Underwater pipeline buried state vibration knocking ball detection equipment

Abstract

The application provides an underwater pipeline buried state vibration knocking spherical detection equipment, which comprises a spherical guide switching device, the spherical guide switching device comprises two symmetrical parts, an intermediate spherical vibration knocking device is arranged between the symmetrical spherical guide switching devices, a telescopic universal hinge is arranged in the intermediate spherical vibration knocking device, the two ends of the universal hinge respectively pass through the intermediate spherical vibration knocking device and are connected with the spherical guide switching devices, and a guide wheel device is arranged in the spherical guide switching device, the two are simultaneously contracted or expanded, thereby, the application has the advantages that the pipeline can be well adhered for detection, and the underwater pipeline with good burial cannot be detected due to the wrapped environment.

Description

Technical Field

[0001] This invention belongs to the field of underwater pipeline inspection technology, and specifically relates to a vibration-impact spherical inspection device for the buried state of underwater pipelines. Background Technology

[0002] Currently, as the main method for developing and transporting marine resources, submarine pipelines are used in various coastal areas of my country. As pipelines that continuously transport large quantities of natural gas and oil on the seabed, they are inherently prone to chemical corrosion and mechanical damage. Therefore, inspecting the internal condition of buried underwater pipelines is an essential task for their maintenance. However, existing equipment for inspecting underwater pipelines is very scarce. In addition, they are also affected by external environmental factors such as geological movements and seawater pressure. Underwater robots are used for underwater pipeline inspection because they can replace human workers in highly dangerous, polluted, and zero-visibility waters for extended periods of time. The underwater robots move within the underwater pipelines and transmit the pipeline's status information to the workers.

[0003] Although the structure of the inspection robot in the above-mentioned prior art can move in underwater pipes, this type of robot cannot fit well into the pipe for inspection, which will lead to deviations in the measurement data. In addition, it cannot detect whether there is a protective environment for well-buried underwater pipes. Summary of the Invention

[0004] This invention proposes a vibration-impact spherical testing device for underwater pipelines in their buried state, which solves the problems in the prior art where the testing device cannot fit the pipeline well during underwater pipeline testing, resulting in measurement data deviations; and the inability to test well-buried underwater pipelines for those without surrounding environment.

[0005] The technical solution of the present invention is implemented as follows: a spherical vibration and impact detection device for underwater pipelines in their buried state, comprising a spherical guide switching device, the spherical guide switching device comprising two symmetrically arranged parts, a middle spherical vibration and impact device between the symmetrically arranged spherical guide switching devices, a retractable universal hinge being provided inside the middle spherical vibration and impact device, the two ends of the universal hinge respectively passing through the middle spherical vibration and impact device and connecting to the spherical guide switching device, a guide wheel device being provided inside the spherical guide switching device, both of which simultaneously contract or expand.

[0006] In a preferred embodiment, the spherical guide switching device includes an end housing, a spherical housing, and an arc-shaped cover. The end of the end housing, away from the central spherical vibration striking device, is fixedly connected to the spherical housing. The arc-shaped cover is hinged to the spherical housing. A hydraulic drive assembly is provided inside the arc-shaped cover. An inlet cylinder is provided in the middle of the interior of the end housing. The inlet cylinder is connected to the hydraulic drive assembly to cooperate with the inlet or outlet of the hydraulic drive assembly. The hydraulic drive assembly drives the arc-shaped cover and the guide wheel device to contract or expand.

[0007] In a preferred embodiment, an end cap is provided at the end of the liquid inlet cylinder, and a liquid inlet cover is hinged to the lower end of the end cap. A reciprocating piston is provided inside the liquid inlet cylinder, and a piston one-way end cap is hinged to the lower end of the reciprocating piston. A piston connecting rod is hinged to the shaft end of the piston one-way end cap, and a cam motor sealing assembly is hinged to the end of the piston connecting rod away from the piston one-way end cap. The rotation of the cam of the cam motor sealing assembly drives the reciprocating piston to reciprocate linearly through the piston connecting rod. The lower end of the liquid inlet cylinder is connected to the hydraulic drive assembly through a pressure-resistant hose.

[0008] In a preferred embodiment, the hydraulic drive assembly includes an arc-shaped cover hydraulic push rod and a guide wheel hydraulic push rod. A first liquid tank and a second liquid tank are disposed inside the end housing. The arc-shaped cover hydraulic push rod is connected to the first liquid tank and the second liquid tank through a pressure-resistant hose. The guide wheel hydraulic push rod is also connected to the first liquid tank and the second liquid tank through a pressure-resistant hose. The arc-shaped cover hydraulic push rod drives the arc-shaped cover to open or close, and the guide wheel hydraulic push rod drives the guide wheel to open or close.

