Deep diving detection device for deepwater pipeline detection

Abstract

The invention relates to the technical field of pipeline detection, in particular to a deep diving detection device for deepwater pipeline detection, which comprises an arc-shaped frame, a support frame, an adjustable telescopic plate, a propeller thruster, an execution frame, rollers, a controller and a detection instrument, the underwater pipeline detection device can solve the following problems in the process of detecting an underwater pipeline in the prior art: detection equipment in the prior art can only move along the outer wall of the pipeline and is easily blocked when encountering a pipeline flange, so that the equipment cannot normally move along the pipeline and perform detection, and the detection efficiency is influenced; the device can run in the length direction of the to-be-detected pipeline, during the period, a water body on the outer side of the to-be-detected pipeline is monitored in real time through a detection instrument, continuous advancing of the device is ensured, detection is rapidly completed, the detection efficiency is improved, the device can cross a flange, normal advancing of the device is ensured, and therefore continuous advancing type detection can be conducted on the to-be-detected pipeline; therefore, the detection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to a deep-water pipeline detection device. Background Art

[0002] A deepwater pipeline refers to an undersea pipeline laid in deeper waters for the transportation of oil, natural gas or other fluids. If a pipeline leaks or ruptures, it may lead to serious safety accidents such as explosions or fires. Pipeline leakage will release harmful substances into the ocean, polluting seawater and the submarine ecosystem, and may cause long-term ecological damage. Based on this, deepwater pipelines need to be inspected regularly for timely maintenance.

[0003] However, there are usually some problems when inspecting pipelines. With the development of science and technology, technicians in related fields have also made a lot of optimizations on pipeline inspection. In order to make a more accurate comparison, a Chinese patent with publication number CN118358731A discloses a submarine pipeline inspection underwater robot, including an ROV body and a pipeline outer wall crawling mechanism installed at the bottom of the ROV body. The outer periphery of the frame of the ROV body is equipped with a lifting turbine, front and rear turbines, a camera and a lighting lamp. The pipeline outer wall crawling mechanism includes an installation box, and two installation grooves are arranged at the bottom of the installation box. Buffer wheels are installed inside the installation grooves. Side limit mechanisms are installed on the sides of the installation box, and front and rear limit mechanisms are installed at the front and rear ends of the installation box.

[0004] When the above-mentioned prior art is in use, the robot is pressed onto the top of the pipe, and then the pipe is clamped by front and rear limit mechanisms. The front and rear limit mechanisms can adapt to pipes of different sizes. When the robot passes through a curved pipe, the clamping angle can be adjusted to ensure the stability between the robot and the pipe. When the robot moves along the outer wall of the pipe, the camera and the lighting provide continuous visual detection data, and the sensors of the adaptive adjustment module in the robot collect data on the pipe surface, such as temperature, pressure, etc., to evaluate the state of the pipe.

[0005] However, there are still some shortcomings in the process of underwater pipeline detection in the above-mentioned prior art:

[0006] 1. Due to the high water pressure in deep water areas, deep water pipelines usually use metal pipes, and two adjacent sections of the pipeline are generally connected by flanges. However, the above-mentioned prior art can only move along the outer wall of the pipeline, and is easily blocked when encountering the pipeline flange, resulting in the equipment being unable to move normally along the pipeline and perform detection, affecting the detection efficiency.

[0007] 2. In addition, when a small leak occurs in a metal pipeline, the liquid medium or gas medium transported inside it will seep out and be discharged into the seawater. Therefore, the pressure of the seawater around the pipeline is easily changed under the action of the seeping liquid medium, and the seawater around the pipeline is easily disturbed or eddies are formed after the medium is discharged. However, the pressure of the metal pipeline will not change significantly. The above-mentioned prior art can only collect data on the surface of the pipeline, and cannot monitor the seawater with changes in pressure and flow, thereby affecting the detection accuracy and detection accuracy, and cannot accurately detect whether there is a leak in the pipeline.

[0008] Therefore, based on the above-stated viewpoints, there is still room for improvement in existing deepwater pipeline detection methods. Summary of the invention

[0009] In order to solve the above problems, the present invention provides a deep-water pipeline detection device, comprising two symmetrically distributed arc frames, support frames are installed on the outer walls of the two arc frames, adjustable telescopic plates are installed on the opposite sides of the two support frames, and a propeller thruster is installed on the side of the support frame away from the arc frame. A plurality of execution frames located on the outer wall of the pipeline to be tested are installed on the arc frame, and rollers that rotate and contact the outer wall of the pipeline to be tested are rotatably provided at both ends of the execution frame, and fixed plates are installed on the opposite sides of the two arc frames, and a controller and a detection instrument are installed on the upper end of the fixed plate.

[0010] Preferably, two adjustment groups are symmetrically arranged on the arc frame along the length direction, each adjustment group includes a plurality of connecting rods passing through the arc frame, and the plurality of connecting rods are evenly distributed along the circumference of the arc frame. The execution frame is rotatably installed on one end of the connecting rod close to the pipeline to be tested through a hollow shaft, and a positioning plate is installed on one side of the connecting rod close to the travel direction of the arc frame, and a contraction spring rod is hinged between the positioning plate and the execution frame.

