Installation and maintenance mechanical arm device of underwater pipeline for water conservancy project

Abstract

The invention discloses an installation and maintenance mechanical arm device of an underwater pipeline for a water conservancy project, and relates to the technical field of mechanical arms, the installation and maintenance mechanical arm device comprises a fixing frame, a manipulator is arranged at the bottom of the fixing frame, a fixing plate is installed at the execution tail end of the manipulator, a limiting frame is fixedly connected to the bottom of the fixing plate, and a semicircular baffle is slidably connected to the interior of a limiting groove. Inclined blocks are slidably connected to the two sides of the interior of the limiting frame correspondingly, a rotating rod is rotatably connected to the interior of the fixing plate, an intermediate gear is fixedly connected to the output end of the rotating rod, toothed plates are slidably connected to the two sides of the interior of the fixing plate correspondingly, and mounting blocks are fixedly connected to the opposite ends of the two toothed plates correspondingly. Moving frames are fixedly connected to the bottoms of the two mounting blocks correspondingly, a plurality of positioning plates are arranged in the two moving frames correspondingly, the mounting and maintaining mechanical arm device for the underwater pipeline for the water conservancy project is suitable for transferring pipelines with different pipe diameters, mounting errors caused by shaking or inclining are avoided, and the overall performance of a pipeline system is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arms, in particular to a mechanical arm device for installing and repairing underwater pipelines in water conservancy projects. Background Art

[0002] In water conservancy projects, the laying and installation of underwater pipelines is an important part of ensuring the effective use of water resources and flood control and drainage. With the acceleration of urbanization and the continuous advancement of infrastructure construction, higher requirements are placed on underwater pipeline technology.

[0003] In water conservancy projects, the installation and maintenance of underwater pipelines are crucial links. Traditional underwater pipeline installation and maintenance work usually requires a lot of manual intervention, which is not only labor-intensive, but also complex and dangerous, and requires very high skills from operators. In addition, due to the particularity of the underwater environment, traditional manual operation methods are difficult to ensure the accuracy and efficiency of installation and maintenance, which can easily lead to problems such as loose pipe connections and poor sealing, affecting the operation effect and service life of the entire water conservancy project. Summary of the invention

[0004] The purpose of the present invention is to provide an installation and maintenance mechanical arm device for underwater pipelines used in water conservancy projects, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical scheme: a mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects, comprising a fixed frame, a manipulator is arranged at the bottom of the fixed frame, a fixed plate is installed at the execution end of the manipulator, a limiting frame is fixedly connected to the bottom of the fixed plate, a limiting groove is arranged inside the limiting frame, a semicircular baffle is slidably connected inside the limiting groove, a groove is arranged on the inner side of the semicircular baffle, the groove is adapted to the limiting groove, both sides of the limiting frame are slidably connected with inclined blocks, two inclined blocks are respectively arranged on both sides of the bottom of the semicircular baffle, a rotating rod is rotatably connected inside the fixed plate, an intermediate gear is fixedly connected to the output end of the rotating rod, tooth plates are slidably connected to both sides of the fixed plate, the two tooth plates are respectively meshed and connected to both sides of the intermediate gear, the reverse ends of the two tooth plates are fixedly connected with mounting blocks, the bottoms of the two mounting blocks are fixedly connected with moving frames, a plurality of positioning plates are arranged inside the two moving frames, and the bottoms of the plurality of positioning plates are fixedly connected with anti-slip pads.

[0006] Preferably, tooth grooves are provided on both sides of the outer edge of the semicircular baffle, a first motor is fixedly connected to one side of the inner side of the limit frame, a rotating shaft is fixedly connected to the output end of the first motor, guide gears are fixedly connected to both ends of the rotating shaft, the two guide gears are respectively meshed with the two tooth grooves, and the two guide gears are driven to rotate by the rotating shaft, thereby driving the semicircular baffle to rotate.

[0007] Preferably, two cross bars are fixedly connected to the bottom of both sides of the limit frame, one end of the two cross bars on the same side is fixedly connected to a side plate, and support plates are integrally formed on both sides of the two oblique blocks. The four support plates are respectively sleeved on the outside of the four cross bars and slidably connected to the four cross bars, and the outside of the four cross bars are sleeved with first springs, and the two ends of the four first springs are respectively in contact with the four support plates and the two side plates, so that the oblique blocks are supported and limited by the first springs.

