An underwater submarine pipeline detection device

Abstract

The present invention discloses an underwater submarine pipeline detection device, which relates to the technical field of submarine pipeline detection. Specifically, it includes a frame and a propeller arranged on the frame, a machine box installed on the frame, a controller and a positioning module arranged in the machine box, and a multi-angle mechanical arm that can be accommodated at the lower end of the frame and a drive motor on the angle mechanical arm. 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 mechanical arm to achieve automatic underwater navigation and real-time pipeline detection, and has the ability to detect the inside and outside of underwater pipelines. At the same time, a multi-angle mechanical arm that can be accommodated and deployed is provided at the lower end of the frame, and the drive motor is used to control the multi-angle mechanical arm to deploy at different angles to detect different positions of the pipeline, effectively improving the detection efficiency and accuracy of the underwater pipeline, having strong applicability, and effectively ensuring the continuity of underwater operations.

Description

Technical Field

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

[0002] Underwater robots are one of the most important tools currently used in ocean exploration and research, typically controlled by operators aboard surface support vessels. They can navigate freely in three-dimensional underwater space, observing through external cameras, obstacle avoidance sonar, or pipeline trackers. Combined with multifunctional manipulators or other underwater tools, they can complete specific underwater operational tasks. The underwater submarine pipeline inspection robot is a robotic system designed for the inspection and maintenance of submarine pipelines, including oil and gas pipelines, underwater communication cables, and water supply and drainage pipes. It is designed to meet the needs of safe 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. It discloses that it includes a mounting frame, a horizontal thruster, a vertical thruster, an obstacle removal mechanism, an equipment cabin assembly and a limiting mechanism. The upper side of the mounting frame is symmetrically provided with lighting lamps, and vertical thrusters are symmetrically provided below the 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 the equipment cabin assembly is installed on the limiting mechanism. 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 pressure from the obstacle. 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, ensuring 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. It 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 can sail underwater. Summary of the Invention

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

[0006] To achieve the above-mentioned object, the present invention provides an underwater submarine pipeline detection device, comprising:

[0007] a frame on which a plurality of propellers for underwater movement are provided;

[0008] The machine box is installed on the frame, and a controller for controlling the operation of multiple propellers is set in the machine box.

[0009] A positioning module is provided in the housing and is electrically connected to the controller for sending and receiving wireless information in real time;

[0010] A multi-angle robotic arm can be stored at the lower end of the frame, and a drive motor is provided on it to drive it to expand and retract;

[0011] an infrared camera, which is installed on the machine box and the multi-angle robotic arm and is electrically connected to the controller;

[0012] The driving motor drives the multi-angle robotic arm to expand toward both sides of the rack to adjust the position and angle of the infrared camera located on the multi-angle robotic arm on the rack.

[0013] The device also includes 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.

[0014] 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.

[0015] The first robotic arm also includes a mounting frame, a driving screw, a slider and an angle adjustment mechanism. The two ends of the 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 mounting frame, and the slider is slidably arranged on the mounting frame and is threadedly connected to the driving screw; one end of the swing arm is hinged on the slider; the swing arm slides on the mounting frame to adjust its swing angle through the angle adjustment mechanism; the second robotic arm also includes a second mounting frame, a second driving screw, a second slider and an angle adjustment mechanism. The two ends of the 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 mounting frame, the slider is slidably arranged on the mounting frame and is threadedly connected to the driving screw; one end of the swing arm is hinged on the slider; the swing arm slides on the mounting frame to adjust its swing angle through the angle adjustment mechanism.

[0016] Specifically, the infrared cameras are hinged to the ends of the swing arm 1 and the swing arm 2 respectively, and the swing arm 1 and the swing arm 2 are also provided with a push rod for pushing the infrared camera to rotate.