[0011] Preferably, a mounting groove is provided inside the execution frame, a driving wheel is rotatably arranged in the mounting groove, a linkage shaft is installed on the driving wheel and passes through the hollow shaft and extends to the outside, a driving motor electrically connected to the controller is installed on the upper end of the fixed plate through a motor seat, and the output shaft of the driving motor and the two linkage shafts located in the middle of the arc frame are connected through a belt drive;

[0012] A belt is sleeved between the driving wheel and two rollers installed on the same execution frame, and an annular groove for sleeved with the belt is provided in the middle of the roller.

[0013] Preferably, telescopic shafts are installed on opposite sides of two adjacent linkage shafts on the same side of the arc frame, and the two adjacent telescopic shafts are connected by a universal coupling.

[0014] Preferably, two support plates are symmetrically arranged along the thickness direction on the side of the execution frame away from the connecting rod, and multiple rotating columns are equidistantly installed on the opposite sides of the two support plates of the same execution frame along the length direction, and the two rollers and the outer walls of the multiple rotating columns on the same execution frame are in the same plane.

[0015] Preferably, the connecting rod is a threaded rod that passes through the arc frame by means of a threaded connection, the outer wall of the connecting rod is provided with a sliding groove parallel to its axis, and the sliding sleeve of the outer wall of the connecting rod is provided with a linkage ring, the linkage ring is rotatably docked with the outer wall of the arc frame, and the inner wall of the linkage ring is installed with key teeth that are slidably docked in the sliding groove.

[0016] Preferably, a transmission rope is commonly sleeved between multiple linkage rings on the same side of the arc frame, and the ends of the linkage rings corresponding to any two positions on both sides of the arc frame away from the arc frame are equipped with pulleys sleeved on the outside of the connecting rod, and the two pulleys are connected by belt transmission.

[0017] Preferably, a positioning motor electrically connected to the controller is installed on the arc frame through a motor cover, the output shaft sleeve of the positioning motor is provided with a driving gear, and the outer wall sleeve of the pulley is provided with a driven gear meshing with the driving gear.

[0018] Preferably, a stabilizing plate is installed at the top of the telescopic end in the middle of the adjustable telescopic plate, an execution plate is installed at the top of the telescopic ends on both sides of the adjustable telescopic plate, and two supporting spring rods are symmetrically installed between the stabilizing plate and the two execution plates.

[0019] Preferably, a vertical plate is installed at the bottom of the telescopic end in the middle of the adjustable telescopic plate, a support shaft is rotatably installed at the lower end of the vertical plate, a cross frame is rotatably sleeved on the outer wall of the support shaft, and a resistance wheel is rotatably installed at one end of the cross frame extension section away from the support shaft.

[0020] In summary, this application includes the following beneficial technical effects:

[0021] 1. The present invention can run along the length direction of the pipeline to be tested by rotating multiple rollers at the same time. During this period, the water body outside the pipeline to be tested is monitored in real time by the detection instrument to ensure that the equipment moves continuously and completes the detection quickly, thereby improving the detection efficiency. At the same time, the execution frames on both sides of the arc frame can pass over the flange in turn, thereby ensuring that the present invention can move normally and is not affected by the flange, so that the pipeline to be tested can be tested uninterruptedly.

[0022] Second, the present invention controls the roller at one end of the executing frame to roll and abut against the outer wall of the pipeline to be tested under the action of the contraction spring rod, so that multiple rollers on the two arc-shaped frames abut against the outer wall of the pipeline to be tested at the same time, thereby ensuring that the distance between the two arc-shaped frames and the detection instrument and the pipeline to be tested is always consistent, thereby limiting the distance between the detection instrument and the pipeline to be tested, and then the two detection instruments detect water bodies in designated areas on both sides of the pipeline to be tested, avoiding the distance between the detection instrument and the pipeline to be tested being too large or too small to affect the detection effect and accuracy.

[0023] 3. The present invention can control the connecting rod to move closer to or away from one side of the pipeline to be tested by rotating the linkage ring, and then the connecting rod drives the execution frame and the roller to move synchronously, so as to adjust the distance between the opposite sides of multiple rollers according to the diameter of the pipeline to be tested, thereby being able to adapt to pipelines of various different diameters to be tested and improving the detection adaptability.

[0024] Fourth, the present invention can support the adjustable telescopic plate and the arc frame by driving the abutment wheel to abut against the upper end of the pipe to be tested through the vertical plate at the bottom of the adjustable telescopic plate, so that the rollers on the two arc frames can accurately abut against the two sides of the outer wall of the pipe to be tested, thereby ensuring that the present invention moves smoothly along the length direction of the pipe to be tested, and the cross-shaped frame can adaptively rotate when encountering a flange, so as to smoothly cross the flange. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0026] Figure 1 It is a schematic diagram of the structure between the present invention and the pipeline to be tested.

[0027] Figure 2 It is a structural schematic diagram of the present invention.

[0028] Figure 3 It is a schematic diagram of the structure among the arc frame, connecting rod, execution frame and roller of the present invention.

[0029] Figure 4 The present invention Figure 3 A partial enlarged view of point A.

[0030] Figure 5 It is a schematic diagram of the internal structure between the connecting rod and the execution frame of the present invention.

[0031] Figure 6 It is a working state diagram between the execution frame, the roller and the pipeline to be tested of the present invention.