[0008] Preferably, a second motor is fixedly connected to the top of the fixed plate, and the output end of the second motor is fixedly connected to the top of the rotating rod. The two mounting blocks are fixedly connected to limiting rods on opposite sides, and the two limiting rods respectively pass through both ends of the fixed plate and are slidably connected to the fixed plate. The two mounting blocks are supported by the limiting rods to improve the stability of the mounting blocks during movement.

[0009] Preferably, a plurality of slide grooves are provided in a circular array inside the movable frame, and the plurality of positioning plates are respectively slidably connected inside the plurality of slide grooves, one side of the plurality of positioning plates are arranged as an inclined surface, one end of the plurality of positioning plates are fixedly connected with a second spring, and the ends of the plurality of second springs away from the positioning plates are in contact with the end wall of the slide groove to support the positioning plates.

[0010] Preferably, one end of each of the positioning plates is fixedly connected to a round rod, and one side of the movable frame is rotatably connected to a turntable. The turntable has a plurality of arc grooves arranged in a circular array. The plurality of round rods respectively penetrate the plurality of arc grooves and are slidably connected to the plurality of arc grooves. A pull rod is fixedly connected to one side of the turntable, and the turntable is driven to rotate by the pull rod, thereby pushing the plurality of round rods to move inside the turntable.

[0011] Preferably, a support rod is fixedly connected to one side of the mounting block, a hinge plate is rotatably connected to the outer side of the support rod, a first hydraulic cylinder is fixedly connected to the bottom of the hinge plate, a push plate is fixedly connected to the output end of the first hydraulic cylinder, the pull rod passes through the push plate and is rotatably connected to the push plate, a cover plate is fixedly connected to the front side of the movable frame, a through groove is provided on one side of the inner side of the cover plate, the pull rod passes through the through groove and is slidably connected to the through groove, and the push plate is driven by the first hydraulic cylinder to drive the pull rod to move.

[0012] Preferably, a second hydraulic cylinder is fixedly connected to the top of the mounting block, a connecting block is fixedly connected to the output end of the second hydraulic cylinder, a transverse plate is fixedly connected to the bottom of the connecting block, and the transverse plate is sleeved on the outside of two tooth plates and a limiting rod to support and limit the transverse plate, thereby improving the stability of the transverse plate.

[0013] Preferably, a support sleeve is fixedly connected to the bottom of the transverse moving plate, one side of the support sleeve is fixedly connected to a limit rail, an orbiting walker is slidably connected to the outer side of the limit rail, the walking end of the orbiting walker is meshed with the limit rail, one side of the orbiting walker is fixedly connected to an electric guide rail, and the moving end of the electric guide rail is fixedly connected to a welding machine, and the electric guide rail and the welding machine are driven to move when the orbiting walker walks on the outer side of the limit rail, and the electric guide rail drives the welding machine to slide inside the electric guide rail.

[0014] Preferably, a threaded rod is rotatably connected inside the fixed frame, a third motor is fixedly connected to one end of the fixed frame, an output end of the third motor is fixedly connected to the threaded rod, a moving block is threadedly connected to the outer side of the threaded rod, the moving block is slidably connected to the inside of the fixed frame, the manipulator is fixedly connected to the bottom of the fixed frame, and moving wheels are fixedly connected on both sides of both ends of the fixed frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. This application enables the first motor to drive the shaft to rotate when starting, and the rotation of the shaft drives the two guide gears to rotate, and the two guide gears drive the semicircular baffle to rotate. When the semicircular baffle rotates, it slides inside the limit groove. When the semicircular baffle moves to the bottom, the pipeline is closed inside the limit groove, so that the pipeline can be taken out, which is convenient for subsequent installation steps, and the automatic grasping and handling of underwater pipelines can be realized. The pipeline can be quickly transferred initially, which improves work efficiency and realizes the automatic grasping and handling function of underwater pipelines. In this process, manual intervention is reduced, labor intensity is reduced, and the safety and efficiency of the operation are improved.