[0017] As another embodiment, the angle adjustment mechanism of the present invention includes a rotating tooth one provided in a slider one and coaxially connected to the hinged end of a swing arm one, and a plurality of racks one provided on a mounting frame one, the racks one being arranged at intervals so that the rotating tooth one on the slider one can respectively engage with the rack one by sliding on the mounting frame one, thereby causing the rotating tooth one to drive the swing arm one to rotate to adjust its angle; the angle adjustment mechanism includes a rotating tooth two provided in a slider two and coaxially connected to the hinged end of a swing arm two, and a plurality of racks two provided on a mounting frame two, the racks two being arranged at intervals so that the rotating tooth two on the slider two can respectively engage with the rack two by sliding on the mounting frame two, thereby causing the rotating tooth two to drive the swing arm two to rotate to adjust its angle.

[0018] Specifically, the present invention also includes a clamping mechanism for locking sliders 1 and 2, so that when sliders 1 and 2 slide on mounting brackets 1 and 2 and gear 1 disengages from rack 1 and gear 2, swing arms 1 and 2 are locked at their swing angles. The clamping mechanism includes polygonal blocks provided on gears 1 and 2, as well as limiting slots and rotation slots provided on mounting brackets 1 and 2. Racks 1 and 2 are positioned within the rotation slots, allowing gears 1 and 2 to linearly move into the rotation slots to engage and rotate with racks 1 and 2.

[0019] 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.

[0020] 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 meshed 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.

[0021] As another embodiment, an arc scraper is rotatably provided 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 provided on the swing arm one and the swing arm two. The motor is a self-locking motor, and its output end is connected to the hinge shaft of the arc scraper located on the swing arm, so as to facilitate the arc scraper to contact the pipeline surface to remove the silt or attachments thereon, thereby facilitating a clearer inspection of the pipeline condition.

[0022] Compared with the existing technology, it has the following beneficial effects:

[0023] 1. The present invention uses the positioning module and controller as the automatic control system of the underwater pipeline detection equipment, and relies on the infrared cameras on the machine box and the multi-angle robotic arm to record the videos 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 achieve 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.

[0024] 2. The present invention sets a multi-angle robotic arm that can be retracted and deployed at the lower end of the frame to detect different positions of the pipeline, effectively improving the detection efficiency and accuracy of underwater pipelines. It has strong applicability and effectively ensures the continuity of underwater operations.

[0025] 3. The present invention arranges arc scrapers for rotation inside the first and second swing arms. The motor can be used to control the arc scrapers to rotate to a certain angle, so that the arc scrapers come into contact with the pipeline surface to remove silt or attachments thereon.

[0026] 4. The present invention provides rotatable rollers on the first and second swing arms. The first and second swing arms are unfolded to form a certain angle so that the rollers thereon can roll and abut against both sides of the pipeline, thereby enabling the underwater pipeline inspection device to move stably on the pipeline. At the same time, when the pipeline inspection device of the present invention navigates within the underwater pipeline, the rolling contact between the rollers and the inner wall of the pipeline can be relied upon to improve its movement stability within the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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.

[0028] Figure 1 Schematic diagram of the structure of the submarine pipeline detection equipment used for underwater navigation in this application Figure 1 ;

[0029] Figure 2 Schematic diagram of the structure of the submarine pipeline detection equipment used for underwater navigation in this application Figure 2 ;

[0030] Figure 3 This is a schematic diagram of the machine box for this application;

[0031] Figure 4 Schematic diagram of the frame and propeller for this application;

[0032] Figure 5 Schematic diagram of the rack and box for this application;

[0033] Figure 6 Schematic diagram of robotic arm 1 and robotic arm 2 of this application;

[0034] Figure 7 Schematic diagram of swing arm 1 and swing arm 2 of this application;

[0035] Figure 8 Schematic diagram of mounting rack 1 and mounting rack 2 for this application;

[0036] Figure 9 for Figure 8 A magnified schematic diagram of the middle part A;

[0037] Figure 10 Schematic diagram of mounting rack 1 and mounting rack 2 for this application;

[0038] Figure 11 for Figure 10 Enlarged schematic diagram of part B in the middle.