[0032] Figure 7 It is a schematic diagram of the structure among the arc frame, connecting rod, linkage ring and transmission rope of the present invention.

[0033] Figure 8The present invention Fig. 9 A partial enlarged view of point B.

[0034] Fig. 9 It is a schematic diagram of the structure among the adjustable telescopic plate, the stabilizing plate, the executing plate and the vertical plate of the present invention.

[0035] In the figure, 1, arc frame; 11, connecting rod; 111, positioning plate; 112, contraction spring rod; 113, slide groove; 114, linkage ring; 115, key tooth; 116, transmission rope; 117, pulley; 12, positioning motor; 13, driving gear; 14, driven gear; 2, support frame; 3, adjustable telescopic plate; 31, stabilizing plate; 32, execution plate; 33, support spring rod; 34, vertical plate; 35, support shaft; 36, cross frame; 37, conflict wheel; 4, propeller thruster; 5, execution frame; 51, hollow shaft; 52, driving wheel; 53, linkage shaft; 54, driving motor; 55, belt; 56, telescopic shaft; 57, support plate; 58, rotating column; 6, roller; 7, fixing plate; 8, controller; 9, detection instrument; 100, pipeline to be tested. DETAILED DESCRIPTION

[0036] The following is combined with Figure 1-Figure 9 Embodiments of the present invention are described in detail.

[0037] The embodiment of the present application discloses a submersible detection device for deep-water pipeline detection. It should be noted that the submersible detection device for deep-water pipeline detection of the present application is mainly used in the process of detecting deep-water pipelines. In terms of technical effect, it can run along the length direction of the pipeline 100 to be detected. During this period, the water body outside the pipeline 100 to be detected is monitored in real time by the detection instrument 9, so that the rapid detection of the pipeline 100 to be detected can be completed; in particular, during the detection process, the pressure and flow of the water body outside the pipeline 100 to be detected can be monitored in real time to detect whether it leaks and ruptures, and the monitoring results can be uploaded in real time; further, the submersible detection device for deep-water pipeline detection can also cross the flange to ensure the normal movement of the equipment, so that the pipeline 100 to be detected can be continuously detected, thereby improving the detection efficiency. In addition, it can also adapt to pipelines 100 to be detected with different diameters to improve the detection adaptability.

[0038] Reference Figure 1 , Figure 2 and Figure 3As shown, a deep-water pipeline detection submersible detection device includes two symmetrically distributed arc frames 1, the arc concave surfaces of the two arc frames 1 are arranged opposite to each other, and the arc convex surfaces of the two arc frames 1 are away from each other, the outer walls of the two arc frames 1 are installed with support frames 2, the opposite sides of the two support frames 2 are installed with adjustable telescopic plates 3, the side of the support frame 2 away from the arc frame 1 is installed with a propeller thruster 4, and the arc frame 1 is installed with a plurality of execution frames 5 located on the outer wall of the pipeline 100 to be tested. The plurality of execution frames 5 on the two arc frames 1 can support the present invention and limit the present invention to the outer wall of the pipeline 100 to be tested. Both ends of the execution frames 5 are rotatably provided with rollers 6 that are rotatably contacted with the outer wall of the pipeline 100 to be tested, and the opposite sides of the two arc frames 1 are installed with fixing plates 7, and the upper end of the fixing plates 7 is installed with a controller 8 and a detection instrument 9, and the propeller thruster 4 and the detection instrument 9 are both electrically connected to the controller 8.

[0039] It should be noted that the propeller propeller 4, controller 8 and detection instrument 9 used in this embodiment are all prior arts, wherein the propeller propeller 4 is used to control the running direction of the present invention in water so that the present invention can accurately land above the pipeline 100 to be tested; the controller 8 is mainly used to control the start, shut down and propulsion direction of the propeller propeller 4, and control the start and shut down of the detection instrument 9, and a signal receiver (not shown in the figure) is installed inside the controller 8 to receive the signal sent by the operating terminal used by the operator and issue instructions to the propeller propeller 4 and the detection instrument 9 through the controller 8.

[0040] In the specific implementation process, firstly, the length of the adjustable telescopic plate 3 is adjusted, and the adjustable telescopic plate 3 drives the execution frame 5 and the roller 6 on both sides to approach or move away from each other through the arc frame 1, so that the distance between the rollers 6 on both sides corresponds to the diameter of the pipeline 100 to be tested. Secondly, the operator places the present invention in the water, and then sends an instruction to the signal receiver through the operation terminal. The signal receiver transmits a signal to the controller 8, so that the controller 8 controls the propeller thruster 4 to start and drive the present invention to dive to the pipeline 100 to be tested at a specified position, and then controls the execution frame 5 and the roller 6 to move to the side close to the pipeline 100 to be tested, so that the roller 6 abuts against the outer wall of the pipeline 100 to be tested and rotates, so as to control the present invention to run along the length direction of the pipeline 100 to be tested. During this period, the pressure and flow of the water body outside the pipeline 100 to be tested can be monitored in real time through the detection instrument 9, so as to detect whether there is leakage in the pipeline 100 to be tested.

