Submarine pipeline detection equipment for underwater navigation

Abstract

The invention discloses subsea pipeline detection equipment for underwater navigation, which relates to the technical field of subsea pipeline detection, and specifically comprises a rack, a propeller arranged on the rack, a machine box mounted on the rack, and a controller and a positioning module arranged in the machine box, the multi-angle mechanical arm is arranged at the lower end of the rack in a storage manner; the driving motor is arranged on the multi-angle mechanical arm; the positioning module and the controller serve as an automatic control system of the underwater pipeline detection equipment, underwater automatic navigation and real-time pipeline detection are achieved by means of the machine box and the infrared camera on the multi-angle mechanical arm, and the underwater pipeline detection equipment has the capacity of underwater pipeline internal and external navigation detection. Meanwhile, the multi-angle mechanical arm capable of being stored and unfolded is arranged at the lower end of the rack, the multi-angle mechanical arm is controlled to be unfolded by different angles through the driving motor to detect different positions of the pipeline, the detection efficiency and accuracy of the underwater pipeline are effectively improved, the applicability is high, and the continuity of underwater operation is effectively guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of submarine pipeline detection, in particular to submarine pipeline detection equipment for underwater navigation. Background Art

[0002] Underwater robots are one of the most important tools for current ocean exploration and research, and are usually controlled by operators on surface support vessels. They can navigate freely in three-dimensional underwater space, observe through external cameras, obstacle avoidance sonar or pipeline trackers, and combine with multi-functional manipulators or other underwater tools to complete certain underwater operation tasks. The underwater submarine pipeline inspection robot is a robot system designed for the inspection and maintenance of submarine pipelines, including oil and gas pipelines, underwater communication optical cables, water supply and drainage pipelines, etc. The underwater submarine pipeline inspection robot is designed to meet the needs of safety monitoring and maintenance of submarine pipelines.

[0003] The prior art publication number is CN117227945A, which is an autonomous obstacle-avoiding underwater navigation submarine pipeline inspection robot. The robot includes a mounting frame, a horizontal thruster, a vertical thruster, an obstacle removal mechanism, an equipment compartment assembly and a limiting mechanism. The mounting frame is symmetrically provided with lighting lamps on the upper side, and vertical thrusters are symmetrically provided at the lower left and right sides of the mounting frame, and horizontal thrusters are provided in the middle of both sides of the mounting frame. A limiting mechanism is provided in the middle of the mounting frame, and an equipment compartment assembly is installed on the limiting mechanism. The obstacle removal mechanisms are symmetrically provided on both sides of the mounting frame. When the robot encounters an obstacle, the extrusion plate of the device will be subjected to the pressure of the obstacle, and when the extrusion plate moves, the obstacle removal plate on the rotating frame will swing, which enables the robot to push away or bypass the obstacles encountered. The obstacle removal mechanism can help the robot identify and avoid obstacles to ensure the smooth passage of the robot.

[0004] Since the pipeline is fixed underwater, the above-mentioned pipeline inspection robot is mainly used to inspect the pipeline by sailing above the pipeline. The pipeline at the bottom of the pipeline or in a narrow space, as well as the pipeline being inspected inside the pipeline, cannot be observed by the pipeline inspection robot sailing above, and cannot adapt well to the complex conditions on the seabed, and has low applicability. Therefore, the present application proposes a submarine pipeline inspection device that sails underwater. Summary of the invention

[0005] The present invention provides an underwater submarine pipeline detection device, which aims to solve the problem that the above-mentioned pipeline detection robot mainly detects pipelines by sailing above the pipelines. The pipeline detection robot sailing above the pipelines cannot observe the lower part of the pipelines or the pipelines in a narrow space, and cannot adapt well to the complex conditions on the seabed, resulting in low applicability.

[0006] To achieve the above object, the present invention provides an underwater submarine pipeline detection device, comprising: a frame on which a plurality of propellers for underwater movement are disposed; The machine box is installed on the frame, and a controller for controlling the operation of multiple propellers is set in the machine box. A positioning module is disposed in the housing and electrically connected to the controller for sending and receiving wireless information in real time; The multi-angle mechanical arm can be stored at the lower end of the frame, and a driving motor for driving the mechanical arm to unfold and retract is provided on the mechanical arm; An infrared camera is arranged on the machine box and the multi-angle robot arm and is electrically connected to the controller; The driving motor drives the multi-angle mechanical arm to expand toward both sides of the frame to adjust the position and angle of the infrared camera located on the multi-angle mechanical arm on the frame.

