Cleaning and detecting device for anchor chain and operation method of cleaning and detecting device

Abstract

The invention discloses an anchor chain cleaning and detecting device and an operation method thereof, the anchor chain cleaning and detecting device comprises an overwater system and an underwater system, and the overwater system and the underwater system are connected through an umbilical cable; the underwater system comprises an underwater frame structure, the underwater frame structure comprises an upper connecting assembly and a lower connecting assembly which are connected through a linear driving device, the upper connecting assembly is provided with an upper detection system and an electronic control cabin, and the lower connecting assembly is provided with a high-pressure cleaning device, a lower detection system and a wiring cabin; the upper connecting assembly and the lower connecting assembly are each provided with a clamping mechanism. In the anchor chain detecting and cleaning process, the upper connecting assembly, the linear driving device, the lower connecting assembly and the clamping mechanism form a self-positioning and chain climbing executing mechanism, the self-adaptability is achieved, the robot can adapt to anchor chains of different diameters and materials, the cleaning function is provided while detection is conducted, and the cleaning efficiency is improved. Through the multifunctional integrated design, the operation efficiency is remarkably improved, and the investment of manpower and mechanical equipment is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to a cleaning and detection device for an anchor chain and an operating method thereof. Background Art

[0002] The mooring system is a vital component of the offshore platform, which is exposed to seawater for a long time and faces severe environmental challenges. The corrosion of the anchor chain by microorganisms in the seawater and the salt water itself eventually leads to local corrosion problems. In this process, factors such as microbial fouling, metabolic corrosion and electrochemical corrosion are the main causes of severe corrosion. In addition, the interaction between anchor chains may also cause fatigue wear. Common forms of corrosion and wear include pitting, crevice corrosion, staining and pitting. These damages not only seriously affect the safety and reliability of the offshore platform, but sometimes even cause the anchor chain to break, which in turn causes the drift of the offshore platform and equipment damage.

[0003] Under the influence of wind, waves and currents, the anchor chain not only provides drag force, but also provides restoring force for the mooring system to maintain the stability of the platform. However, the long-term friction of the anchor chain in the flapping area will cause wear and deformation, and in other areas, the anchor chain will also suffer from seawater corrosion. According to research, the corrosion and wear conditions of anchor chains can generally be divided into four types, including a mixture of local pitting corrosion and general corrosion. Various factors have led to various forms of corrosion and wear interweaving on the anchor chain, reducing its physical properties and durability.

[0004] Due to the complex structure and high maintenance cost of offshore platforms, problems with anchor chains may cause serious economic losses and safety hazards. In order to avoid the safety of offshore platforms affected by broken mooring chains, regular cleaning and inspection become particularly necessary. Such maintenance not only prolongs the service life, but also reduces potential safety risks. However, the current inspection work mainly relies on divers to perform underwater operations. Although this is a relatively mature method in technology, diving operations require a high level of operating qualifications, there are high safety risks, and in complex marine environments, divers have low operating efficiency. Therefore, it is necessary to research and develop a device specifically for cleaning and inspecting anchor chains, which will not only help improve the safety and reliability of offshore platforms, but also help reduce maintenance costs, meet the growing industry needs, and ensure the sustainable development of marine engineering. Summary of the invention

[0005] The present invention provides an anchor chain cleaning and detection device and an operating method thereof, which can adapt to a complex anchor chain structure and can maintain movement stability and adaptability in a marine environment, and has an economic advantage.