[0041] It should be further explained that the detection instrument 9 used in this embodiment includes a pressure sensor for detecting the water pressure outside the pipeline 100 to be tested and an electromagnetic flowmeter for detecting the water flow rate. The pressure sensor and the electromagnetic flowmeter are both existing technologies, and their working principles are not repeated here. When the present invention runs along the length direction of the pipeline 100 to be tested, the water pressure outside the pipeline 100 to be tested can be monitored in real time through the pressure sensor. When the pipeline 100 to be tested leaks or ruptures, the medium inside it will seep into the water, causing the water pressure outside the pipeline 100 to be tested to increase. In this way, monitoring the water pressure outside the pipeline 100 to be tested through the pressure sensor can detect whether it is leaking or rupturing.

[0042] At the same time, the electromagnetic flowmeter can monitor the water flow outside the pipe 100 to be tested in real time. When the medium inside the pipe 100 to be tested leaks, the medium is discharged into the water body, which easily causes disturbance or eddy current in the surrounding water body, thereby changing the original flow field structure of the water body outside the pipe 100 to be tested, so that the electromagnetic flowmeter can detect the flow of the water body during its operation along the length direction of the pipe 100 to be tested; if the pressure sensor or the electromagnetic flowmeter detects that the pressure and flow of the water body outside the pipe 100 to be tested are abnormal, a signal is transmitted to the controller 8, and the controller 8 transmits a signal to the operating terminal used by the operator, so as to upload the detection results of the pipe 100 to be tested in real time.

[0043] In addition, the pressure sensor and the electromagnetic flowmeter are covered with a waterproof cover (not shown in the figure). The waterproof cover can not only protect the pressure sensor and the electromagnetic flowmeter, enabling them to overcome deep water pressure and maintain the detection accuracy of water pressure and flow, but also prevent water from seeping into them and causing damage.

[0044] Reference Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, in order to facilitate comprehensive inspection of the pipeline 100 to be tested, the present invention needs to move along the length direction of the pipeline 100 to be tested, so the roller 6 needs to always be against the outer wall of the pipeline 100 to be tested and drive the present invention to move synchronously. Therefore, in this embodiment, two adjustment groups are symmetrically arranged on the arc frame 1 along the length direction, each adjustment group includes a plurality of connecting rods 11 passing through the arc frame 1, and the plurality of connecting rods 11 are evenly distributed along the circumference of the arc frame 1. The execution frame 5 is rotatably installed on the end of the connecting rod 11 close to the pipeline 100 to be tested through the hollow shaft 51. The connecting rod A positioning plate 111 is installed on the side of the arc frame 1 close to the moving direction of the arc frame 1, and a contraction spring rod 112 is hinged between the positioning plate 111 and the execution frame 5; in this embodiment, the contraction spring rod 112 always applies a pull-back force to the execution frame 5, so that the side of the execution frame 5 close to the moving direction of the arc frame 1 is always inclined toward the side away from the pipeline 100 to be tested, and the distance between the roller 6 on this side and the axis of the pipeline 100 to be tested is greater than the diameter of the outer wall flange of the pipeline 100 to be tested, so that the other side of the execution frame 5 drives the roller 6 to always be against the outer wall of the pipeline 100 to be tested.

[0045] In addition, the roller 6 at one end of the execution frame 5 is controlled to roll against the outer wall of the pipeline 100 to be tested under the action of the contraction spring rod 112, so that multiple rollers 6 on the two arc frames 1 are simultaneously against the outer wall of the pipeline 100 to be tested, thereby ensuring that the distance between the two arc frames 1 and the detection instrument 9 and the pipeline 100 to be tested is always consistent, thereby limiting the distance between the detection instrument 9 and the pipeline 100 to be tested, and then the two detection instruments 9 detect the water bodies in the designated areas on both sides of the pipeline 100 to be tested, avoiding the distance between the detection instrument 9 and the pipeline 100 to be tested being too large or too small to affect the detection effect and accuracy.

[0046] Furthermore, in the present embodiment, an installation groove is provided inside the execution frame 5, and a driving wheel 52 is rotatably provided in the installation groove. A linkage shaft 53 is installed on the driving wheel 52 and extends to the outside after passing through the hollow shaft 51. The hollow shaft 51 is mainly used to fix the execution frame 5 to the end of the connecting rod 11 close to the side of the pipeline 100 to be tested, and the hollow shaft 51 will not interfere with the installation and operation of the linkage shaft 53. The linkage shaft 53 is used to receive external drive to drive the driving wheel 52 to rotate, and will not interfere with the hollow shaft 51. A driving motor 54 electrically connected to the controller 8 is installed on the upper end of the fixing plate 7 through a motor seat, and the output shaft of the driving motor 54 and the two linkage shafts 53 located in the middle of the arc frame 1 are connected by a belt drive; a belt 55 is commonly sleeved between the driving wheel 52 and the two rollers 6 installed on the same execution frame 5, and an annular groove for sleeved with the belt 55 is provided in the middle of the roller 6.

[0047] Furthermore, in this embodiment, telescopic shafts 56 are installed on opposite sides of two adjacent linkage shafts 53 on the same side of the arc frame 1. The two adjacent telescopic shafts 56 are connected by a universal coupling. The telescopic section and the fixed section of the telescopic shaft 56 can only slide relative to each other and cannot rotate relative to each other, so that it is convenient for the linkage shaft 53 to transmit torque to another linkage shaft 53 through the telescopic shaft 56 and the universal coupling, thereby ensuring that multiple linkage shafts 53 on the same side of the arc frame 1 can rotate synchronously.