[0039] Reference numerals: 1-frame; 2-propeller; 3-machine box;

[0040] 4-Multi-angle robotic arm;

[0041] 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;

[0042] 42 - Robotic arm 2; 421 - Swing arm 2; 422 - Mounting frame 2; 423 - Drive screw 2; 424 - Slider 2; 425 - Angle adjustment mechanism 2; 4251 - Rotating gear 2; 4252 - Rack 2;

[0043] 5-Infrared camera;

[0044] 6-drive motor; 61-drive motor 1; 62-drive motor 2;

[0045] 7-clamping mechanism; 71-polygonal block; 72-limiting groove; 73-rotation groove;

[0046] 8-fixed frame; 9-irradiation lamp; 10-arc scraper; 101-motor. DETAILED DESCRIPTION

[0047] 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 below with reference to the accompanying drawings:

[0048] Example:

[0049] like Figures 1 to 11As shown, the present invention provides an underwater submarine pipeline detection device, which specifically includes:

[0050] A frame 1 is provided with a plurality of propellers 2 for underwater movement, wherein the propellers 2 are six to eight and can achieve diving and floating, as well as forward and backward movement;

[0051] A machine box 3 is mounted on the frame 1. A controller for controlling the operation of the plurality of propellers 2 is provided in the machine box 3. The controller controls the plurality of propellers 2 to operate simultaneously or individually, thereby enabling the underwater pipeline inspection equipment to operate stably underwater.

[0052] The positioning module is disposed in the housing 3 and is electrically connected to the controller. It is used to send and receive wireless information in real time, so as to display the underwater pipeline status on the terminal device in real time and receive instructions from 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 operations underwater.

[0053] The multi-angle robot arm 4 can be stored at the lower end of the frame 1, and a drive motor 6 is provided on the multi-angle robot arm 4 to drive the multi-angle robot arm 4 to be stored and deployed.

[0054] An infrared camera 5 is mounted on the housing 3 and the multi-angle robotic arm 4 and is electrically connected to the controller. The infrared camera 5 of the underwater pipeline inspection equipment of the present invention records underwater video and images, stores them in the positioning module, and can also transmit video in real time to a terminal device, enabling real-time underwater inspection. Timed feedback can also be set to allow the positioning module to transmit data to a big data platform at regular intervals. The positioning module and controller (an STM32 single-chip microcomputer) of the present invention are installed within the sealed housing 3. The positioning module utilizes the Beidou communication positioning module, also known as the Beidou system, to implement Beidou positioning, remote control, and remote transmission functions. The present invention utilizes the Beidou system as the automatic control system for the underwater pipeline inspection equipment, enabling remote control of the equipment.

[0055] The driving motor 6 drives the multi-angle robotic 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 robotic arm 4 on the frame 1 .

[0056] 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.

[0057] See also Figure 3The 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 the upper end of the fixing frame 8 is provided with an illumination lamp 9, so as to illuminate underwater in the dark by setting the illumination lamp 9.

[0058] As another embodiment of the present invention, Figure 6 As shown, the multi-angle robotic arm 4 of the present invention includes a robotic arm 1 41 and a robotic arm 2 42. The robotic arm 1 41 is fixed at one end of the bottom surface of the frame 1, and the robotic arm 2 42 is fixed at the other end of the bottom surface of the frame 1. The robotic arm 1 41 is provided with a swing arm 1 411, and the robotic 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, 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.

[0059] 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 both 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 to the driving screw 413; one end of the swing arm 411 is hinged to the slider 414; the swing arm 411 slides on the mounting frame 412 through the angle adjustment mechanism 415 to adjust its swing angle.

[0060] See also Figures 6 to 11 The robotic 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 to the driving screw 423; one end of the swing arm 421 is hinged to the slider 424; the swing arm 421 slides on the mounting frame 422 through the angle adjustment mechanism 425 to adjust its swing angle.

[0061] 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.