[0006] To solve the above problems, the technical solution provided by the present invention is as follows:

[0007] An embodiment of the present invention provides a cleaning and detection device for an anchor chain, comprising an above-water system and an underwater system, wherein the above-water system and the underwater system are connected via an umbilical cable (5), and the umbilical cable (5) is used to provide high-pressure water, power supply, and communication, and is also used to retract and tow the underwater system;

[0008] The underwater system comprises an underwater frame structure (6), wherein the underwater frame structure (6) comprises an upper connecting assembly (7), a linear drive device (8) and a lower connecting assembly (9), wherein the upper connecting assembly (7) is connected to the lower connecting assembly (9) via the linear drive device (8), wherein the upper connecting assembly (7) is provided with an upper detection system (11) and an electronic control cabin (13), and wherein the lower connecting assembly (9) is provided with a high-pressure cleaning device (10), a lower detection system (12) and a wiring cabin (14). ); the upper connecting assembly (7) and the lower connecting assembly (9) are both provided with independent clamping mechanisms (15), and the clamping mechanisms (15) are used to realize clamping and loosening operations with the anchor chain. When the upper connecting assembly (7) and the anchor chain are in a clamped state, and the lower connecting assembly (9) and the anchor chain are in a loosened state, the extension of the linear drive device (8) will cause the lower connecting assembly (9) to move downward, or the shortening of the linear drive device (8) will cause the lower connecting assembly (9) to move upward.

[0009] In an optional embodiment of the present invention, the underwater system comprises a monitoring and operating system (1), an above-water power distribution system, a high-pressure water pump station (3), an umbilical cable winch (2) and an auxiliary crane (4), wherein the auxiliary crane (4) is used to hoist the underwater system into the water near the anchor chain to be cleaned.

[0010] In an optional embodiment of the present invention, the upper connecting assembly (7) and the lower connecting assembly (9) are both provided with an electric push rod (16) and an auxiliary push rod (20), the electric push rod (16) and the auxiliary push rod (20) are connected to the clamping mechanism (15), and the clamping mechanism (15) is also provided with an electromagnetic locking pin (19).

[0011] In an optional embodiment of the present invention, the upper connecting assembly (7) and the lower connecting assembly (9) are both provided with a guide plate (17), and the guide plate (17) is used to achieve precise guiding movement along the length direction of the anchor chain.

[0012] In an optional embodiment of the present invention, the lower detection system (12) includes a camera (12-1) and an LED lighting lamp (12-2).

[0013] In an optional embodiment of the present invention, the upper connecting assembly (7) is mounted with four propellers (18) via screws.

[0014] An operating method of an anchor chain cleaning and detection device specifically comprises the following steps:

[0015] Step 1, layout and preparation of cleaning and detection device: Arrange and position various components on the platform or deck, including control cabinet, power cabinet, umbilical cable winch and high-pressure water pump station, and clean various functional parts of the detection device. Carry out a comprehensive inspection of the above-water system, underwater system and underwater frame structure. The monitoring and operating system should be able to control the underwater frame structure to drive and retract, turn on and off the lighting and adjust the light brightness, turn on and off the camera and detection probe, etc. Connect the umbilical cable and check the stability and safety of the connection;

[0016] Step 2, start the system and position: start the anchor chain cleaning and test the underwater frame structure to ensure that all components are operating normally. With the assistance of divers, push the underwater frame structure onto the anchor chain to ensure that the clamping mechanism is reliably connected to the anchor chain;

[0017] Step 3, cleaning and inspection work: start normal cleaning and inspection work on the anchor chain. When the upper connecting component and the anchor chain are kept in a clamped state, and the lower connecting component and the anchor chain are in a loose state, the extension of the linear drive device will cause the lower connecting component to move downward; in the opposite case, that is, when the lower connecting component and the anchor chain are kept in a clamped state and the upper connecting component and the anchor chain are in a loose state, shortening the linear drive device will cause the upper connecting device to move downward. By alternately controlling the clamping and loosening states of the upper and lower connecting components and adjusting the extension and contraction of the linear drive device accordingly, the entire device can be accurately moved downward and upward along the direction of the anchor chain.

[0018] Step 4, end of operation and release: after the work is completed, the clamping mechanism is released, the underwater frame structure is released from the anchor chain, the position and state of the underwater frame structure are ensured, and the recovery operation is prepared;

[0019] Step 5, recovery operation: hoist the cleaning and detection device to the water surface safely through the umbilical cable winch, complete the recovery and inspection of the cleaning and detection device, and ensure the safety of the cleaning and detection device.