[0009] In a preferred embodiment, a reversing housing is provided inside the second liquid header and the second liquid header. The reversing housing is connected to a pressure-resistant hose. The reversing housing is connected to the first liquid header and the second liquid header at the upper liquid inlet and the lower liquid inlet, respectively. A reversing reciprocating seat that can be raised and lowered is provided inside the spherical housing. A rotating rod is threadedly connected to the reversing reciprocating seat. The rotating rod is driven to rotate by a reversing gear motor sealing assembly. Reversing piston connecting rods are hinged at both ends of the reversing reciprocating seat. A reversing piston is hinged at the end of the piston connecting rod away from the reversing reciprocating seat. The reversing piston is movably disposed inside the reversing housing. The reversing reciprocating seat is raised and lowered by the reversing piston connecting rod, which drives the reversing piston to rise and fall, opening or closing the upper liquid inlet and the lower liquid inlet.

[0010] In a preferred embodiment, the guide wheel device includes a guide wheel housing and a guide connecting rod. The guide wheel housing is located inside a spherical housing. One end of the guide connecting rod is fitted with a guide wheel, and the other end is hinged to the guide wheel housing. A reciprocating movable seat is movably disposed inside the guide housing, engaging with the movable end of the guide wheel hydraulic push rod. A tensioning connecting rod is hinged to the reciprocating movable seat. The side of the guide connecting rod opposite to the guide wheel hydraulic push rod is hinged to the tensioning connecting rod. A movable seat guide rod is disposed inside the guide wheel housing, and the reciprocating movable seat moves along the movable seat guide rod.

[0011] In a preferred embodiment, the intermediate spherical vibration striking device includes an outer vibration striking spherical shell, an arc-shaped striking component is arranged around the circumference of the vibration striking spherical shell, an electric drive component is arranged inside the vibration striking spherical shell, the electric drive component drives the arc-shaped striking component to reciprocate, and the intermediate spherical vibration striking device also includes a vibration detection component, which rotates to form a closed circle.

[0012] In a preferred embodiment, the electric drive assembly includes a large bevel gear mounting base located inside the vibrating impact spherical housing. A large bevel gear is mounted on the mounting base, and the portion of the large bevel gear located inside the mounting base has an arc-shaped groove. A limit screw is mounted on the mounting base. The large bevel gear rotates at the mounting base, and the limit screw rotates within the arc-shaped groove. A motor drive gear is located inside the mounting base and meshes with the inner side of the large bevel gear. Several small bevel gears mesh with the outer side of the large bevel gear. A reciprocating wheel is located at the end of each small bevel gear facing away from the large bevel gear. The reciprocating wheel has grooves along its circumference. The arc-shaped impact assembly includes an arc-shaped impact hammer. One end of the arc-shaped impact hammer passes through the vibrating impact spherical housing and is located within the grooves, moving along the grooves. The rotation of the motor drive gear drives the small bevel gears via the large bevel gear. The rotation of the small bevel gears drives the reciprocating wheel to rotate, and the reciprocating wheel drives the arc-shaped impact hammer to reciprocate through the grooves.

[0013] In one preferred embodiment, the vibration detection assembly includes several vibration sensors and a star-shaped rotating base. The shaft end of the vibration sensor abuts against the star-shaped rotating base. A rifling guide seat is sleeved on the outer side of the vibration sensor shaft. A 90° rifling is machined on the outer side of the inner diameter of the rifling guide seat. The star-shaped rotating base is set inside the vibrating impact spherical shell. A limiting seat is set on the star-shaped rotating base. An electric push rod is fixedly set on the limiting seat. The push rod of the electric push rod extends and retracts to drive the star-shaped rotating base to rotate. The rotation of the star-shaped rotating base causes the vibration sensors to extend and retract. When the vibration sensors retract, they rotate along the rifling of the rifling guide seat until they are parallel to the axial direction. When the several vibration sensors extend, they rotate along the rifling of the rifling guide seat until they form a circle.

[0014] In a preferred embodiment, a wedge-shaped electric actuator is provided inside the vibrating spherical shell. A rhomboid connecting rod is provided at the center of the vibrating spherical shell along its axial direction. A reciprocating rod is hinged to the middle of the rhomboid connecting rod. The end of the reciprocating rod away from the rhomboid connecting rod abuts against the movable end of the wedge-shaped electric actuator. The extension of the wedge-shaped electric actuator drives the reciprocating rod to retract, thereby causing the rhomboid connecting rod to expand outward along the axis of the vibrating spherical shell. An upper and lower hinged movable seat is hinged to the end of the rhomboid connecting rod away from the reciprocating rod. A universal hinge is provided on the upper and lower hinged movable seat.