[0017] 2. The present application enables two movable frames to be sleeved on both ends of the pipeline to limit the position of the pipeline, and then the first hydraulic cylinder is started in the reverse direction, so that the first hydraulic cylinder drives the push plate to move in the reverse direction, and the push plate drives the pull rod and the turntable to rotate in the reverse direction, thereby driving multiple positioning plates to shrink inward, so that the multiple positioning plates drive multiple anti-slip pads to fit the outer walls of both ends of the pipeline to support and position the pipeline. It is not only suitable for the transfer of pipelines with different diameters, but also keeps the pipeline stable during the movement, improves the subsequent installation effect, and is suitable for the transfer of pipelines with different diameters. It has strong versatility and adaptability. Whether it is a large-diameter or small-diameter pipeline, stable and reliable transfer can be achieved by adjusting the position and parameters of related components. During the movement of the pipeline, multiple support and limit devices are used to ensure that the pipeline remains stable, avoiding installation errors caused by shaking or tilting. This helps to improve the subsequent installation effect and ensure the overall performance of the pipeline system.

[0018] 3. This application makes multiple positioning plates contact with the buried pipelines, pushes the pipeline to be installed and the buried pipeline closer, and adjusts the spacing between the two mobile racks to move a mobile rack to the outside of the buried pipeline, and controls the multiple positioning plates inside the mobile rack to fold, so that the buried pipeline and the pipeline to be installed are aligned, and then the second hydraulic cylinder is started to drive the connection block to move, and drives the transverse plate to move, so that the transverse plate drives the support sleeve and the limit rail to move, so that the welding machine is close to the contact position of the two pipelines, and the electric guide rail executes the end drive welding machine to approach the connection, so that the welding machine welds the pipeline, and at the same time, the surrounding walker walks outside the limit rail, so that the welding machine completely welds the outer ring of the pipeline, which is convenient to operate, not only can realize the precise positioning of the pipeline, but also can perform high-quality welding on the pipeline through a special welding device. This not only ensures the firmness of the pipeline connection, but also improves the sealing and durability of the pipeline system, and is easy to operate, so that the staff can easily master and use it. At the same time, the improvement of the degree of automation also reduces the requirements for the skill level of the operator, and further simplifies the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the fixing frame of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the manipulator of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the limiting frame of the present invention;

[0023] Figure 5 It is a structural schematic diagram of the fixing plate of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the inclined block of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the limiting groove of the present invention;

[0026] Figure 8 It is a structural schematic diagram of the semicircular baffle of the present invention;

[0027] Fig. 9 It is a schematic diagram of the structure of the intermediate gear of the present invention;

[0028] Fig.10 It is a structural schematic diagram of the cover plate of the present invention;

[0029] Fig.11 It is a structural schematic diagram of the turntable of the present invention;

[0030] Fig.12 It is a structural schematic diagram of the chute of the present invention;

[0031] Fig.13 It is a structural schematic diagram of the positioning plate of the present invention;

[0032] Fig.14 It is a schematic structural diagram of the transverse plate of the present invention.

[0033] Numbers in the figure: 1, fixed frame; 2, manipulator; 3, fixed plate; 4, limit frame; 5, limit groove; 6, semicircular baffle; 601, tooth groove; 602, groove; 7, cross bar; 8, side plate; 9, first spring; 10, inclined block; 11, support plate; 12, first motor; 13, rotating shaft; 14, guide gear; 15, rotating rod; 16, intermediate gear; 17, tooth plate; 18, limit rod; 19, mounting block; 20, mobile frame; 21, slide groove; 22, positioning plate; 23, anti-slip pad; 24 , the second spring; 25, round rod; 26, turntable; 27, arc groove; 28, pull rod; 29, support rod; 30, hinged plate; 31, first hydraulic cylinder; 32, push plate; 33, cover plate; 34, through groove; 35, transverse plate; 36, second hydraulic cylinder; 37, connecting block; 38, support sleeve; 39, second motor; 40, limit rail; 41, orbiting walker; 42, electric guide rail; 43, welding machine; 44, threaded rod; 45, moving block; 46, third motor; 47, moving wheel. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Example: Figure 1-Figure 14As shown, the present invention provides a technical solution for an installation and maintenance mechanical arm device for underwater pipelines in water conservancy projects, including a fixed frame 1, a manipulator 2 is arranged at the bottom of the fixed frame 1, a threaded rod 44 is rotatably connected inside the fixed frame 1, a third motor 46 is fixedly connected to one end of the fixed frame 1, an output end of the third motor 46 is fixedly connected to the threaded rod 44, a moving block 45 is threadedly connected to the outer side of the threaded rod 44, the moving block 45 is slidably connected to the inside of the fixed frame 1, the manipulator 2 is fixedly connected to the bottom of the fixed frame 1, both ends of the fixed frame 1 are fixedly connected to moving wheels 47, a fixed plate 3 is installed at the execution end of the manipulator 2, the bottom of the fixed plate 3 is fixedly connected to a limiting frame 4, a limiting groove 5 is provided inside the limiting frame 4, and a limiting groove 5 is slidably connected inside A semicircular baffle 6 is provided with a groove 602 on the inner side of the semicircular baffle 6, and the groove 602 is adapted to the limiting groove 5. Both sides of the limiting frame 4 are slidably connected with inclined blocks 10, and the two inclined blocks 10 are respectively arranged on both sides of the bottom of the semicircular baffle 6. A rotating rod 15 is rotatably connected inside the fixed plate 3, and an intermediate gear 16 is fixedly connected to the output end of the rotating rod 15. Both sides of the fixed plate 3 are slidably connected with tooth plates 17, and the two tooth plates 17 are respectively meshed and connected to both sides of the intermediate gear 16. The reverse ends of the two tooth plates 17 are fixedly connected with mounting blocks 19, and the bottoms of the two mounting blocks 19 are fixedly connected with moving frames 20. Multiple positioning plates 22 are arranged inside the two moving frames 20, and the bottoms of the multiple positioning plates 22 are fixedly connected with anti-slip pads 23.