[0020] In an optional embodiment of the present invention, in the step (1), after the preparation work is completed, the device is hoisted into the water by a crane, close to the position of the anchor chain to be cleaned.

[0021] In an optional embodiment of the present invention, in step (3), while moving along the anchor chain, the underwater high-definition camera will transmit video images back in real time, and the attachment status of the anchor chain attachments will be judged based on the transmitted video images to control the intensity of the cleaning water flow to achieve a better cleaning effect.

[0022] In an optional embodiment of the present invention, in step (3), when visibility is low, underwater lights are turned on to improve observation effects and to monitor the operation process in real time.

[0023] Technical principle of the present invention: The present invention is based on the coordinated work of the clamping and autonomous chain climbing actuators between the anchor chains. The upper connecting assembly (7) and the lower connecting assembly (9) realize relative movement through the linear drive device (8), and the clamping mechanism (15) realizes the clamping and loosening operations with the anchor chain through the cooperation of the electric push rod (16) and the auxiliary push rod (20). When the upper connecting assembly (7) clamps the anchor chain, the lower connecting assembly (9) is loosened, the linear drive device (8) is extended, and the lower connecting assembly (9) is pushed downward; conversely, when the lower connecting assembly (9) clamps the anchor chain, the upper connecting assembly (7) is loosened, the linear drive device (8) is shortened, and the upper connecting assembly (7) is pulled upward. Through this alternating clamping and loosening mechanism, the device can move up and down along the anchor chain to realize the autonomous chain climbing function.

[0024] At the same time, the high-pressure cleaning device (10) cleans the surface of the anchor chain through high-pressure water provided by the umbilical cable (5) to remove attachments and corrosion products. The upper detection system (11) and the lower detection system (12) can be equipped with a variety of anchor chain underwater structure detection means, including but not limited to underwater vision, ultrasound, ACFM, etc. The present invention uses underwater visual detection as an optional embodiment, and uses a high-definition camera and LED lighting (12-2) to perform real-time monitoring and image acquisition of the anchor chain. Combined with artificial intelligence and image processing technology, it quickly analyzes the corrosion, wear and other damage of the anchor chain to ensure the accuracy and efficiency of the detection.

[0025] Compared with the prior art, the embodiment of the present invention provides a cleaning and detection device for an anchor chain and an operating method thereof, which has the following beneficial effects:

[0026] 1. The upper connecting assembly, linear drive device, lower connecting assembly and clamping mechanism form an autonomous positioning and chain climbing actuator, which is adaptive and can adapt to anchor chains of different diameters and materials. The mechanism achieves up and down movement along the anchor chain through the mechanism of alternating clamping and loosening, ensuring stability and reliability in complex marine environments. This autonomous chain climbing function significantly improves operating efficiency and reduces the investment in manpower and mechanical equipment.

[0027] 2. The present invention integrates cleaning and detection functions into one, and can provide cleaning function while detecting. The high-pressure cleaning device cleans the surface of the anchor chain through high-pressure water provided by the umbilical cable, removes attachments and corrosion products, and provides a clean basic environment for subsequent detection. This multifunctional integrated design not only improves operating efficiency, but also reduces the frequency of use and maintenance cost of the equipment.

[0028] 3. The upper and lower connecting components are hingedly connected to the linear drive device, which has a higher degree of freedom than the rigid connection. When facing complex anchor chain structures, the device has higher passability.

[0029] 4. Compared with traditional diver operations, the present invention significantly reduces safety risks and improves operating efficiency. Divers have low operating efficiency in complex marine environments and face high safety risks. The cleaning and detection device of the present invention can work stably in harsh environments, reducing the workload of divers. Compared with the operational-level ROV, the present invention has an autonomous chain climbing function, can adapt to anchor chains of different diameters and materials, and integrates cleaning and detection functions, reducing the frequency of use and maintenance costs of the equipment, and has higher economy and practicality.