[0062] As another embodiment of the present invention, the angle adjustment mechanism 415 of the present invention includes a rotating tooth 4151 provided in a slider 414 and coaxially connected to the hinged end of a swing arm 411, and a plurality of racks 4152 provided on a mounting frame 412. The racks 4152 are arranged at intervals so that the rotating tooth 4151 located on the slider 414 can engage with the racks 4152 respectively by sliding on the mounting frame 412, thereby causing the rotating tooth 4151 to drive the swing arm 411 to rotate to adjust its angle.

[0063] See also Figure 2 The angle adjustment mechanism 2 425 of the present invention includes a rotating gear 2 4251 arranged 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 arranged on the mounting frame 2 422. The racks 2 4252 are arranged at intervals so that the rotating gear 2 4251 located on the slider 2 424 can engage with the racks 2 4252 respectively by sliding on the mounting frame 2 422, so that the rotating gear 2 4251 drives the swing arm 2 421 to rotate to adjust its angle. This embodiment realizes multi-level adjustment of the rotation angle of the swing arm 1 411 and the swing arm 2 421 by setting multiple rack gears 1 4152 and rack gear 2 4252, and controls 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 by setting rack gears 1 4152 and rack gear 2 4252 at different positions; 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.

[0064] As another embodiment of the present invention, Figure 9 and Figure 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 slide on the mounting frame 1 412 and the mounting frame 2 422. 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 swing arm 1 411 and the swing arm 2 421 are locked in the swing angle to prevent the swing arm 1 411 and the swing arm 2 421 from shaking when moving underwater after the swing.

[0065] See also Figure 9 and Figure 11The clamping mechanism 7 of the present invention includes a polygonal block 71 provided on the first rotating gear 4151 and the second rotating gear 4251, as well as a limiting groove 72 and a rotation groove 73 provided on the first mounting frame 412 and the second mounting frame 422. The first rack 4152 and the second rack 4252 are located within the rotation groove 73, so that the first rotating gear 4151 and the second rotating gear 4251 can move linearly into the rotation groove 73 to mesh with the first rack 4152 and the second rack 4252 and rotate. When the polygonal block 71 enters the limiting groove 72, the first rotating gear 4151 and the second rotating gear 4251 cannot rotate. When the polygonal block 71 enters the rotation groove 73, due to the disengagement of the limiting groove 72, the first rotating gear 4151 and the second rotating gear 4252 can rotate in coordination with the first rack 4152 and the second rack 4252 located in the rotation groove 73 to adjust the angle of the first swing arm 411 and the second swing arm 421. Furthermore, the polygonal block 71 of the present invention is an octagon or a dodecagon. When the polygonal block 71 is an octagon, the first gear 4151 and the second gear 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 first gear 4151 and the second gear 4251 rotate 30 degrees each time they pass through a rack 1 4152 and a rack 2 4252. The first swing arm 411 and the second swing arm 421 of the present invention can be swung 90 degrees to become perpendicular to the frame 1, allowing the first swing arm 411 and the second swing arm 421 to be vertically extended into a narrow space for inspection and monitoring.

[0066] As another embodiment of the present invention, Figure 8 and Figure 10 The drive motor 6 of the present invention includes a drive motor 1 61 and a drive motor 2 62. The drive motor 1 61 is connected to the drive screw 1 413 through a coupling or a reducer, and the drive motor 2 62 is connected to the drive screw 2 423 through a coupling or a reducer. By setting the drive motor 1 61 and the drive 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 be selected 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.

[0067] As an alternative to the aforementioned drive motor 6 of the present invention, the drive motor 6 of the present invention is disposed at one end of the swing arm 1 411 or the swing arm 2 421 . The output end of the drive motor 6 is coaxially connected to the drive screw 1 413 or the drive screw 2 423 . The drive screw 1 413 and the drive screw 2 423 are provided with driven bevel gears. Furthermore, a coaxially connected transmission bevel gear is meshed with the driven bevel gear so that when the drive screw 1 413 rotates, the transmission bevel gear drives the drive screw 2 423 to rotate synchronously. This embodiment provides a single drive motor 6 and relies on the transmission bevel gear and the driven bevel gear to achieve synchronous movement of the drive screw 1 413 and the drive screw 2 423 , thereby driving the swing arm 1 411 and the swing arm 2 421 to expand in opposite directions simultaneously, thereby adjusting the position of the infrared camera 5 on the swing arm 1 411 and the swing arm 2 421 .