[0048] In the specific implementation process, after the arc frame 1 drives multiple rollers 6 to abut against the outer wall of the pipeline 100 to be tested through the execution frame 5, the arc frame 1 can be limited by the mutual interference between the multiple rollers 6 and the pipeline 100 to be tested, so that the arc frame 1 can move along the length direction of the pipeline 100 to be tested, and the driving motor 54 is powered on and started through the controller 8. The output shaft of the driving motor 54 drives the linkage shaft 53 to rotate through the belt 55, and the linkage shaft 53 drives the roller 6 to rotate synchronously through the driving wheel 52, and the linkage shaft 53 can drive other linkage shafts 53 and rollers 6 to rotate synchronously through the telescopic shaft 56, so that the simultaneous rotation of multiple rollers 6 can drive the present invention to run along the length direction of the pipeline 100 to be tested. During this period, the water body outside the pipeline 100 to be tested is monitored in real time by the detection instrument 9, so that the rapid detection of the pipeline 100 to be tested can be completed.

[0049] When the flange between two adjacent pipes is encountered during the movement of the present invention, the execution frame 5 on the side of the arc frame 1 close to the movement direction first contacts the flange, and the roller 6 on the side of the execution frame 5 close to the movement direction of the present invention first passes over the flange, and then the execution frame 5 and the outer wall of the flange slide against each other, so that the execution frame 5 drives the roller 6 on the other side to pass over the flange. During this period, the execution frame 5 is supported by the flange and gradually approaches to be parallel to the axis of the pipeline 100 to be tested. After the execution frame 5 and the two rollers 6 have passed the flange, the execution frame 5 and the rollers 6 at both ends are controlled to reset under the action of the contraction spring rod 112, so that the roller 6 on the side of the execution frame 5 away from the movement direction of the present invention is reset and again abuts against the outer wall of the pipeline 100 to be tested, so that the execution frames 5 on both sides of the arc frame 1 can pass over the flange in sequence (in Figure 6 ).

[0050] In addition, when the execution frame 5 drives the two rollers 6 to pass over the flange, the two rollers 6 no longer contact the outer wall of the pipeline 100 to be tested, while the roller 6 on the execution frame 5 on the side of the arc frame 1 away from the moving direction still rolls and conflicts with the outer wall of the pipeline 100 to be tested, so the roller 6 can drive the present invention to move normally; similarly, when the execution frame 5 on the side of the arc frame 1 away from the moving direction passes over the flange, the roller 6 of the execution frame 5 on the side of the arc frame 1 close to the moving direction rolls and conflicts with the outer wall of the pipeline 100 to be tested and drives the present invention to move normally; in summary, the present invention can smoothly pass over the flange during the inspection of the pipeline 100 to be tested, and the moving process is not affected, so the pipeline 100 to be tested can be tested uninterruptedly in a moving manner, thereby improving the inspection efficiency, and the execution frame 5 drives the roller 6 to press against the outer wall of the pipeline 100 to be tested, which can also adapt to the inspection of pipelines without flanges installed, thereby improving the adaptability.

[0051] Continue to refer to Figure 4 and Figure 5 As shown, it should be noted that two support plates 57 are symmetrically arranged along the thickness direction on one side of the execution frame 5 away from the connecting rod 11, and multiple rotating columns 58 are equidistantly installed on the opposite sides of the two support plates 57 of the same execution frame 5 along the length direction, and the outer walls of the two rollers 6 and the multiple rotating columns 58 on the same execution frame 5 are in the same plane; when the execution frame 5 conflicts with the outer wall of the flange, the sliding contact between the execution frame 5 and the flange can be converted into rolling contact through the rotating columns 58, and the rotating columns 58 can support the execution frame 5 when they conflict with the flange, so as to ensure the stability of the execution frame 5 in the process of passing over the flange, and then ensure that the present invention passes over the flange smoothly, so that the present invention can move smoothly along the length direction of the pipeline 100 to be tested, and avoid causing eddy currents to the water outside the pipeline 100 to be tested and affecting the detection accuracy of its pressure and flow.

[0052] Reference Figure 7 and Figure 8 As shown, in order to facilitate the detection of pipelines 100 to be tested with different diameters, the distance between the multiple rollers 6 needs to be adaptively adjusted according to the diameter of the pipeline 100 to be tested. Based on this, in the present embodiment, the connecting rod 11 is a threaded rod that passes through the arc frame 1 by means of a threaded connection. The outer wall of the connecting rod 11 is provided with a slide groove 113 parallel to its axis, and the outer wall of the connecting rod 11 is slidably sleeved with a linkage ring 114, the linkage ring 114 is rotatably docked with the outer wall of the arc frame 1, and the inner wall of the linkage ring 114 is provided with a key tooth 115 that is slidably docked in the slide groove 113; through the mutual cooperation between the key tooth 115 and the slide groove 113, the connecting rod 11 and the linkage ring 114 can only slide relative to each other, and cannot rotate relative to each other, so that when the linkage ring 114 is controlled to rotate, the linkage ring 114 can drive the connecting rod 11 to rotate synchronously, so that the connecting rod 11 moves to one side close to or away from the axis of the arc frame 1 under the action of the threaded connection.