[0007] The device also comprises a fixing frame which is fixed on the machine box by screws; an infrared camera is arranged at the lower end of the fixing frame, and an irradiation lamp is arranged at the upper end of the fixing frame.

[0008] As another embodiment, the multi-angle robotic arm of the present invention includes robotic arm 1 and robotic arm 2. Robotic arm 1 is fixed at one end of the bottom surface of the frame, and robotic arm 2 is fixed at the other end of the bottom surface of the frame. Robotic arm 1 is provided with swing arm 1, and robotic arm 2 is provided with swing arm 2. Swing arm 1 moves along one side of the frame and swings to unfold, and swing arm 2 moves along the other side of the frame and swings to unfold.

[0009] The first mechanical arm also includes a mounting frame, a driving screw, a slider and an angle adjustment mechanism. The two ends of the first mounting frame are fixed on both sides of one end of the bottom surface of the frame, the driving screw is rotatably arranged in the first mounting frame, and the slider is slidably arranged on the first mounting frame and is threadedly connected to the first driving screw; one end of the swing arm is hinged on the slider; the swing arm slides on the first mounting frame to adjust its swing angle through the angle adjustment mechanism; the second mechanical arm also includes a mounting frame, a driving screw, a slider and an angle adjustment mechanism. The two ends of the second mounting frame are fixed on both sides of the other end of the bottom surface of the frame, the driving screw is rotatably arranged in the second mounting frame, the slider is slidably arranged on the second mounting frame and is threadedly connected to the second driving screw; one end of the second swing arm is hinged on the slider; the second swing arm slides on the second mounting frame to adjust its swing angle through the angle adjustment mechanism.

[0010] Specifically, the infrared cameras are respectively hinged to the ends of the swing arm 1 and the swing arm 2, and the swing arm 1 and the swing arm 2 are also provided with a push rod for pushing the infrared camera to rotate.

[0011] As another embodiment, an angle adjustment mechanism 1 of the present invention includes a rotating tooth 1 arranged in a slider 1 and coaxially connected to a hinged end of a swing arm 1, and a plurality of racks 1 arranged on a mounting frame 1, wherein the racks 1 are arranged at intervals so that the rotating tooth 1 located on the slider 1 can respectively mesh with the racks 1 by sliding on the mounting frame 1, thereby causing the rotating tooth 1 to drive the swing arm 1 to rotate to adjust its angle; an angle adjustment mechanism 2 includes a rotating tooth 2 arranged in a slider 2 and coaxially connected to a hinged end of a swing arm 2, and a plurality of racks 2 arranged on a mounting frame 2, wherein the racks 2 are arranged at intervals so that the rotating tooth 2 located on the slider 2 can respectively mesh with the racks 2 by sliding on the mounting frame 2, thereby causing the rotating tooth 2 to drive the swing arm 2 to rotate to adjust its angle.

[0012] Specifically, the present invention also includes a clamping mechanism for locking the slider 1 and the slider 2, so that the slider 1 and the slider 2 slide on the mounting frame 1 and the mounting frame 2, when the rotating gear 1 is separated from the rack 1, and when the rotating gear 2 is separated from the rack 2, the swing arm 1 and the swing arm 2 are locked in the swing angle. The clamping mechanism includes a polygonal block provided on the rotating gear 1 and the rotating gear 2, and a limiting groove and a rotating groove provided on the mounting frame 1 and the mounting frame 2, and the rack 1 and the rack 2 are located in the rotating groove, so that the rotating gear 1 and the rotating gear 2 move linearly into the rotating groove to mesh with the rack 1 and the rack 2 and rotate.

[0013] As another embodiment, the drive motor of the present invention includes drive motor 1 and drive motor 2, drive motor 1 is connected to drive screw 1 through a coupling or a reducer, and drive motor 2 is connected to drive screw 2 through a coupling or a reducer.

[0014] As another embodiment, the driving motor of the present invention is arranged at one end of the swing arm one or the swing arm two, the output end of the driving motor is coaxially connected with the driving screw one or the driving screw two, and the driving screw one and the driving screw two are provided with a driven bevel gear; it also includes a coaxially connected transmission bevel gear, and the transmission bevel gear is meshingly connected with the driven bevel gear, so that when the driving screw one rotates, the driving screw two is driven to rotate synchronously through the transmission bevel gear.