[0036] Tooth grooves 601 are provided on both sides of the outer side of the semicircular baffle 6, and a first motor 12 is fixedly connected to one side of the inner side of the limit frame 4. A rotating shaft 13 is fixedly connected to the output end of the first motor 12, and guide gears 14 are fixedly connected to both ends of the rotating shaft 13. The two guide gears 14 are respectively meshed with the two tooth grooves 601, and the two guide gears 14 are driven to rotate by the rotating shaft 13, so as to drive the semicircular baffle 6 to rotate. Two cross bars 7 are fixedly connected to the bottom of both sides of the limit frame 4, and one end of the two cross bars 7 on the same side is fixedly connected to the side plates 8. Support plates 11 are integrally formed on both sides of the two inclined blocks 10, and the four support plates 11 are respectively sleeved on the outside of the four cross bars 7 and slidably connected to the four cross bars 7. The outside of the four cross bars 7 are sleeved with first springs 9, and the two ends of the four first springs 9 are respectively in contact with the four support plates 11 and the two side plates 8, and the inclined blocks 10 are supported and limited by the first springs 9.

[0037] A second motor 39 is fixedly connected to the top of the fixed plate 3, and the output end of the second motor 39 is fixedly connected to the top of the rotating rod 15. The two mounting blocks 19 are fixedly connected to the limiting rods 18 on opposite sides. The two limiting rods 18 respectively pass through the two ends of the fixed plate 3 and are slidably connected to the fixed plate 3. The two mounting blocks 19 are supported by the limiting rods 18 to improve the stability of the mounting blocks 19 when moving.

[0038] A plurality of slide grooves 21 are provided in a circular array inside the movable frame 20, and a plurality of positioning plates 22 are respectively slidably connected to the interior of the plurality of slide grooves 21, and one side of the plurality of positioning plates 22 is set as an inclined surface, and one end of the plurality of positioning plates 22 is fixedly connected to a second spring 24, and one end of the plurality of second springs 24 away from the positioning plate 22 is in contact with the end wall of the slide groove 21 to support the positioning plate 22, and one end of the plurality of positioning plates 22 is fixedly connected to a round rod 25, and a turntable 26 is rotatably connected to one side of the movable frame 20, and a plurality of arc grooves 27 are provided in a circular array inside the turntable 26, and a plurality of round rods 25 respectively penetrate the plurality of arc grooves 27 and are slidably connected to the plurality of arc grooves 27, and a pull rod 28 is fixedly connected to one side of the turntable 26, and the turntable 26 is driven to rotate by the pull rod 28, so as to push the plurality of round rods 25 to move inside the turntable 26, and a mounting block 19 is fixed on one side. A support rod 29 is fixedly connected, and a hinged plate 30 is rotatably connected to the outer side of the support rod 29. A first hydraulic cylinder 31 is fixedly connected to the bottom of the hinged plate 30, and a push plate 32 is fixedly connected to the output end of the first hydraulic cylinder 31. The pull rod 28 passes through the push plate 32 and is rotatably connected to the push plate 32. A cover plate 33 is fixedly connected to the front side of the movable frame 20, and a through groove 34 is opened on one side of the inner side of the cover plate 33. The pull rod 28 passes through the through groove 34 and is slidably connected to the through groove 34. The push plate 32 is driven by the first hydraulic cylinder 31 to drive the pull rod 28 to move. A second hydraulic cylinder 36 is fixedly connected to the top of the mounting block 19, and a connecting block 37 is fixedly connected to the output end of the second hydraulic cylinder 36. A transverse plate 35 is fixedly connected to the bottom of the connecting block 37. The transverse plate 35 is sleeved on the outside of the two tooth plates 17 and the limit rod 18 to support and limit the transverse plate 35, thereby improving the stability of the transverse plate 35.