[0030] 5. Research on visual detection technology and rapid analysis technology. In response to the needs of anchor chain integrity detection, research on visual detection technology based on artificial intelligence will be carried out. Through deep learning and image processing technology, the characteristic information of the anchor chain can be extracted to achieve efficient and accurate status assessment. Specifically, the use of high-definition camera equipment and multi-angle framing, combined with advanced image recognition algorithms, can quickly analyze the corrosion, wear and other damage of the anchor chain. In addition, combined with edge computing technology, it ensures rapid response in offshore operations, real-time feedback of detection results, and helps operation and maintenance personnel take timely actions to reduce potential risks. This rapid analysis technology can greatly reduce manual intervention and improve overall operational efficiency.

[0031] 6. Develop a new type of cleaning and detection device for the floating platform mooring system with independent intellectual property rights. Through independent research and development of key components and core technologies, enhance the reliability and adaptability of the product and ensure stable operation in various marine environments. In addition, the cleaning and detection device will adopt a modular design, which is not only convenient for subsequent upgrades and maintenance, but also can be customized according to specific needs to enhance market competitiveness. While promoting independent innovation, we strive to achieve international leading technology and enhance my country's voice in the field of marine engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A schematic diagram of the functional modules of a cleaning and detection device for an anchor chain provided in an embodiment of the present application.

[0034] Figure 2 A schematic diagram of the association of functional modules of an anchor chain cleaning and detection device provided in an embodiment of the present application.

[0035] Figure 3A schematic diagram of the up and down movement of an underwater frame structure of an anchor chain cleaning and detection device provided in an embodiment of the present application.

[0036] Figure 4 A three-dimensional diagram of the underwater frame structure of an anchor chain cleaning and detection device provided in an embodiment of the present application.

[0037] Figure 5 A stereoscopic diagram of an upper connecting assembly of an underwater frame structure provided in an embodiment of the present application.

[0038] Figure 6 A top view of an upper connecting assembly of an underwater frame structure provided in an embodiment of the present application.

[0039] Figure 7 A front view of an underwater frame structure provided in an embodiment of the present application.

[0040] Figure 8 A top view of an underwater frame structure provided in an embodiment of the present application.

[0041] Fig. 9 A side view of an underwater frame structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0043] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a cleaning and detection device for an anchor chain, including an above-water system and an underwater system, which are connected by an umbilical cable 5, which is used to provide high-pressure water, power supply, and communication, and is also used to retract and tow the underwater system. The underwater system includes a monitoring and operating system 1, an above-water power distribution system, a high-pressure water pump station 3, an umbilical cable winch 2, and an auxiliary crane 4, which is used to hoist the underwater system into the water near the anchor chain to be cleaned.

[0044] like Figure 2 , Figure 3 and Figure 4As shown, the underwater system includes an underwater frame structure 6, a high-pressure cleaning device 10, an upper detection system 11, a lower detection system 12, an electronic control cabin 13 and a wiring cabin 14. The underwater frame structure 6 includes an upper connecting assembly 7, a linear drive device 8 and a lower connecting assembly 9. The upper connecting assembly 7 is connected to the lower connecting assembly 9 through the linear drive device 8. The upper connecting assembly 7 is provided with the upper detection system 11 and the electronic control cabin 13. The lower connecting assembly 9 is provided with the high-pressure cleaning device 10, the lower detection system 12 and the wiring cabin 14.