[0015] After adopting the above technical solution, the beneficial effects of the present invention are: During testing, the arc plate of the front and rear spherical guide switching device is first opened by the cam motor sealing assembly, and the guide wheel expands outward. At this time, the front and rear spherical guide switching device changes to the state of the guide wheel straightening the testing device, which can realize that the overall axis of the device is coaxial with the pipeline being tested. The universal joint extends to the outer side of the upper and lower end faces of the spherical vibration impact device. The entire spherical testing device can form three flexibly connected parts. The outward expansion of the guide wheel of the front and rear spherical guide switching device contacts the inner diameter of the pipeline to straighten and guide, which can fit the pipeline well for testing and reduce the deviation of measurement data. At the same time, when it is connected to the pipeline bend, it can turn through the universal joint to prevent jamming. The arc-shaped hammer of the central spherical vibration striking device reciprocates to strike the inner wall of the pipe. At the same time, multiple outward-extending vibration detection sensors adhere to the inner wall of the pipe to absorb the vibration shock waves. For well-buried subsea pipelines, the vibration wave frequencies generated by the arc-shaped hammer strike will inevitably be different due to the presence of an enclosing environment on the outside compared to the lack of an enclosing environment on the outside of suspended subsea pipelines. The vibration detection sensors can be used to determine whether the subsea pipeline is in a suspended and unenclosed state. When a subsea pipeline undergoes significant deformation and the pipeline detector cannot pass through, the cam motor sealing assembly causes the arc plate of the front and rear spherical guide switching device to close, while the guide wheel retracts inward, presenting a hemispherical shape. Simultaneously, the universal hinge retracts inward, causing the end faces of the front and rear spherical guide switching device to fit against the two end faces of the spherical vibration impact device. The arc-shaped impact hammer stops striking and retracts, and the vibration detection sensor retracts. At this point, the entire detection device completely presents itself as a sphere with a diameter smaller than the inner diameter of the pipeline, allowing it to pass through the deformed pipeline smoothly and preventing the pipeline detector from getting stuck. After passing through, it re-forms the aforementioned shape to continue the detection. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 For the present invention Figure 1 A schematic diagram of the structure from the left or right perspective; Figure 4 This is a schematic diagram of the structure of one of the spherical guide switching devices of the present invention; Figure 5 This is a schematic diagram of the vertical cross-section of the spherical guide switching device of the present invention; Figure 6 This is a schematic diagram of the vertical cross-section of the reversing housing of the present invention; Figure 7 This is a schematic diagram of the structure of the liquid manifold of the present invention, which is connected to the hydraulic push rod of the arc-shaped cover via a pressure-resistant hose; Figure 8 This is a schematic diagram of the structure of the commutation housing and the commutation gear motor sealing assembly of the present invention. Figure 9 This is a schematic diagram of the structure of the liquid header and the guide wheel hydraulic push rod of the present invention; Figure 10 This is a schematic diagram of the guide wheel device of the present invention; Figure 11 For the present invention Figure 10 Another perspective structural diagram; Figure 12 For the present invention Figure 10 A top-view structural diagram; Figure 13 This is a perspective view of the guide wheel device of the present invention; Figure 14 This is a schematic diagram of the vertical cross-section of the guide wheel device of the present invention; Figure 15 This is a side view of the three-dimensional structure of the guide wheel device of the present invention. Figure 16 This is a schematic diagram of the spherical vibration striking device of the present invention; Figure 17 For the present invention Figure 16 Top view; Figure 18 For the present invention Figure 16 A schematic diagram of the structure without the vibration and impact on the spherical shell; Figure 19 For the present invention Figure 18 A schematic diagram of the side view angle; Figure 20 This is a schematic diagram of the vertical cross-section of the arc-shaped striking hammer of the spherical vibration striking device of the present invention; Figure 21 This is a schematic diagram of the vertical cross-section of the vibration detection sensor of the spherical vibration striking device of the present invention. Figure 22 For the present invention Figure 19 A diagram showing the upward-looking perspective; Figure 23 This is a schematic diagram of the present invention without the vibration detection sensor and the arc-shaped hammer. Figure 24 This is a schematic diagram of the expanded arc-shaped cover and guide wheel device of the present invention.

[0018] In the diagram, the components are: 1. Spherical guide switching device; 2. Spherical vibration striking device; 3. End housing; 4. Liquid inlet cover; 5. Reciprocating piston; 6. Piston one-way end cover; 7. Piston connecting rod; 8. Cam motor sealing assembly; 9. First liquid header; 10. Second liquid header; 11. Pressure-resistant hose; 12. Reversing housing; 13. Reversing piston; 14. Reversing piston connecting rod; 15. Reversing gear motor sealing assembly; 16. Rotating rod; 17. Reversing reciprocating moving seat; 18. Spherical housing; 19. Arc-shaped cover; 20. Arc-shaped cover hydraulic push rod; 21. Guide wheel hydraulic push rod; 22. Guide wheel housing; 23. Guide wheel. 3. Guide link - 24. Opening and closing link - 25. Reciprocating moving seat - 26. Moving seat guide rod - 27. Vibration striking spherical shell - 28. Arc-shaped striking hammer - 29. Rotating reciprocating wheel - 30. Small bevel gear - 31. Large bevel gear - 32. Motor drive gear - 33. Large bevel gear mounting seat - 34. Universal hinge - 35. Hinge moving seat - 36. Diamond link - 37. Reciprocating rod - 38. Wedge-shaped electric actuator - 39. Vibration detection sensor - 40. Rifling guide seat - 41. Star-shaped rotating seat - 42. Rotary drive electric actuator - 43. Limit seat - 44. Guide wheel device - 45. Liquid inlet cylinder - 46. Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] like Figures 1-3As shown, an underwater pipeline burial state vibration impact spherical detection device includes a spherical guide switching device 1, which comprises two symmetrically arranged parts. A middle spherical vibration impact device 2 is arranged between the symmetrically arranged spherical guide switching devices 1. A retractable universal joint 35 is provided inside the middle spherical vibration impact device 2. The two ends of the universal joint 35 pass through the middle spherical vibration impact device 2 and are connected to the spherical guide switching device 1. A guide wheel device 45 is provided inside the spherical guide switching device 1. Both of them retract or expand simultaneously.