[0053] Furthermore, in the present embodiment, a transmission rope 116 is commonly sleeved between the multiple linkage rings 114 on the same side of the arc frame 1, and the ends of the linkage rings 114 corresponding to any two positions on both sides of the arc frame 1 that are away from the arc frame 1 are both equipped with a pulley 117 sleeved on the outside of the connecting rod 11, and the two pulleys 117 are connected by a belt transmission, and the pulley 117 can drive the linkage ring 114 connected thereto to rotate, and the linkage ring 114 can drive other linkage rings 114 connected thereto to rotate synchronously through the transmission rope 116, and the cooperation of the two pulleys 117 can make the multiple linkage rings 114 on both sides of the arc frame 1 rotate synchronously.

[0054] Furthermore, in this embodiment, a positioning motor 12 electrically connected to the controller 8 is installed on the arc frame 1 through a motor cover. The positioning motor 12 is located on one side of any one of the pulleys 117. The output shaft fixing sleeve of the positioning motor 12 is provided with a driving gear 13, and the outer wall fixing sleeve of the pulley 117 is provided with a driven gear 14 meshing with the driving gear 13.

[0055] In the initial state, the connecting rod 11 drives the execution frame 5 to move to the side close to the arc frame 1, so that when the present invention moves above the pipeline 100 to be tested, the execution frames 5 on the two arc frames 1 are away from each other, so that when the two arc frames 1 move downward, the execution frames 5 are driven to be located on both sides of the pipeline 100 to be tested.

[0056] In the specific implementation process, after the propeller thruster 4 drives the two arc-shaped frames 1 to move to the two sides of the pipeline 100 to be tested, the controller 8 enables the positioning motor 12 to be powered on and started, and the positioning motor 12 drives the driving gear 13 to rotate, and the driving gear 13 drives the pulley 117 to rotate through the driven gear 14. During the rotation of the pulley 117, multiple linkage rings 114 are driven to rotate synchronously, and the linkage ring 114 drives the connecting rod 11 to move toward the side close to the pipeline 100 to be tested, and the connecting rod 11 drives the execution frame 5 and the roller 6 to move synchronously, so that the execution frame 5 drives the roller 6 to abut against the outer wall of the pipeline 100 to be tested. During this period, the telescopic shaft 56 is adaptively telescoped during the process of the connecting rod 11 driving the execution frame 5 and the roller 6 to move.

[0057] Then, the controller 8 starts the driving motor 54 to drive the roller 6 to rotate and drive the present invention to move along the length direction of the pipeline 100 to be tested; thereby, the connecting rod 11 can be controlled to move by rotating the linkage ring 114, and then the connecting rod 11 drives the execution frame 5 and the roller 6 to move synchronously, so as to adjust the distance between the opposite sides of multiple rollers 6 according to the diameter of the pipeline 100 to be tested, so as to adapt to a variety of pipelines 100 with different diameters to improve the detection adaptability.

[0058] Reference Fig. 9As shown, in order to further ensure the stability during the movement along the length direction of the pipeline 100 to be tested, in this embodiment, a stabilizing plate 31 is installed at the top of the telescopic end in the middle of the adjustable telescopic plate 3, and an execution plate 32 is installed at the top of the telescopic ends on both sides of the adjustable telescopic plate 3, and two supporting spring rods 33 are symmetrically installed between the stabilizing plate 31 and the two execution plates 32.

[0059] Furthermore, in this embodiment, a vertical plate 34 is installed at the bottom of the telescopic end in the middle of the adjustable telescopic plate 3, and a support shaft 35 is rotatably installed at the lower end of the vertical plate 34. A cross frame 36 is rotatably sleeved on the outer wall of the support shaft 35. The multiple extension sections of the cross frame 36 are all elastic members and have equal lengths. The extension sections of the cross frame 36 can adaptively contract when under stress, and then extend and reset under their own elastic action. A resistance wheel 37 is rotatably installed at one end of the extension section of the cross frame 36 away from the support shaft 35.

[0060] It should be noted that the supporting spring rod 33 always applies a thrust to the executive plate 32, so that the executive plate 32 drives the telescopic ends on both sides of the adjustable telescopic plate 3 to extend under the thrust of the supporting spring rod 33, and the elastic thrusts of the supporting spring rods 33 on both sides of the stabilizing plate 31 are equal. Therefore, when the length of the adjustable telescopic plate 3 is adjusted, the extension lengths of the telescopic ends on both sides of the adjustable telescopic plate 3 can be made equal through the cooperation of the supporting spring rod 33 and the executive plate 32, so that the telescopic end in the middle of the adjustable telescopic plate 3 and the vertical plate 34 at the bottom are always located between the two arc frames 1, and the distance between the vertical plate 34 and the two arc frames 1 is equal.