[0068] Furthermore, the present invention includes rotatable rollers (not shown) mounted on swing arm 1 411 and swing arm 2 421. By deploying swing arm 1 411 and swing arm 2 421 to form a certain angle, the rollers on the swing arm 1 411 and swing arm 2 421 can roll against the sides of the pipeline, enabling the underwater pipeline inspection equipment to move stably along the pipeline. Simultaneously, the rollers enable the pipeline inspection equipment to navigate in rolling contact with the inner wall of the pipeline, ensuring its stability within the pipeline. Furthermore, the rollers are connected to swing arm 1 411 and swing arm 2 421 via elastic mounting brackets to reduce the impact of surface debris on the pipeline during its movement. Furthermore, multiple rollers are provided, spaced apart along the axial direction of swing arm 1 411 and swing arm 2 421 to accommodate different pipeline diameters and deployment angles of swing arm 1 411 and swing arm 2 421.

[0069] Furthermore, the rollers are in multiple groups, and the multiple groups of rollers are rolled into contact with the outer wall or inner wall of the pipeline after being unfolded by the swing arm 1 411 and the swing arm 2 421. Specifically, the swing arm 1 411 and the swing arm 2 421 are unfolded to both sides to make the rollers roll into contact with both sides of the wall of the pipeline.

[0070] 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 multiple groups of rollers are respectively provided on the pair of swing arms 1 411 and the pair of swing arms 2 421 .

[0071] Furthermore, the present invention comprises two sets of multi-angle robotic arms 4, each consisting of a first robotic arm 41 and a second robotic arm 42. The two sets of multi-angle robotic arms 4 are arranged front and back at the lower end of the frame 1. The first robotic arm 41 and the second robotic arm 42 on each set of multi-angle robotic arms 4 are linked by transmission gears at the ends of the first drive screw 413 and the second drive screw 423, so that a single drive motor 6 controls the synchronous rotation of the first drive screw 413 and the second drive screw 423, thereby causing the first swing arm 411 and the second swing arm 421 on each set of multi-angle robotic arms 4 to be synchronously deployed to the sides, causing the rollers at their ends to roll in contact with the pipeline wall. Using this solution, after the two sets of multi-angle robotic arms 4 of the pipeline inspection equipment are deployed, each side maintains rollers in rolling contact with the pipeline wall on both sides, greatly improving the stability of its movement.

[0072] 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 .

[0073] As another embodiment of the present invention, Figure 6 As shown, the arc scraper 10 is rotatably provided 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 provided 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. This allows the arc scraper 10 to contact the pipeline surface to remove the silt or attachments thereon, thereby facilitating a clearer inspection of the pipeline condition. 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 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.

[0074] 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 infrared camera 5 on the machine box 3 and the multi-angle robotic arm 4 is used to record the videos and pictures collected underwater and store them in the positioning module. It can also transmit the video in real time with the terminal device.

[0075] When in use, the device is placed in water, and the propeller 2 on it is controlled by the controller to dive to a certain depth. The position of the underwater pipeline is found through the infrared camera 5 on the machine box 3, and the device is positioned in real time through the positioning module, so that the controller controls the underwater pipeline detection device to move along the axial direction of the pipeline.

[0076] When entering a narrow space where the underwater pipeline inspection equipment cannot enter, the controller controls the driving motor 61 to swing the swing arm 411 90 degrees to the middle of the mounting bracket 412. At this time, by controlling the underwater pipeline inspection 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.

[0077] When it is necessary to inspect both 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 deployed 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 are deployed 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.

[0078] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, use the above technical content to make many possible changes and modifications to the technical solution of the present invention, or modify it into an equivalent embodiment with 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 shall fall within the scope of protection of the present technical solution.