[0021] Combination Figures 4-9 The spherical guide switching device 1 includes an end housing 3, a spherical housing 18, and an arc-shaped cover 19. The end of the end housing 3, which is away from the middle spherical vibration striking device 2, is fixedly connected to the spherical housing 18. The arc-shaped cover 19 is hinged to the spherical housing 18. A hydraulic drive component is provided inside the arc-shaped cover 19. An inlet cylinder 46 is provided in the middle of the interior of the end housing 3. The inlet cylinder 46 is connected to the hydraulic drive component and cooperates with the hydraulic drive component to allow the hydraulic drive component to inlet or outlet liquid. The hydraulic drive component drives the arc-shaped cover 19 and the guide wheel device 45 to contract or expand.

[0022] An end cap is provided at the end of the liquid inlet cylinder 46, and a liquid inlet cover 4 is hinged to the lower end of the end cap. A reciprocating piston 5 is provided inside the liquid inlet cylinder 46, and a piston one-way end cap 6 is hinged to the lower end of the reciprocating piston 5. A piston connecting rod 7 is hinged to the shaft end of the piston one-way end cap 6. A cam motor sealing assembly 8 is hinged to the end of the piston connecting rod 7 away from the piston one-way end cap 6. The rotation of the cam of the cam motor sealing assembly 8 drives the reciprocating piston 5 to reciprocate linearly through the piston connecting rod 7. The lower end of the liquid inlet cylinder 46 is connected to the hydraulic drive assembly through a pressure-resistant hose 11.

[0023] The pipeline spherical detection device mainly consists of a front and rear spherical guide switching device 1, a middle spherical vibration and impact device 2, and a universal hinge 35. The end housing 3 is welded to the spherical housing 18 at both ends of the device. There is a liquid inlet cylinder 46 in the middle of the end housing 3. The liquid inlet cover 4 is hinged to the lower end of the end cover of the cylinder of the end housing 3. The reciprocating piston 5 can move up and down along the cylinder. There is a liquid outlet at the lower end of the cylinder that is connected to the pressure-resistant hose 11. The lower end of the reciprocating piston 5 is hinged to the piston one-way end cover 6. The shaft end of the reciprocating piston 5 is hinged to one end of the piston connecting rod 7. The other end of the piston connecting rod 7 is hinged to the cam of the cam motor sealing assembly 8. The cam motor sealing assembly 8 consists of a motor, an internal battery, a sealing housing, a rotary sealing assembly, and a cam. The cam motor sealing assembly 8 rotates, driving the reciprocating piston 5 to reciprocate linearly via the piston connecting rod 7. When the reciprocating piston 5 moves downward, the piston one-way end cap 6 closes and the liquid inlet cap 4 opens, allowing the cavity to absorb liquid from the outside. When the reciprocating piston 5 moves upward, the liquid inlet cap 4 closes and the piston one-way end cap 6 opens, allowing liquid to enter the header through the pressure-resistant hose 11. The rotation of the cam motor sealing assembly 8 continuously increases the inlet pressure of the pressure-resistant hose 11, and the entire liquid intake is absorbed from the fluid between the pipe spherical detection device and the inside of the pipe.

[0024] The hydraulic drive assembly includes an arc-shaped cover hydraulic push rod 20 and a guide wheel hydraulic push rod 21. A first liquid tank 9 and a second liquid tank 10 are provided inside the end housing 3. The arc-shaped cover hydraulic push rod 20 is connected to the first liquid tank 9 and the second liquid tank 10 through a pressure-resistant hose 11. The guide wheel hydraulic push rod 21 is also connected to the first liquid tank 9 and the second liquid tank 10 through a pressure-resistant hose 11. The arc-shaped cover hydraulic push rod 20 drives the arc-shaped cover 19 to open or close, and the guide wheel hydraulic push rod 21 drives the guide wheel 23 to open or close.

[0025] A reversing housing 12 is provided inside the first liquid header 9 and the second liquid header 10. The reversing housing 12 is connected to the pressure-resistant hose 11. The reversing housing 12 is connected to the first liquid header 9 and the second liquid header 10 at the upper liquid inlet and the lower liquid inlet, respectively. A reversing reciprocating seat 17 that can be raised and lowered is provided inside the spherical housing 18. A rotating rod 16 is threadedly connected to the reversing reciprocating seat 17. The rotating rod 16 is driven to rotate by the reversing gear motor sealing assembly 15. The two ends of the reversing reciprocating seat 17 are hinged to the reversing piston connecting rod 14. The end of the piston connecting rod 7 away from the reversing reciprocating seat 17 is hinged to the reversing piston 13. The reversing piston 13 is movably disposed inside the reversing housing 12. The reversing reciprocating seat 17 is raised and lowered by the reversing piston connecting rod 14, which drives the reversing piston 13 to be raised and lowered, opening or closing the upper liquid inlet and the lower liquid inlet.