[0015] As another embodiment, an arc scraper is rotatably arranged inside the swing arm one and the swing arm two of the present invention. When the swing arm one and the swing arm two are rotated to a vertical state, the arc scraper can be controlled to rotate to a certain angle by a motor arranged on the swing arm one and the swing arm two. The motor is a self-locking motor, and its output end is connected to a hinge shaft of the arc scraper located on the swing arm, so as to facilitate the arc scraper to contact with the pipeline surface to remove the silt or attachments thereon, thereby facilitating a clearer inspection of the pipeline condition.

[0016] Compared with the prior art, it has the following beneficial effects: 1. The present invention uses the positioning module and the controller as the automatic control system of the underwater pipeline detection equipment, and relies on the infrared camera on the machine box and the multi-angle robot arm to record the video and pictures collected underwater and store them in the positioning module. It can also transmit the video in real time with the terminal device to realize real-time underwater detection; it can also set time feedback so that data can be transmitted to the big data platform through the positioning module at regular intervals.

[0017] 2. The present invention arranges a foldable and deployable multi-angle robotic arm at the lower end of the frame to detect different positions of the pipeline, effectively improves the detection efficiency and accuracy of underwater pipelines, has strong applicability, and effectively ensures the continuity of underwater operations.

[0018] 3. The present invention arranges arc scrapers rotatably in the first swing arm and the second swing arm, and the arc scrapers can be controlled by a motor to rotate to a certain angle, so that the arc scrapers contact the surface of the pipeline to remove the sludge or attachments thereon.

[0019] 4. The present invention provides rollers rotatably on the swing arm 1 and the swing arm 2. The swing arm 1 and the swing arm 2 are unfolded to form a certain angle so that the rollers thereon can roll and abut against both sides of the pipeline, so that the underwater pipeline detection equipment can move stably on the pipeline; at the same time, when the pipeline detection equipment of the present invention navigates in the underwater pipeline, the movement stability in the pipeline can be improved by the rolling contact between the rollers and the inner wall of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only preferred embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 Schematic diagram of the structure of the submarine pipeline detection equipment used for underwater navigation in this application Figure 1 ; Figure 2 Schematic diagram of the structure of the submarine pipeline detection equipment used for underwater navigation in this application Figure 2 ; Figure 3 This is a schematic diagram of the machine box for this application; Figure 4 Schematic diagram of the frame and propeller for this application; Figure 5 Schematic diagram of the rack and box for this application; Figure 6 Schematic diagram of robot arm 1 and robot arm 2 of this application; Figure 7This is a schematic diagram of the swing arm 1 and the swing arm 2 of the present application; Figure 8 Schematic diagram of mounting rack 1 and mounting rack 2 for this application; Fig. 9 for Figure 8 A magnified schematic diagram of the middle part; Fig.10 Schematic diagram of mounting rack 1 and mounting rack 2 for this application; Fig.11 for Fig.10 Enlarged schematic diagram of part B in the middle.

[0022] Reference numerals: 1-frame; 2-propeller; 3-machine box; 4-Multi-angle robotic arm; 41-mechanical arm 1; 411-swing arm 1; 412-mounting frame 1; 413-driving screw 1; 414-slider 1; 415-angle adjustment mechanism 1; 4151-rotating gear 1; 4152-rack 1; 42-mechanical arm 2; 421-swing arm 2; 422-mounting frame 2; 423-driving screw 2; 424-slider 2; 425-angle adjustment mechanism 2; 4251-rotating gear 2; 4252-rack 2; 5-Infrared camera; 6-driving motor; 61-driving motor 1; 62-driving motor 2; 7-clamping mechanism; 71-polygonal block; 72-limiting groove; 73-rotation groove; 8-fixed frame; 9-irradiation lamp; 10-arc scraper; 101-motor. DETAILED DESCRIPTION In order to make it easier to understand the structure of the present invention and the functional features and advantages that can be achieved, the preferred embodiments of the present invention are described in detail with reference to the drawings as follows: Example: like Figures 1 to 11 As shown, the present invention provides a submarine pipeline detection device for underwater navigation, which specifically includes: A frame 1 is provided with a plurality of propellers 2 for underwater movement, the number of the propellers 2 being six to eight, so as to achieve diving and buoyancy, as well as forward and backward movement; A machine box 3 is installed on the frame 1. A controller for controlling the operation of the plurality of propellers 2 is arranged in the machine box 3. The controller controls the plurality of propellers 2 to operate simultaneously or individually, so that the underwater pipeline detection equipment can operate stably underwater. The positioning module is arranged in the machine box 3 and is electrically connected to the controller, so as to send and receive wireless information in real time, so as to display the underwater pipeline situation on the terminal device in real time, and can receive the instructions sent by the terminal device in real time; the positioning module and the controller serve as the control system of the present invention to control the pipeline detection equipment to perform automatic navigation operation underwater; The multi-angle robot arm 4 can be stored at the lower end of the frame 1, and a driving motor 6 for driving the multi-angle robot arm 4 to be deployed and stored is provided on the multi-angle robot arm 4, so that the multi-angle robot arm 4 can be controlled by the driving motor 6 to perform storage and deployment operations; The infrared camera 5 is arranged on the machine box 3 and the multi-angle mechanical arm 4 and is electrically connected to the controller; the infrared camera 5 of the underwater pipeline detection equipment of the present invention can record the video and pictures collected underwater and store them in the positioning module, and can also transmit the video in real time with the terminal device to realize real-time underwater detection; it can also set time feedback so that data can be transmitted to the big data platform through the positioning module at regular intervals. The positioning module and controller (stm32 single-chip microcomputer) of the present invention are installed in the sealed machine box 3, and the positioning module adopts the Beidou communication positioning module, that is, the Beidou system, so as to realize Beidou positioning, remote control, remote transmission and other functions. The present invention uses the Beidou system as the automatic control system of the underwater pipeline detection equipment to remotely control the underwater pipeline detection equipment.