[0061] In the specific implementation process, after the propeller thruster 4 drives the two arc frames 1 to move above the pipeline 100 to be tested, the vertical plate 34 at the bottom of the adjustable telescopic plate 3 drives the abutment wheel 37 to abut against the upper end of the pipeline 100 to be tested through the cross frame 36, so as to support the adjustable telescopic plate 3 and the arc frame 1, so that the rollers 6 on the two arc frames 1 can accurately abut against the two sides of the outer wall of the pipeline 100 to be tested, thereby ensuring that the present invention moves smoothly along the length direction of the pipeline 100 to be tested; when the present invention encounters a flange between two adjacent pipelines during its movement, the abutment wheel 37 causes the cross frame 36 to rotate adaptively under the action of the flange, and at this time, the extension section of the cross frame 36 is adaptively contracted under force, so as to smoothly cross the flange.

[0062] It should be noted that, since the arc frame 1 has a limiting effect on the pipeline 100 to be tested under the action of multiple rollers 6, when the bottom extension section of the cross frame 36 adaptively contracts under the interference action of the interference wheel 37 and the top of the pipeline 100 to be tested, the extension section of the cross frame 36 has a rebound effect of extension and reset. The limiting effect between the rollers 6 and the pipeline 100 to be tested can overcome the rebound effect of the extension section of the cross frame 36, thereby preventing the adjustable telescopic plate 3 and the arc frame 1 from falling off from the pipeline 100 to be tested, thereby ensuring the stability of the present invention along the length direction of the pipeline 100 to be tested.

[0063] During operation: the first step: first adjust the length of the adjustable telescopic plate 3, and the adjustable telescopic plate 3 drives the execution frame 5 and the roller 6 on both sides to approach or move away from each other through the arc frame 1, so that the distance between the rollers 6 on both sides corresponds to the diameter of the pipeline 100 to be tested. Next, the operator places the present invention in the water, and then sends an instruction to the signal receiver through the operation terminal. The signal receiver transmits a signal to the controller 8, so that the controller 8 controls the propeller thruster 4 to start up and drive the present invention to dive to the pipeline 100 to be tested at the specified position.

[0064] Step 2: After the propeller thruster 4 drives the two arc-shaped frames 1 to move to the two sides of the pipeline 100 to be tested, the controller 8 enables the positioning motor 12 to be powered on and started, and the positioning motor 12 drives the driving gear 13 to rotate, and the driving gear 13 drives the pulley 117 to rotate through the driven gear 14. During the rotation of the pulley 117, multiple linkage rings 114 are driven to rotate synchronously. During the rotation of the linkage ring 114, the connecting rod 11 can be controlled to move, and then the connecting rod 11 drives the execution frame 5 and the roller 6 to move synchronously, so as to adjust the distance between the opposite sides of the multiple rollers 6 according to the diameter of the pipeline 100 to be tested, so that the execution frame 5 drives the roller 6 to abut against the outer wall of the pipeline 100 to be tested.

[0065] Step 3: The driving motor 54 is powered on and started through the controller 8. The output shaft of the driving motor 54 drives the linkage shaft 53 to rotate through the belt 55. The linkage shaft 53 drives the roller 6 to rotate synchronously through the driving wheel 52. The linkage shaft 53 can drive other linkage shafts 53 and rollers 6 to rotate synchronously through the telescopic shaft 56. In this way, the simultaneous rotation of multiple rollers 6 can drive the present invention to run along the length direction of the pipeline 100 to be tested. During this period, the water pressure and flow rate outside the pipeline 100 to be tested are monitored in real time through the detection instrument 9. If the pressure and flow rate of the water outside the pipeline 100 to be tested are detected to be abnormal, a signal is transmitted to the controller 8. The controller 8 transmits a signal to the operating terminal used by the operator to upload the detection result of the pipeline 100 to be tested in real time.

[0066] Step 4: When the flange between two adjacent pipes is encountered during the movement of the present invention, the execution frame 5 on the side of the arc frame 1 close to the movement direction first contacts the flange, and the roller 6 on the side of the execution frame 5 close to the movement direction of the present invention first passes over the flange, and then the execution frame 5 and the outer wall of the flange slide against each other, so that the execution frame 5 drives the roller 6 on the other side to pass over the flange. During this period, the execution frame 5 is supported by the top force of the flange and gradually approaches to be parallel to the axis of the pipeline 100 to be tested. After the execution frame 5 and the two rollers 6 have passed the flange, the execution frame 5 and the rollers 6 at both ends are controlled to reset under the action of the contraction spring rod 112, so that the roller 6 on the side of the execution frame 5 away from the movement direction of the present invention is reset and again abuts against the outer wall of the pipeline 100 to be tested, so that the execution frames 5 on both sides of the arc frame 1 can pass over the flange in turn.

[0067] In addition, when the execution frame 5 drives the two rollers 6 to pass over the flange, the two rollers 6 are no longer in contact with the outer wall of the pipeline 100 to be tested, while the roller 6 on the execution frame 5 on the side of the arc frame 1 away from the moving direction still rolls and conflicts with the outer wall of the pipeline 100 to be tested, so the roller 6 can drive the present invention to move normally; similarly, when the execution frame 5 on the side of the arc frame 1 away from the moving direction passes over the flange, the roller 6 of the execution frame 5 on the side of the arc frame 1 close to the moving direction rolls and conflicts with the outer wall of the pipeline 100 to be tested and drives the present invention to move normally; in summary, the present invention can smoothly pass over the flange during the inspection of the pipeline 100 to be tested, and the moving process is not affected, so the pipeline 100 to be tested can be inspected uninterruptedly, thereby improving the inspection efficiency.