[0026] Combination Figures 10-15The guide wheel device 45 includes a guide wheel housing 22 and a guide rod 24. The guide wheel housing 22 is located inside the spherical housing 18. One end of the guide rod 24 is equipped with a guide wheel 23, and the other end is hinged to the guide wheel housing 22. A reciprocating moving seat 26 is movably arranged inside the guide wheel housing 22. The reciprocating moving seat 26 cooperates with the movable end of the guide wheel hydraulic push rod 21. A tensioning connecting rod 25 is hinged on the reciprocating moving seat 26. The side of the guide rod 24 opposite to the guide wheel hydraulic push rod 21 is hinged to the tensioning connecting rod 25. A moving seat guide rod 27 is provided inside the guide wheel housing 22, and the reciprocating moving seat 26 moves along the moving seat guide rod 27.

[0027] The arc-shaped cover hydraulic push rod 20 and the guide wheel hydraulic push rod 21 are bidirectional hydraulic cylinders, each with a liquid inlet at the top and bottom. The second liquid header 10 is used for the extension of the arc-shaped cover hydraulic push rod 20 and the retraction of the guide wheel hydraulic push rod 21. The first liquid header 9 is used for the retraction of the arc-shaped cover hydraulic push rod 20 and the extension of the guide wheel hydraulic push rod 21. After the pressure-resistant hose 11 absorbs liquid through the cam motor sealing assembly 8, the pipe spherical detection device is located inside the pipe. The reversing gear motor sealing assembly 15 is composed of the same components as the cam motor sealing assembly 8. The reversing gear motor sealing assembly 15 drives the rotating rod 16 to rotate through the gear. The rotating rod 16 has gears. The reversing reciprocating moving seat 17 The rotating rod 16 is threadedly connected to the rotating rod 16. When the rotating rod 16 rotates, it drives the reciprocating moving seat 26 to move up and down along the guide rods on both sides of the rotating rod 16. When the reversing reciprocating moving seat 17 moves upward, it drives the reversing piston connecting rod 14 to move upward, which in turn drives the reversing piston 13 to move upward. At this time, the liquid inlet at the upper end of the reversing housing 12 opens and the liquid inlet at the lower end closes. Liquid enters the second liquid header 10 through the pressure-resistant hose 11. When the reversing reciprocating moving seat 17 moves downward, it drives the reversing piston connecting rod 14 to move downward, which in turn drives the reversing piston 13 to move downward. At this time, the liquid inlet at the upper end of the reversing housing 12 closes and the liquid inlet at the lower end opens. Liquid enters the first liquid header 9 through the pressure-resistant hose 11, thereby realizing the switching of the fluid flow channel. The first liquid header 9 and the second liquid header 10 are equipped with mechanical pressure relief valves, which automatically release pressure when the pressure exceeds the set value.

[0028] When liquid enters the second liquid tank 10, the hydraulic push rod 20 extends to allow liquid inflow and the hydraulic push rod 21 retracts to allow liquid inflow via the pressure-resistant hose 11. The arc-shaped cover 19 is hinged to the spherical shell 18, and the hydraulic push rod 20 is hinged to the arc-shaped cover 19, while the cylinder is hinged to the spherical shell 18. When the pressure in the second liquid tank 10 increases, the hydraulic push rod 20 extends, and the arc-shaped cover 19 opens. At the same time, the guide wheel device 45 is located inside the spherical shell 18, and the guide wheel 23 is in a closed state. The guide wheel shell 22 is installed inside the spherical shell 18. One end of the guide rod 24 is equipped with the guide wheel 23, and the other end is hinged to the guide wheel shell 22. When the pressure in the second liquid tank 10 increases, the hydraulic push rod 21 retracts, thereby driving the reciprocating moving seat 26 to converge towards the center. The moving seat guide rod 27 is used to guide the movement of the reciprocating moving seat 26. At this time, the opening and closing connecting rod 25 opens outward, thereby driving the guide wheel 23 to expand outward. As can be seen from the above, when the second liquid header 10 is filled with liquid, the arc-shaped cover 19 opens and the guide wheel 23 opens outwards; when the first liquid header 9 is filled with liquid, the arc-shaped cover 19 closes and the guide wheel 23 retracts inwards.

[0029] Combination Figures 16-24 The intermediate spherical vibration striking device 2 includes an outer vibration striking spherical shell 28, an arc-shaped striking component is arranged along the circumference of the vibration striking spherical shell 28, an electric drive component is arranged inside the vibration striking spherical shell 28, the electric drive component drives the arc-shaped striking component to reciprocate, and the intermediate spherical vibration striking device 2 also includes a vibration detection component, which rotates to form a closed circle.