[0023] The driving motor 6 drives the multi-angle robot arm 4 to expand toward both sides of the frame 1 to adjust the position and angle of the infrared camera 5 located on the multi-angle robot arm 4 on the frame 1 .

[0024] The underwater pipeline detection equipment of the present invention is also equipped with an ultrasonic sensor, a pressure sensor, a magnetometer and a pipeline detector, etc., which are electrically connected to the controller.

[0025] See also Figure 3 The pipeline detection equipment of the present invention also includes a fixing frame 8, which is fixed to the machine box 3 by screws; the infrared camera 5 is arranged at the lower end of the fixing frame 8, and an irradiation lamp 9 is arranged at the upper end of the fixing frame 8, so as to illuminate underwater in the dark by setting the irradiation lamp 9.

[0026] As another embodiment of the present invention, Figure 6As shown, the multi-angle robot 4 of the present invention includes a robot arm 1 41 and a robot arm 2 42. The robot arm 1 41 is fixed at one end of the bottom surface of the frame 1, and the robot arm 2 42 is fixed at the other end of the bottom surface of the frame 1. The robot arm 1 41 is provided with a swing arm 1 411, and the robot arm 2 421 is provided with a swing arm 2 421. The swing arm 1 411 moves along one side of the frame 1 and swings to unfold, and the swing arm 2 421 moves along the other side of the frame 1 and swings to unfold, so as to control the observation position of the infrared camera 5 by unfolding the swing arm 1 411 and the swing arm 2 421 to both sides of the frame 1.

[0027] See also Figures 6 to 11 The robot arm 41 of the present invention also includes a mounting frame 412, a driving screw 413, a slider 414 and an angle adjustment mechanism 415. The two ends of the mounting frame 412 are fixed to the two sides of one end of the bottom surface of the frame 1, the driving screw 413 is rotatably arranged in the mounting frame 412, and the slider 414 is slidably arranged on the mounting frame 412 and is threadedly connected with the driving screw 413; one end of the swing arm 411 is hinged on the slider 414; the swing arm 411 slides on the mounting frame 412 through the angle adjustment mechanism 415 to adjust its swing angle.

[0028] See also Figures 6 to 11 The robot arm 42 of the present invention also includes a mounting frame 422, a driving screw 423, a slider 424 and an angle adjustment mechanism 425. The two ends of the mounting frame 422 are fixed to the two sides of the other end of the bottom surface of the frame 1, the driving screw 423 is rotatably arranged in the mounting frame 422, and the slider 424 is slidably arranged on the mounting frame 422 and is threadedly connected with the driving screw 423; one end of the swing arm 421 is hinged on the slider 424; the swing arm 421 slides on the mounting frame 422 through the angle adjustment mechanism 425 to adjust its swing angle.

[0029] As another embodiment of the present invention, Figure 6 As shown, the infrared camera 5 of the present invention is respectively hinged at the ends of the swing arm 1 411 and the swing arm 2 421. The swing arm 1 411 and the swing arm 2 421 are also provided with a push rod for pushing the infrared camera 5 to rotate. The push rod is an electric push rod or a pneumatic push rod. The push rod rotates the infrared camera 5 hinged at the ends of the swing arm 1 411 and the swing arm 2 421 through telescopic movement.