[0039] A support sleeve 38 is fixedly connected to the bottom of the transverse moving plate 35, and a limit rail 40 is fixedly connected to one side of the support sleeve 38. A circumferential walker 41 is slidably connected to the outer side of the limit rail 40. The walking end of the circumferential walker 41 is meshed and connected with the limit rail 40. An electric guide rail 42 is fixedly connected to one side of the circumferential walker 41, and a welding machine 43 is fixedly connected to the moving end of the electric guide rail 42. When the circumferential walker 41 walks on the outer side of the limit rail 40, the electric guide rail 42 and the welding machine 43 are driven to move, and the electric guide rail 42 drives the welding machine 43 to slide inside the electric guide rail 42.

[0040] When the present solution is in use, the manipulator 2 drives the fixing plate 3 to move to the pipe stacking position, so that the fixing plate 3 drives the limiting frame 4 to move above the pipe to be installed, and the manipulator 2 controls the fixing plate 3 to drive the limiting frame 4 to be stuck on the outside of the pipe. When the pipe contacts the two inclined blocks 10, the pipe pushes the inclined surfaces at the bottom of the two inclined blocks 10 to move to both sides, so that the two inclined blocks 10 drive the two supporting plates 11 to compress the first spring 9. After the pipe moves to the top of the two inclined blocks 10, the first springs 9 on both sides are reset and push the inclined blocks 10 on both sides to move closer to the middle, pushing the pipe up, and then the first springs 9 on both sides are reset. A motor 12 is started, so that the first motor 12 drives the rotating shaft 13 to rotate when it starts, and the rotation of the rotating shaft 13 drives the two guide gears 14 to rotate, and the two guide gears 14 drive the semicircular baffle 6 to rotate. When the semicircular baffle 6 rotates, it slides inside the limit groove 5. When the semicircular baffle 6 moves to the bottom, the pipeline is closed inside the limit groove 5, so that the pipeline can be taken out, which is convenient for subsequent installation steps, and the automatic grasping and handling of underwater pipelines can be realized. The pipeline can be quickly transferred initially, which improves work efficiency and realizes the automatic grasping and handling function of underwater pipelines. In this process, manual intervention is reduced, labor intensity is reduced, and the safety and efficiency of the operation are improved.

[0041] The second motor 39 is started, so that the second motor 39 drives the rotating rod 15 to rotate, and the rotating rod 15 drives the intermediate gear 16 to rotate, so that the intermediate gear 16 drives the two tooth plates 17 to move relatively, and then the tooth plates 17 drive the two mounting blocks 19 to move to both sides. When the mounting blocks 19 move, the two mounting blocks 19 drive the two moving frames 20 to move to both ends of the pipeline, and then the first hydraulic cylinder 31 is started, so that the first hydraulic cylinder 31 drives the push plate 32 to move, and the push plate 32 drives the pull rod 28 to move when moving, so that the pull rod 28 slides inside the through groove 34, and the pull rod 28 is fixedly connected to the turntable 26, so that the pull rod 28 drives the turntable 26 to rotate when moving, so that the multiple arc grooves 27 inside the turntable 26 rotate synchronously, and when the multiple arc grooves 27 rotate, they limit the multiple round rods 25, so as to This is to push the multiple round rods 25 to expand outward. When the multiple round rods 25 move outward, the multiple positioning plates 22 are driven to move. Then the two tooth plates 17 drive the two moving frames 20 to move in the direction of the pipeline, so that the two moving frames 20 are sleeved on both ends of the pipeline to limit the pipeline. Then the first hydraulic cylinder 31 is reversely started, so that the first hydraulic cylinder 31 drives the push plate 32 to move in the opposite direction, and the push plate 32 drives the pull rod 28 and the turntable 26 to rotate in the opposite direction, thereby driving the multiple positioning plates 22 to shrink inward, so that the multiple positioning plates 22 drive the multiple anti-slip pads 23 to fit the outer walls of the two ends of the pipeline, and support and position the pipeline. It is not only suitable for the transfer of pipelines with different diameters, but also keeps the pipeline stable during the movement process, improves the subsequent installation effect, and is suitable for the transfer of pipelines with different diameters. It has strong versatility and adaptability. Whether it is a large-diameter or small-diameter pipeline, stable and reliable transfer can be achieved by adjusting the position and parameters of related components. During the movement of the pipeline, multiple support and limit devices are used to ensure that the pipeline remains stable, avoiding installation errors caused by shaking or tilting. This helps improve subsequent installation results and ensures the overall performance of the piping system.