[0030] The electric drive assembly includes a large bevel gear mounting base 34 located inside the vibrating impact spherical housing 28. A large bevel gear 32 is mounted on the large bevel gear mounting base 34. The portion of the large bevel gear 32 located inside the large bevel gear mounting base 34 has an arc-shaped groove. A limit screw is provided on the large bevel gear mounting base 34. When the large bevel gear 32 rotates at the large bevel gear mounting base 34, the limit screw rotates within the arc-shaped groove. A motor drive gear 33 is located inside the large bevel gear mounting base 34 and meshes with the inner side of the large bevel gear 32. Several other gears mesh with the outer side of the large bevel gear 32. A small bevel gear 31 is provided at one end of the small bevel gear 31 away from the large bevel gear 32, and a reciprocating wheel 30 is provided at the other end of the small bevel gear 31. The reciprocating wheel 30 has grooves along its circumference. The arc-shaped striking component includes an arc-shaped striking hammer 29. One end of the arc-shaped striking hammer 29 passes through the vibrating striking spherical shell 28 and is located in the groove and moves along the groove. The motor drives the gear 33 to rotate, which in turn drives the small bevel gear 31 through the large bevel gear 32. The rotation of the small bevel gear 31 drives the reciprocating wheel 30 to rotate, and the arc-shaped striking hammer 29 reciprocates through the grooves of the reciprocating wheel 30.

[0031] The vibration detection assembly includes several vibration sensors 40 and a star-shaped rotating seat 42. The shaft end of the vibration sensor 40 abuts against the star-shaped rotating seat 42. A rifling guide seat 41 is sleeved on the outer side of the shaft of the vibration sensor 40. A 90° rifling is machined on the outer side of the inner diameter of the rifling guide seat 41. The star-shaped rotating seat 42 is set inside the vibrating impact spherical housing 28. A limiting seat 44 is set on the star-shaped rotating seat 42. An electric push rod is fixedly set on the limiting seat 44. The push rod of the electric push rod extends and retracts to drive the star-shaped rotating seat 42 to rotate. The rotation of the star-shaped rotating seat 42 causes the vibration sensors 40 to extend and retract. When the vibration sensors 40 retract, they rotate along the rifling of the rifling guide seat 41 until they are parallel to the axis. When the several vibration sensors 40 extend, they rotate along the rifling of the rifling guide seat 41 until they form a circle.

[0032] Inside the vibrating spherical shell 28, there is a wedge-shaped electric actuator 39. A rhomboid connecting rod 37 is arranged along the axial direction at the center of the vibrating spherical shell 28. A reciprocating rod 38 is hinged to the middle of the rhomboid connecting rod 37. The end of the reciprocating rod 38 away from the rhomboid connecting rod 37 abuts against the movable end of the wedge-shaped electric actuator 39. The wedge-shaped electric actuator 39 extends and drives the reciprocating rod 38 to retract, thereby causing the rhomboid connecting rod 37 to expand outward along the axis of the vibrating spherical shell 28. The end of the rhomboid connecting rod 37 away from the reciprocating rod 38 is hinged to an upper and lower hinged moving seat 36. A universal hinge 35 is arranged on the upper and lower hinged moving seat 36.

[0033] Eight arc-shaped striking hammers 29 are evenly distributed around the circumference. The outer diameter of the vibrating striking spherical shell 28 is the same as that of the spherical shell 18. The mounting base 34 of the large bevel gear 32 is located on the vibrating striking spherical shell 28. The motor drive gear 33 is mounted on the mounting base 34. The outer side of the large bevel gear 32 has helical teeth that mesh with multiple small bevel gears 31, while the inner side has spur teeth that mesh with the motor drive gear 33. The motor drive gear 33 is fixed to the inner side of the mounting base 34. The outer side of the large bevel gear 32 is machined with an arc-shaped groove and is limited by a limiting screw on the outer side of the mounting base 34. When the motor drive gear 33 rotates, it drives the large bevel gear 32 to rotate, which in turn drives the eight small bevel gears 31 to rotate along their own axes. The small bevel gears 31 are connected to a rotating reciprocating wheel 30. The rotating reciprocating wheel 30 has grooves along its axis. When the small bevel gears 31 rotate, the grooves drive the arc-shaped striking hammers 29 to reciprocate, thereby striking the inner wall of the pipe.

[0034] The vibration detection sensor 40 is in constant contact with the star-shaped rotating seat 42 under the action of an internal compression spring, and is guided by the rifling guide seat 41. The rifling guide seat 41 has a 90° rifling groove on the outer side of its inner diameter and a dynamic sealing groove on the inner side. When the vibration detection sensor 40 extends from the inside to the outside, it rotates 90 degrees under the guidance of the rifling guide seat 41. Thus, multiple vibration detection sensors 40 form a closed circle that fits against the inner diameter of the pipe to detect vibration on the inner wall of the pipe. The star-shaped rotating seat 42 is equipped with a push plate that can be limited to rotate along the axial direction of the limiting seat 44. The rotation drive electric push rod 43 is fixed on the limiting seat 44. The extension and retraction of the push rod control the rotation of the star-shaped rotating seat 42. Due to the action of the compression spring, the vibration detection sensor 40 is always in contact with the outer arc surface of the star-shaped rotating seat 42, thus realizing the extension and retraction of the vibration detection sensor 40. When the vibration detection sensor 40 retracts, it is parallel to the axial direction; when it extends, it forms a circle with the pipe cross-section.