[0030] As another embodiment of the present invention, the angle adjustment mechanism 415 of the present invention includes a rotating tooth 4151 disposed in a slider 414 and coaxially connected to the hinged end of a swing arm 411, and a plurality of racks 4152 disposed on a mounting frame 412. The racks 4152 are arranged at intervals so that the rotating tooth 4151 located on the slider 414 can slide on the mounting frame 412 to engage with the racks 4152 respectively, thereby allowing the rotating tooth 4151 to drive the swing arm 411 to rotate to adjust its angle.

[0031] See also Figure 2 The angle adjustment mechanism 425 of the present invention includes a rotating gear 4251 disposed in a slider 424 and coaxially connected to a hinged end of a swing arm 421, and a plurality of racks 4252 disposed on a mounting frame 422. The racks 4252 are arranged at intervals so that the rotating gear 4251 on the slider 424 can slide on the mounting frame 422 to engage with the racks 4252 respectively, thereby causing the rotating gear 4251 to drive the swing arm 421 to rotate to adjust its angle. In this embodiment, multiple racks 1 4152 and racks 2 4252 are provided to achieve multi-level adjustment of the rotation angle of the swing arm 1 411 and the swing arm 2 421, and the racks 1 4152 and racks 2 4252 are provided at different positions to control the swing arm 1 411 and the swing arm 2 421 to be unfolded to a specified angle when they move to a specified position; for example, when moving to the middle of the mounting frame 1 412 and the mounting frame 2 422, the swing arm 1 411 and the swing arm 2 421 are unfolded at an angle of 90 degrees to be perpendicular to the frame 1, so that the underwater pipeline detection equipment can be extended into a narrow underwater space by unfolding the swing arm 1 411 or the swing arm 2 421 at an angle of 90 degrees.

[0032] As another embodiment of the present invention, Fig. 9 and Fig.11 As shown, the pipeline detection equipment of the present invention also includes a clamping mechanism 7 for locking the slider 1 414 and the slider 2 424, so that the slider 1 414 and the slider 2 424 can slide on the mounting frame 1 412 and the mounting frame 2 422, and when the rotating gear 1 4151 is disengaged from the rack 1 4152 and the rotating gear 2 4251 is disengaged from the rack 2 4252, the swinging angle of the swinging arm 1 411 and the swinging arm 2 421 is locked to prevent the swinging arm 1 411 and the swinging arm 2 421 from shaking when moving underwater after the swing.

[0033] See also Fig. 9 and Fig.11The clamping mechanism 7 of the present invention includes a polygonal block 71 disposed on the rotating gear 1 4151 and the rotating gear 2 4251, and a limiting groove 72 and a rotating groove 73 provided on the mounting frame 1 412 and the mounting frame 2 422. The rack 1 4152 and the rack 2 4252 are located in the rotating groove 73, so that the rotating gear 1 4151 and the rotating gear 2 4251 can move linearly into the rotating groove 73 to mesh and rotate with the rack 1 4152 and the rack 2 4252. When the polygonal block 71 enters the limiting groove 72, the rotating gear 1 and the rotating gear 2 cannot rotate. When the polygonal block 71 enters the rotating groove 73, due to the separation from the limiting groove 72, the rotating gear 1 and the rotating gear 2 can rotate in coordination with the rack 1 4152 and the rack 2 4252 located in the rotating groove 73 to adjust the angle of the swing arm 1 411 and the swing arm 2 421. Further, the polygonal block 71 of the present invention is an octagon or a dodecagon. When the polygonal block 71 is an octagon, the gear 1 4151 and the gear 2 4251 rotate 45 degrees each time they pass through a rack 1 4152 and a rack 2 4252. When the polygonal block 71 is a dodecagon, the gear 1 4151 and the gear 2 4251 rotate 30 degrees each time they pass through a rack 1 4152 and a rack 2 4252. The swing arm 1 411 and the swing arm 2 421 of the present invention can be perpendicular to the frame 1 by swinging at an angle of 90 degrees, so that the swing arm 1 411 and the swing arm 2 421 can be vertically extended into a small space for inspection and viewing.

[0034] As another embodiment of the present invention, Figure 8 and Fig.10 The driving motor 6 of the present invention includes a driving motor 1 61 and a driving motor 2 62. The driving motor 1 61 is connected to the driving screw 1 413 through a coupling or a reducer, and the driving motor 2 62 is connected to the driving screw 2 423 through a coupling or a reducer. By setting the driving motor 1 61 and the driving motor 2 62, the swing arm 1 411 and the swing arm 2 421 can be individually controlled, so that the swing arm 1 411 and the swing arm 2 421 can choose to work separately or simultaneously according to the underwater situation; in particular, when the swing arm is rotated 90 degrees to a vertical state, the swing arm 1 411 or the swing arm 2 421 can be selected to work separately.