[0068] Step 5: After the inspection of the pipeline 100 to be inspected is completed, the propeller propeller 4 is used to control the present invention to be removed from the pipeline 100 to be inspected, and then it can be floated and recovered to facilitate the corresponding inspection of other pipelines.

[0069] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0070] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A submersible detection device for deepwater pipeline inspection, comprising two symmetrically distributed arc frames (1), the outer walls of the two arc frames (1) are both equipped with support frames (2), the opposite sides of the two support frames (2) are equipped with adjustable telescopic plates (3), and the side of the support frame (2) away from the arc frame (1) is equipped with a propeller propeller (4), characterized in that: The arc frame (1) is provided with a plurality of execution frames (5) located on the outer wall of the pipeline (100) to be tested, and rollers (6) are rotatably arranged at both ends of the execution frames (5) and are in rotatable contact with the outer wall of the pipeline (100) to be tested, and fixing plates (7) are installed on opposite sides of the two arc frames (1), and a controller (8) and a detection instrument (9) are installed on the upper end of the fixing plates (7).

2. A deep-water pipeline detection device according to claim 1, characterized in that: Two adjustment groups are symmetrically arranged on the arc frame (1) along the length direction, each adjustment group comprises a plurality of connecting rods (11) passing through the arc frame (1), the plurality of connecting rods (11) are evenly distributed along the circumference of the arc frame (1), the execution frame (5) is rotatably mounted on one end of the connecting rod (11) close to the pipeline (100) to be tested through a hollow shaft (51), a positioning plate (111) is installed on one side of the connecting rod (11) close to the moving direction of the arc frame (1), and a contraction spring rod (112) is hinged between the positioning plate (111) and the execution frame (5).

3. A deep-water pipeline detection device according to claim 1, characterized in that: The execution frame (5) is provided with an installation groove inside, a driving wheel (52) is rotatably arranged in the installation groove, a linkage shaft (53) is installed on the driving wheel (52) and passes through the hollow shaft (51) and extends to the outside, a driving motor (54) electrically connected to the controller (8) is installed on the upper end of the fixing plate (7) through a motor seat, and the output shaft of the driving motor (54) and the two linkage shafts (53) located in the middle of the arc frame (1) are connected through a belt drive; A belt (55) is sleeved between the driving wheel (52) and two rollers (6) mounted on the same execution frame (5). An annular groove for sleeved with the belt (55) is provided in the middle of the roller (6).

4. A deep-water pipeline detection device according to claim 3, characterized in that: Telescopic shafts (56) are installed on opposite sides of two adjacent linkage shafts (53) on the same side of the arc frame (1), and the two adjacent telescopic shafts (56) are connected via a universal coupling.

5. A deep-water pipeline detection device according to claim 1, characterized in that: Two support plates (57) are symmetrically arranged along the thickness direction on one side of the execution frame (5) away from the connecting rod (11); a plurality of rotating columns (58) are equidistantly mounted on opposite sides of the two support plates (57) of the same execution frame (5) along the length direction; and the outer walls of the two rollers (6) and the plurality of rotating columns (58) on the same execution frame (5) are located in the same plane.

6. A deep-water pipeline detection device according to claim 2, characterized in that: The connecting rod (11) is a threaded rod that passes through the arc frame (1) in a threaded connection manner. The outer wall of the connecting rod (11) is provided with a slide groove (113) parallel to its axis, and the outer wall of the connecting rod (11) is slidably sleeved with a linkage ring (114). The linkage ring (114) is rotatably docked with the outer wall of the arc frame (1), and the inner wall of the linkage ring (114) is provided with a key tooth (115) that is slidably docked in the slide groove (113).

7. A deep-water pipeline detection device according to claim 6, characterized in that: A transmission rope (116) is commonly sleeved between the plurality of linkage rings (114) on the same side of the arc frame (1), and a pulley (117) sleeved on the outside of the connecting rod (11) is installed at one end of any two corresponding linkage rings (114) on both sides of the arc frame (1) away from the arc frame (1), and the two pulleys (117) are connected via a belt transmission.

8. A deep-water pipeline detection device according to claim 7, characterized in that: A positioning motor (12) electrically connected to a controller (8) is mounted on the arc frame (1) via a motor cover, an output shaft sleeve of the positioning motor (12) is provided with a driving gear (13), and an outer wall of the pulley (117) is provided with a driven gear (14) meshing with the driving gear (13).

9. A deep-water pipeline detection device according to claim 1, characterized in that: A stabilizing plate (31) is installed at the top of the telescopic end in the middle of the adjustable telescopic plate (3), and an actuating plate (32) is installed at the top of the telescopic ends on both sides of the adjustable telescopic plate (3). Two supporting spring rods (33) are symmetrically installed between the stabilizing plate (31) and the two actuating plates (32).

10. A deep-water pipeline detection device according to claim 9, characterized in that: A vertical plate (34) is installed at the bottom of the telescopic end in the middle of the adjustable telescopic plate (3), a support shaft (35) is rotatably installed at the lower end of the vertical plate (34), a cross frame (36) is rotatably sleeved on the outer wall of the support shaft (35), and a resistance wheel (37) is rotatably installed at one end of the extension section of the cross frame (36) away from the support shaft (35).

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