[0035] Meanwhile, the wedge-shaped electric actuator 39 is installed inside the vibrating spherical housing 28. When it extends, it drives the reciprocating rod 38 to retract inward through the wedge block, and then drives the rhomboid connecting rod 37 to expand outward along the axis through the hinge action. The upper and lower hinged moving seat 36 expands outward, which in turn drives the universal hinge 35 to extend outward from the inside of the central cavity.

[0036] In actual operation, during testing, the arc plate 19 of the front and rear spherical guide switching device 1 is first opened by the cam motor sealing assembly 8, and the guide wheel 23 expands outward. At this time, the front and rear spherical guide switching device 1 switches to the state where the guide wheel 23 straightens the guiding state of the testing device, which can realize that the overall axis of the device is coaxial with the pipeline being tested. The universal hinge 35 extends to the outer side of the upper and lower end faces of the spherical vibration striking device 2. The entire spherical testing device can form three flexibly connected parts. The outward expansion of the guide wheel 23 of the front and rear spherical guide switching device 1 contacts the inner diameter of the pipeline to straighten and guide it. At the same time, when it is at the bend of the pipeline, the universal hinge 35 can realize the turning and prevent jamming. The arc-shaped striking hammer 29 of the middle spherical vibration striking device 2 reciprocates to strike the inner wall of the pipeline, while the multiple outward-extending vibration detection sensors 40 are attached to the inner wall of the pipeline to absorb the vibration shock wave. For well-buried subsea pipelines, the vibration wave frequencies generated by the impact of the arc-shaped hammer 29 will inevitably differ due to the presence of an enclosed environment compared to a suspended subsea pipeline without such an environment. The vibration detection sensor 40 can then determine whether the subsea pipeline is in a suspended, unenclosed state. When a subsea pipeline undergoes significant deformation and the pipeline detector cannot pass through, the cam motor sealing assembly 8 closes the arc-shaped plate 19 of the front and rear spherical guide switching device 1, while the guide wheel 23 retracts inward, presenting a hemispherical shape. Simultaneously, the universal hinge 35 retracts inward, causing the end face of the front and rear spherical guide switching device 1 to align with the two end faces of the spherical vibration impact device 22. The arc-shaped hammer 29 stops impacting and retracts, and the vibration detection sensor 40 retracts. At this point, the entire detection device forms a sphere with a diameter smaller than the inner diameter of the pipeline, allowing it to pass smoothly through the deformed pipeline and preventing the pipeline detector from getting stuck. After passing through, it re-forms the aforementioned shape to continue the detection process.

[0037] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise specified and limited, it should be noted that the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two elements; they can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0038] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vibration-impact spherical testing device for underwater pipeline burial status, characterized in that, The device includes a spherical guide switching device comprising two symmetrically arranged parts, with a central spherical vibration striking device between them. The central spherical vibration striking device contains a retractable universal hinge, with both ends of the universal hinge extending out of the central spherical vibration striking device and connecting to the spherical guide switching device. The spherical guide switching device contains a guide wheel assembly, and both parts simultaneously contract or expand. The spherical guide switching device includes an end housing, a spherical housing, and an arc-shaped cover. One end of the end housing, away from the central spherical vibration striking device, is fixedly connected to the spherical housing. The arc-shaped cover is hinged to the spherical housing, and a hydraulic drive assembly is located inside the arc-shaped cover. A liquid inlet cylinder is located in the center of the end housing, communicating with the hydraulic drive assembly to allow liquid inflow or outflow. The hydraulic drive assembly drives the arc-shaped cover and the guide wheel assembly to contract or expand. The hydraulic drive assembly includes an arc-shaped cover hydraulic push rod and a guide wheel hydraulic push rod. A first liquid tank and a second liquid tank are provided inside the end housing. The arc-shaped cover hydraulic push rod is connected to the first liquid tank and the second liquid tank through a pressure-resistant hose. The guide wheel hydraulic push rod is also connected to the first liquid tank and the second liquid tank through a pressure-resistant hose. The arc-shaped cover hydraulic push rod drives the arc-shaped cover to open or close, and the guide wheel hydraulic push rod drives the guide wheel to open or close. A reversing housing is provided inside the second liquid header and the second liquid header. The reversing housing is connected to a pressure-resistant hose. The reversing housing is connected to the first liquid header and the second liquid header at the upper liquid inlet and the lower liquid inlet, respectively. A reversing reciprocating moving seat that can be raised and lowered is provided inside the spherical housing. A rotating rod is threadedly connected to the reversing reciprocating moving seat. The rotating rod is driven to rotate by a reversing gear motor sealing assembly. Reversing piston connecting rods are hinged at both ends of the reversing reciprocating moving seat. A reversing piston is hinged at the end of the piston connecting rod away from the reversing reciprocating moving seat. The reversing piston is movably disposed inside the reversing housing. The reversing reciprocating moving seat is raised and lowered by the reversing piston connecting rod, which drives the reversing piston to raise and lower, opening or closing the upper liquid inlet and the lower liquid inlet. The intermediate spherical vibration striking device includes an outer vibration striking spherical shell, an arc-shaped striking component is arranged around the circumference of the vibration striking spherical shell, an electric drive component is arranged inside the vibration striking spherical shell, the electric drive component drives the arc-shaped striking component to reciprocate, and the intermediate spherical vibration striking device also includes a vibration detection component, which rotates to form a closed circle.