[0035] As an alternative to the above-mentioned drive motor 6 of the present invention, the drive motor 6 of the present invention is arranged at one end of the swing arm 1 411 or the swing arm 2 421, and the output end of the drive motor 6 is coaxially connected with the drive screw 1 413 or the drive screw 2 423, and the drive screw 1 413 and the drive screw 2 423 are provided with a driven bevel gear; and also include a coaxially connected transmission bevel gear, the transmission bevel gear and the driven bevel gear are meshed and connected, so that when the drive screw 1 413 rotates, the drive screw 2 423 is driven by the transmission bevel gear to rotate synchronously. In this embodiment, a single drive motor 6 is arranged, and the transmission bevel gear and the driven bevel gear are relied on to achieve the synchronous movement of the drive screw 1 413 and the drive screw 2 423, so as to drive the swing arm 1 411 and the swing arm 2 421 to expand in opposite directions at the same time, so as to adjust the position of the infrared camera 5 on the swing arm 1 411 and the swing arm 2 421.

[0036] Furthermore, the present invention has rollers (not shown) rotatably arranged on the swing arm 1 411 and the swing arm 2 421. The swing arm 1 411 and the swing arm 2 421 are unfolded to form a certain angle so that the rollers thereon can roll and abut against both sides of the pipeline, so that the underwater pipeline detection equipment can stably move on the pipeline; at the same time, through the rollers, the pipeline detection equipment can also sail in a rolling contact manner with the inner wall of the pipeline to ensure its movement stability in the pipeline. Further, the rollers are connected to the swing arm 1 411 and the swing arm 2 421 through an elastic mounting seat, so that when the rollers move on the pipeline, the rollers are less affected by the attachments on the surface of the pipeline. Further, there are multiple rollers, and the multiple rollers are arranged at intervals along the axial direction of the swing arm 1 411 and the swing arm 2 421 to adapt to the use of the swing arm 1 411 and the swing arm 2 421 with different pipeline diameters and different unfolding angles.

[0037] Further, there are multiple groups of rollers, and the multiple groups of rollers roll in contact with the outer wall or inner wall of the pipeline after being unfolded by swing arm 1 411 and swing arm 2 421. Specifically, swing arm 1 411 and swing arm 2 421 roll in contact with the outer wall or inner wall of the pipeline by unfolding to both sides.

[0038] Furthermore, the robot arm 1 41 of the present invention is provided with a pair of swing arms 1 411 , and the robot arm 2 42 is provided with a pair of swing arms 2 421 , and a plurality of groups of rollers are respectively provided on the pair of swing arms 1 411 and the pair of swing arms 2 421 .

[0039] Furthermore, the present invention comprises two groups of multi-angle mechanical arms 4 composed of mechanical arm 1 41 and mechanical arm 2 42, and the two groups of multi-angle mechanical arms 4 are arranged front and back at the lower end of the frame 1; the mechanical arm 1 41 and mechanical arm 2 42 on each group of multi-angle mechanical arms 4 are linked by the transmission gears at the ends of the driving screw 1 413 and the driving screw 2 423, so that the single driving motor 6 controls the synchronous rotation of the driving screw 1 413 and the driving screw 2 423, so that the swing arm 1 411 and the swing arm 2 421 on each group of multi-angle mechanical arms 4 are synchronously unfolded to both sides so that the rollers at their ends are in rolling contact with the pipeline wall. By adopting the above scheme, after the two groups of multi-angle mechanical arms 4 of the pipeline detection equipment are unfolded, each side can maintain rollers in front and back in rolling contact with the pipeline wall, greatly improving the stability of its movement.

[0040] The driving motor 6 of the present invention is a waterproof motor 101 , and a battery for providing a power source for the driving motor 6 is sealed in the machine box 3 .

[0041] As another embodiment of the present invention, Figure 6 As shown, the arc scraper 10 is rotatably arranged in the swing arm 1 411 and the swing arm 2 421 of the present invention. When the swing arm 1 411 and the swing arm 2 421 are rotated to a vertical state, the arc scraper 10 can be controlled to rotate to a certain angle by the motor 101 arranged on the swing arm 1 411 and the swing arm 2 421. The motor 101 is a self-locking motor 101, and its output end is connected to the hinge shaft of the arc scraper 10 located on the swing arm, so as to facilitate the arc scraper 10 to contact with the pipeline surface to remove the silt or attachments thereon, thereby facilitating a clearer inspection of the pipeline situation. Furthermore, the motor 101 used to control the expansion of the arc scraper 10 can be replaced by an electric push rod, one end of which is hinged in the swing arm, and the other end of which is hinged to the back of the arc scraper 10, so that the electric push rod can control the arc scraper 10 to open at different angles by telescoping.