Claims

1. An underwater submarine pipeline detection device, characterized in that: include: a frame on which a plurality of propellers for underwater movement are provided; a machine box, mounted on the frame, wherein a controller for controlling the operation of a plurality of propellers is provided in the machine box; A positioning module is provided in the housing and is electrically connected to the controller for sending and receiving wireless information in real time; A multi-angle robotic arm can be stored at the lower end of the frame and is provided with a drive motor for driving the arm to expand and retract; an infrared camera, which is disposed on the machine box and the multi-angle robotic arm and is electrically connected to the controller; The driving motor drives the multi-angle robotic arm to expand toward both sides of the frame to adjust the position and angle of the infrared camera on the multi-angle robotic arm on the frame; The multi-angle robotic arm includes a first robotic arm and a second robotic arm. The first robotic arm is fixed to one end of the bottom surface of the frame, and the second robotic arm is fixed to the other end of the bottom surface of the frame. The first robotic arm is provided with a first swing arm, and the second robotic arm is provided with a second swing arm. The first swing arm moves along one side of the frame and swings to expand, and the second swing arm moves along the other side of the frame and swings to expand.

7. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 1, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod. said linking rod is pivotally connected to said linking rod. said linking rod is pivotally connected to said linking rod. said linking rod is pivotally connected to said linking rod. The angle adjustment mechanism includes a rotating gear one provided in the slider one and coaxially connected to the hinged end of the swing arm one, and a plurality of racks one provided on the mounting frame one, the racks one being arranged at intervals so that the rotating gear one on the slider one can slide on the mounting frame one to respectively engage with the rack one, thereby causing the rotating gear one to drive the swing arm one to rotate to adjust its angle; the angle adjustment mechanism includes a rotating gear two provided in the slider two and coaxially connected to the hinged end of the swing arm two, and a plurality of racks two provided on the mounting frame two, the racks two being arranged at intervals so that the rotating gear two on the slider two can slide on the mounting frame two to respectively engage with the rack two, thereby causing the rotating gear two to drive the swing arm two to rotate to adjust its angle; Rollers are rotatably provided on the swing arm one and the swing arm two. The swing arm one and the swing arm two are unfolded to form a certain angle so that the rollers thereon can roll and abut against both sides of the pipeline.

2. The underwater submarine pipeline detection equipment according to claim 1, characterized in that: The drive motor includes a first drive motor and a second drive motor. The first drive motor is connected to the first drive screw via a coupling or a reducer, and the second drive motor is connected to the second drive screw via a coupling or a reducer.

3. The underwater submarine pipeline detection equipment according to claim 1, characterized in that: The driving motor is arranged at one end of the swing arm 1 or the swing arm 2, and the output end of the driving motor is coaxially connected to the driving screw 1 or the driving screw 2. The driving screw 1 and the driving screw 2 are provided with a driven bevel gear; and also include a coaxially connected transmission bevel gear, and the transmission bevel gear is meshed with the driven bevel gear so that when the driving screw 1 rotates, the driving screw 2 is driven to rotate synchronously through the transmission bevel gear.

4. The underwater submarine pipeline detection equipment according to claim 2 or 3, characterized in that: It 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 disengages from the rack 1 and the rotating gear 2 disengages from the rack 2, the swing arm 1 and the swing arm 2 are locked in their swing angles.

5. The underwater submarine pipeline detection equipment according to claim 4, characterized in that: 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 opened on the mounting frame 1 and the mounting frame 2. The rack 1 and the rack 2 are located in the rotating groove, so that the rotating gear 1 and the rotating gear 2 can move linearly into the rotating groove to engage and rotate with the rack 1 and the rack 2.

6. The underwater submarine pipeline detection equipment according to claim 1, characterized in that: It also includes a fixing frame, which is fixed to the machine box by screws; the 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.

7. The underwater submarine pipeline detection equipment according to claim 1, characterized in that: The infrared cameras are respectively hinged to the ends of the first swing arm and the second swing arm. The first swing arm and the second swing arm are also provided with a push rod for pushing the infrared cameras to rotate.

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