[0042] When the pipeline needs to be installed at the specified position, the moving wheel 47 drives the fixed frame 1 to walk above the pipeline laying groove of the underwater pipeline, and drives the fixed plate 3 to drive the pipeline to the installation position through the manipulator 2, and then the moving frame 20 drives the pipeline to move to one end of the buried pipeline, and controls the rotation of the cover plate 33 by the first hydraulic cylinder 31 close to the side of the buried pipeline, so that the cover plate 33 drives multiple positioning plates 22 and anti-slip pads 23 to move outward, so that the moving frame 20 at the other end keeps the pipeline fixed, and then the loosened end of the moving frame 20 is close to one end of the buried pipeline, and multiple positioning plates 22 are in contact with the buried pipeline accordingly, so as to push the pipeline to be installed and the buried pipeline closer, and adjust the distance between the two moving frames 20 so that one moving frame 20 is moved to The outer side of the buried pipeline is controlled to close the multiple positioning plates 22 inside the mobile frame 20, so that the buried pipeline and the pipeline to be installed are aligned and fitted, and then the second hydraulic cylinder 36 is started to drive the connection block 37 to move, and the transverse plate 35 is driven to move, so that the transverse plate 35 drives the support sleeve 38 and the limit rail 40 to move, so that the welding machine 43 is close to the contact position of the two pipelines, and the electric guide rail 42 executes the end drive welding machine 43 to approach the connection, so that the welding machine 43 welds the pipeline, and at the same time, the surrounding walker 41 walks outside the limit rail 40, so that the welding machine 43 completely welds the outer ring of the pipeline, which is convenient to operate, and can not only realize the precise positioning of the pipeline, but also can perform high-quality welding on the pipeline through a special welding device. This not only ensures the firmness of the pipeline connection, but also improves the sealing and durability of the pipeline system, and is easy to operate, so that the staff can easily master and use it. At the same time, the improvement of the degree of automation also reduces the requirements for the skill level of the operator, and further simplifies the operation process.

[0043] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects, characterized by: The invention comprises a fixed frame (1), a manipulator (2) is arranged at the bottom of the fixed frame (1), a fixed plate (3) is installed at the execution end of the manipulator (2), the bottom of the fixed plate (3) is fixedly connected to a limiting frame (4), a limiting groove (5) is arranged inside the limiting frame (4), a semicircular baffle (6) is slidably connected inside the limiting groove (5), a groove (602) is arranged inside the semicircular baffle (6), the groove (602) is matched with the limiting groove (5), both sides of the limiting frame (4) are slidably connected with inclined blocks (10), and the two inclined blocks (10) are respectively arranged on both sides of the bottom of the semicircular baffle (6). The fixed plate (3) is rotatably connected to a rotating rod (15) inside, and an intermediate gear (16) is fixedly connected to the output end of the rotating rod (15). Tooth plates (17) are slidably connected to both sides of the fixed plate (3). The two tooth plates (17) are respectively meshed and connected to the two sides of the intermediate gear (16). The opposite ends of the two tooth plates (17) are fixedly connected to mounting blocks (19). The bottoms of the two mounting blocks (19) are fixedly connected to moving frames (20). Multiple positioning plates (22) are arranged inside the two moving frames (20), and the bottoms of the multiple positioning plates (22) are fixedly connected to anti-slip pads (23).

2. The mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects according to claim 1 is characterized in that: Tooth grooves (601) are provided on both sides of the outer edge of the semicircular baffle (6); a first motor (12) is fixedly connected to one side of the interior of the limiting frame (4); a rotating shaft (13) is fixedly connected to the output end of the first motor (12); guide gears (14) are fixedly connected to both ends of the rotating shaft (13); and the two guide gears (14) are respectively meshed with the two tooth grooves (601).