[0042] The working principle of the present invention is as follows: by using the Beidou communication positioning module and controller as the automatic control system of the underwater pipeline detection equipment, the underwater tracking equipment is remotely controlled, and the video and pictures collected underwater are recorded by relying on the infrared camera 5 on the machine box 3 and the multi-angle robotic arm 4, and stored in the positioning module, and the video can also be transmitted in real time with the terminal device.

[0043] When in use, the device is placed in water, and the propeller 2 on it is controlled by the controller to work, so that it dives to a certain depth, and the infrared camera 5 on the machine box 3 is used to find the position of the underwater pipeline, and the positioning module is used to locate the device in real time, so that the controller controls the underwater pipeline detection equipment to move along the axial direction of the pipeline.

[0044] When entering a narrow space where the underwater pipeline detection equipment cannot enter, the controller controls the driving motor 61 to swing the swing arm 411 90 degrees to the middle of the mounting frame 412. At this time, by controlling the underwater pipeline detection equipment to continue diving, the swing arm 411 drives the infrared camera 5 at its end to be inserted into the narrow space for inspection and viewing.

[0045] When it is necessary to inspect the two sides and the lower part of the pipeline fixed on the bottom of the water, the swing arm 1 411 and the swing arm 2 421 are simultaneously unfolded to both sides and form a certain angle, so that the infrared cameras 5 at the ends of the swing arm 1 411 and the swing arm 2 421 can be unfolded to the lower parts of both sides of the pipeline, so that the mobile underwater pipeline detection equipment can observe the lower sides of the pipeline in real time through the infrared camera 5.

[0046] The above are only preferred embodiments of the present invention, and do not limit the present invention in any form. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the above technical content without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any changes, modifications, equivalent changes and modifications made to the above embodiments based on the technology of the present invention without departing from the content of the technical solution of the present invention belong to the protection scope of the present technical solution.

Claims

1. An underwater submarine pipeline detection device, characterized in that: include: A frame (1) on which a plurality of propellers (2) for underwater movement are arranged; A machine box (3) mounted on the frame (1), wherein a controller for controlling the operation of the plurality of propellers (2) is arranged in the machine box (3); A positioning module, arranged in the housing (3) and electrically connected to the controller, for sending and receiving wireless information in real time; A multi-angle mechanical arm (4) which can be stored at the lower end of the frame (1) and is provided with a driving motor (6) for driving the multi-angle mechanical arm to be unfolded and stored; An infrared camera (5) is disposed on the machine box (3) and the multi-angle mechanical arm (4) and is electrically connected to the controller; The driving motor (6) drives the multi-angle mechanical arm (4) to unfold toward both sides of the frame (1) to adjust the position and angle of the infrared camera (5) located on the multi-angle mechanical arm (4) on the frame (1).

2. The underwater submarine pipeline detection equipment according to claim 1, characterized in that: The multi-angle robot arm (4) comprises a robot arm 1 (41) and a robot arm 2 (42); the robot arm 1 (41) is fixedly arranged at one end of the bottom surface of the frame (1); the robot arm 2 (42) is fixedly arranged at the other end of the bottom surface of the frame (1); the robot arm 1 (41) is provided with a swing arm 1 (411); the robot arm 2 (42) is provided with a swing arm 2 (421); the swing arm 1 (411) moves along one side of the frame (1) and swings to unfold; the swing arm 2 (421) moves along the other side of the frame (1) and swings to unfold.

3. The underwater submarine pipeline detection equipment according to claim 2, characterized in that: The mechanical arm (41) further comprises a mounting frame (412), a driving screw (413), a slider (414) and an angle adjustment mechanism (415); the two ends of the mounting frame (412) are fixed to two sides of one end of the bottom surface of the frame (1); the driving screw (413) is rotatably arranged in the mounting frame (412); the slider (414) is slidably arranged on the mounting frame (412) and is threadedly connected to the driving screw (413); one end of the swing arm (411) is hinged on the slider (414); the swing arm (411) slides on the mounting frame (412) through the angle adjustment mechanism (415) to adjust its swing angle; The second mechanical arm (42) also includes a second mounting frame (422), a second driving screw (423), a second sliding block (424) and a second angle adjustment mechanism (425). The two ends of the second mounting frame (422) are fixed to the two sides of the other end of the bottom surface of the frame (1). The second driving screw (423) is rotatably arranged in the second mounting frame (422). The second sliding block (424) is slidably arranged on the second mounting frame (422) and is threadedly connected to the second driving screw (423). One end of the second swing arm (421) is hinged on the second sliding block (424). The second swing arm (421) adjusts its swing angle by sliding on the second mounting frame (422) through the second angle adjustment mechanism (425).

