flow disturbance, and the device is difficult to realize Stable positioning on the complex surface of the blade, it is difficult to guarantee the cleaning effect

Patent document CN103071914B discloses a fully hydraulically driven reconfigurable numerically controlled friction stitch welding machine underwater operation device. There are circumferentially moving roller guide rails at both ends of the arc-shaped frame, so that the welding device can move circumferentially along the outer wall of the pipeline, but Since the length of the arc-shaped guide rail is fixed, it is difficult for the welding device to perform circular motion, and the working range is limited, so it is difficult to meet the welding requirements of the full pipe diameter.

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