2. The underwater pipeline burial state vibration impact spherical detection device according to claim 1, characterized in that, An end cap is provided at the end of the liquid inlet cylinder. A liquid inlet cover is hinged to the lower end of the end cap. A reciprocating piston is provided inside the liquid inlet cylinder. A piston one-way end cap is hinged to the lower end of the reciprocating piston. A piston connecting rod is hinged to the shaft end of the piston one-way end cap. A cam motor sealing assembly is hinged to the end of the piston connecting rod away from the piston one-way end cap. The rotation of the cam of the cam motor sealing assembly drives the reciprocating piston to reciprocate linearly through the piston connecting rod. The lower end of the liquid inlet cylinder is connected to a hydraulic drive assembly through a pressure-resistant hose.

3. The underwater pipeline burial state vibration impact spherical detection device according to claim 1, characterized in that, The guide wheel device includes a guide wheel housing and a guide connecting rod. The guide wheel housing is located inside a spherical housing. One end of the guide connecting rod is equipped with a guide wheel, and the other end is hinged to the guide wheel housing. A reciprocating moving seat is movably arranged inside the guide wheel housing. The reciprocating moving seat cooperates with the movable end of the guide wheel hydraulic push rod. A tensioning connecting rod is hinged on the reciprocating moving seat. The side of the guide connecting rod opposite to the guide wheel hydraulic push rod is hinged to the tensioning connecting rod. A moving seat guide rod is provided inside the guide wheel housing, and the reciprocating moving seat moves along the moving seat guide rod.

4. The underwater pipeline burial state vibration impact spherical detection device according to claim 1, characterized in that, The electric drive assembly includes a large bevel gear mounting base located inside the vibrating impact spherical housing. A large bevel gear is mounted on the mounting base, and the portion of the large bevel gear located inside the mounting base has an arc-shaped groove. A limit screw is provided on the mounting base. When the large bevel gear rotates at the mounting base, the limit screw rotates within the arc-shaped groove. A motor drive gear is located inside the mounting base, meshing with the inner side of the large bevel gear and the outer side of the large bevel gear. There are several small bevel gears. A reciprocating wheel is provided at the end of each small bevel gear that is away from the large bevel gear. The reciprocating wheel has grooves along its circumference. The arc-shaped striking assembly includes an arc-shaped striking hammer. One end of the arc-shaped striking hammer passes through the vibrating striking spherical shell and is located in the groove and moves along the groove. The motor drives the gear to rotate, which in turn drives the small bevel gear through the large bevel gear. The rotation of the small bevel gear causes the reciprocating wheel to rotate, and the arc-shaped striking hammer reciprocates through the grooves of the reciprocating wheel.

5. The underwater pipeline burial state vibration impact spherical detection device according to claim 1, characterized in that, The vibration detection assembly includes several vibration sensors and a star-shaped rotating base. The shaft end of the vibration sensor abuts against the star-shaped rotating base. A rifling guide seat is sleeved on the outer side of the shaft of the vibration sensor. A 90° rifling is machined on the outer side of the inner diameter of the rifling guide seat. The star-shaped rotating base is set inside the vibrating impact spherical shell. A limiting seat is set on the star-shaped rotating base. An electric push rod is fixedly set on the limiting seat. The push rod of the electric push rod extends and retracts to drive the star-shaped rotating base to rotate. The rotation of the star-shaped rotating base causes the vibration sensors to extend and retract. When the vibration sensors retract, they rotate along the rifling of the rifling guide seat until they are parallel to the axial direction. When the vibration sensors extend, they rotate along the rifling of the rifling guide seat until they form a circle.

6. The underwater pipeline burial state vibration impact spherical detection device according to claim 1, characterized in that, The vibrating spherical shell is equipped with a wedge-shaped electric actuator inside. A rhomboid connecting rod is arranged along the axial direction at the center of the vibrating spherical shell. A reciprocating rod is hinged to the middle of the rhomboid connecting rod. The end of the reciprocating rod away from the rhomboid connecting rod abuts against the movable end of the wedge-shaped electric actuator. The extension of the wedge-shaped electric actuator drives the reciprocating rod to retract, thereby causing the rhomboid connecting rod to expand outward along the axis of the vibrating spherical shell. The end of the rhomboid connecting rod away from the reciprocating rod is hinged to an upper and lower hinged moving seat. The upper and lower hinged moving seat is equipped with a universal hinge.

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