4. The underwater submarine pipeline detection equipment according to claim 3, characterized in that: The angle adjustment mechanism (415) comprises a rotating tooth (4151) disposed in the slider (414) and coaxially connected to the hinged end of the swing arm (411), and a plurality of racks (4152) disposed on the mounting frame (412), wherein the racks (4152) are arranged at intervals so that the rotating tooth (4151) on the slider (414) can slide on the mounting frame (412) to mesh with the racks (4152) respectively, thereby causing the rotating tooth (4151) to drive the swing arm (411) to rotate to adjust its angle; The angle adjustment mechanism 2 (425) includes a rotating tooth 2 (4251) disposed in the slider 2 (424) and coaxially connected to the hinged end of the swing arm 2 (421), and a plurality of racks 2 (4252) disposed on the mounting frame 2 (422), wherein the racks 2 (4252) are arranged at intervals so that the rotating tooth 2 (4251) located on the slider 2 (424) can be meshed with the racks 2 (4252) respectively by sliding on the mounting frame 2 (422), thereby causing the rotating tooth 2 (4251) to drive the swing arm 2 (421) to rotate to adjust its angle.

5. The underwater submarine pipeline detection equipment according to claim 4, characterized in that: The drive motor (6) comprises a drive motor 1 (61) and a drive motor 2 (62); the drive motor 1 (61) is connected to the drive screw 1 (413) via a coupling or a reducer; and the drive motor 2 (62) is connected to the drive screw 2 (423) via a coupling or a reducer.

6. The underwater submarine pipeline detection equipment according to claim 4, characterized in that: The drive motor (6) is arranged at one end of the swing arm 1 (411) or the swing arm 2 (421), and the output end of the drive motor (6) is coaxially connected to the drive screw rod 1 (413) or the drive screw rod 2 (423), and the drive screw rod 1 (413) and the drive screw rod 2 (423) are provided with driven bevel gears; and also includes a coaxially connected transmission bevel gear, the transmission bevel gear is meshingly connected with the driven bevel gear, so that when the drive screw rod 1 (413) rotates, the drive screw rod 2 (423) is driven to rotate synchronously through the transmission bevel gear.

7. The underwater submarine pipeline detection equipment according to claim 5 or 6, characterized in that: It also includes a clamping mechanism (7) for locking the slider 1 (414) and the slider 2 (424), so that the slider 1 (414) and the slider 2 (424) slide on the mounting frame 1 (412) and the mounting frame 2 (422), and when the rotating gear 1 (4151) is disengaged from the rack 1 (4152), and when the rotating gear 2 (4251) is disengaged from the rack 2 (4252), the swinging angle of the swing arm 1 (411) and the swing arm 2 (421) is locked.

8. The underwater submarine pipeline detection equipment according to claim 7, characterized in that: The clamping mechanism (7) comprises a polygonal block (71) provided on the rotating gear 1 (4151) and the rotating gear 2 (4251), and a limiting groove (72) and a rotating groove (73) provided on the mounting frame 1 (412) and the mounting frame 2 (422); the rack 1 (4152) and the rack 2 (4252) are located in the rotating groove (73), so that the rotating gear 1 (4151) and the rotating gear 2 (4251) can move linearly into the rotating groove (73) to mesh with and rotate with the rack 1 (4152) and the rack 2 (4252).

9. The underwater submarine pipeline detection equipment according to claim 1, characterized in that: It also comprises a fixing frame (8), the fixing frame (8) being fixed to the machine box (3) by means of screws; the infrared camera (5) is arranged at the lower end of the fixing frame (8), and an irradiation lamp (9) is arranged at the upper end of the fixing frame (8).

10. The underwater submarine pipeline detection equipment according to claim 4, characterized in that: The infrared camera (5) is hinged to the ends of the first swing arm (411) and the second swing arm (421), respectively. The first swing arm (411) and the second swing arm (421) are also provided with a push rod for pushing the infrared camera to rotate.

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