3. The mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects according to claim 1 is characterized in that: Two cross bars (7) are fixedly connected to the bottom of both sides of the limit frame (4); one end of the two cross bars (7) located on the same side is fixedly connected to a side plate (8); both sides of the two inclined blocks (10) are integrally formed with support plates (11); the four support plates (11) are respectively sleeved on the outside of the four cross bars (7) and slidably connected to the four cross bars (7); the outside of the four cross bars (7) are sleeved with a first spring (9); the two ends of the four first springs (9) are respectively in contact with the four support plates (11) and the two side plates (8).

4. The mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects according to claim 1 is characterized in that: A second motor (39) is fixedly connected to the top of the fixed plate (3), and an output end of the second motor (39) is fixedly connected to the top of the rotating rod (15). The two mounting blocks (19) are fixedly connected to limiting rods (18) on opposite sides, and the two limiting rods (18) respectively pass through two ends of the fixed plate (3) and are slidably connected to the fixed plate (3).

5. The mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects according to claim 1 is characterized in that: The movable frame (20) has a plurality of slide grooves (21) formed in a circular array inside, and the plurality of positioning plates (22) are respectively slidably connected inside the plurality of slide grooves (21), one side of the plurality of positioning plates (22) is arranged as an inclined surface, one end of the plurality of positioning plates (22) is fixedly connected with a second spring (24), and the ends of the plurality of second springs (24) away from the positioning plates (22) are in contact with the end wall of the slide groove (21).

6. The mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects according to claim 1 is characterized in that: One end of each of the plurality of positioning plates (22) is fixedly connected to a round rod (25); one side of the interior of the movable frame (20) is rotatably connected to a turntable (26); a plurality of arc grooves (27) are provided in a circular array inside the turntable (26); the plurality of round rods (25) respectively penetrate the plurality of arc grooves (27) and are slidably connected to the plurality of arc grooves (27); and a pull rod (28) is fixedly connected to one side of the turntable (26).

7. The mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects according to claim 6 is characterized in that: A support rod (29) is fixedly connected to one side of the mounting block (19), a hinge plate (30) is rotatably connected to the outer side of the support rod (29), a first hydraulic cylinder (31) is fixedly connected to the bottom of the hinge plate (30), a push plate (32) is fixedly connected to the output end of the first hydraulic cylinder (31), the pull rod (28) passes through the push plate (32) and is rotatably connected to the push plate (32), a cover plate (33) is fixedly connected to the front side of the movable frame (20), a through groove (34) is provided on one side of the inner side of the cover plate (33), the pull rod (28) passes through the through groove (34) and is slidably connected to the through groove (34).

8. The mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects according to claim 1 is characterized in that: The top of the mounting block (19) is fixedly connected to a second hydraulic cylinder (36), the output end of the second hydraulic cylinder (36) is fixedly connected to a connecting block (37), the bottom of the connecting block (37) is fixedly connected to a transverse plate (35), and the transverse plate (35) is sleeved on the outside of the two tooth plates (17) and the limiting rod (18).

9. The mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects according to claim 8, characterized in that: The bottom of the transverse moving plate (35) is fixedly connected to a support sleeve (38), one side of the support sleeve (38) is fixedly connected to a limit rail (40), the outer side of the limit rail (40) is slidably connected to a surrounding walker (41), the walking end of the surrounding walker (41) is meshedly connected to the limit rail (40), one side of the surrounding walker (41) is fixedly connected to an electric guide rail (42), and the moving end of the electric guide rail (42) is fixedly connected to a welding machine (43).

10. The mechanical arm device for installing and maintaining underwater pipelines in water conservancy projects according to claim 1, characterized in that: A threaded rod (44) is rotatably connected inside the fixed frame (1); a third motor (46) is fixedly connected to one end of the fixed frame (1); an output end of the third motor (46) is fixedly connected to the threaded rod (44); a moving block (45) is threadedly connected to the outside of the threaded rod (44); the moving block (45) is slidably connected to the inside of the fixed frame (1); the manipulator (2) is fixedly connected to the bottom of the fixed frame (1); and moving wheels (47) are fixedly connected to both sides of both ends of the fixed frame (1).

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