[0045] The upper connecting assembly 7 and the lower connecting assembly 9 are both equipped with independent clamping mechanisms 15, which are used to realize the clamping and loosening operation with the anchor chain. The upper connecting assembly 7 and the lower connecting assembly 9 are connected and controlled by the linear drive device 8. When the upper connecting assembly 7 and the anchor chain are in a clamped state, and the lower connecting assembly 9 and the anchor chain are in a loosened state, the extension of the linear drive device 8 will cause the lower connecting assembly 9 to move downward. This process enables the lower connecting assembly 9 to move downward along the chain through the design of the clamping mechanism 15 and the movement of the linear drive device 8. In the opposite case, that is, when the lower connecting assembly 9 and the anchor chain are in a clamped state, and the upper connecting assembly 9 and the anchor chain are in a loosened state, shortening the linear drive device 8 will cause the upper connecting assembly 9 to move upward. By alternately controlling the clamping and loosening states of the upper connecting assembly 7 and the lower connecting assembly 9, and adjusting the extension and contraction of the linear drive device 8 accordingly, the entire device can be accurately moved downward and upward along the direction of the anchor chain.

[0046] This alternating motion mechanism ensures the stability and reliability of the underwater system in the up and down movement, thereby meeting the requirements of underwater operation and collection. At the same time, the feedback and control of the linear drive device 8 can provide real-time position of the underwater system, ensuring accurate motion control and safe operation during the working process.

[0047] like Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, the upper connecting assembly 7 and the lower connecting assembly 9 are both provided with an electric push rod 16 and an auxiliary push rod 20, which are connected to the clamping mechanism 15, and the clamping mechanism 15 is provided with an electromagnetic locking pin 19. The upper connecting assembly 7 and the lower connecting assembly 9 are also provided with a guide plate 17, which is used to achieve precise guiding movement along the length direction of the anchor chain. The lower detection system 12 includes a camera 12-1 and an LED lighting lamp 12-2. The upper connecting assembly 7 is installed with four propellers 18 by screws.

[0048] In this embodiment, the upper connecting assembly 7 and the lower connecting assembly 9 and the internal connection functional structure are connected by bolts, nuts and other accessories. The linear drive device 8 can be extended and retracted. When the linear drive device 8 reaches the extension limit, its vertical height is 1520mm. The electronic control cabin 13 is arranged in the upper connecting assembly 7 and then placed on the outermost side of the upper connecting assembly 7. The camera 12-1, the LED lighting 12-2 and other detection equipment are fixed on three sides of the upper connecting assembly 7 and the lower connecting assembly 9 by brackets, which is not only convenient for assembly and disassembly, but also can select the appropriate number of loads according to the specific work tasks. The high-pressure cleaning device 10 is located around the lower connecting assembly 9 and is used to clean the attachments on the surface of the anchor chain. The propeller 18 is located on one side of the upper connecting device 7 to control the movement of the underwater system.

[0049] The upper detection system 11 uses an underwater high-definition camera: The underwater high-definition camera can capture the status of the anchor chain after cleaning in real time. The underwater high-definition camera has good waterproof performance and visual capture capabilities in low-light environments, providing clear image basis for subsequent inspections. The upper detection system 11 uses visual recognition technology: Through advanced visual recognition technology, the upper detection system can perform automated subsequent inspection and processing of the anchor chain. This technology enables the cleaning and detection device to autonomously identify and evaluate the cleaning effect of the anchor chain, as well as potential damage or degradation, thereby improving the efficiency of evaluating the overall condition of the anchor chain. The upper detection system 11 performs data analysis and feedback: The acquired images and data will be processed and analyzed by the monitoring and operating system 1 to generate a detailed cleaning report and anchor chain status feedback, which is convenient for the operator to make decisions and follow-up actions.

[0050] High-definition underwater video surveillance monitors the status of the anchor chain in real time after cleaning, ensuring the cleaning effect while quickly identifying potential damage or corrosion problems. This monitoring function enables maintenance personnel to promptly detect small cracks or signs of corrosion on the anchor chain and take necessary maintenance measures in a timely manner. This preventive maintenance can effectively prevent further damage and reduce maintenance costs. The high-pressure cleaning device 10 is connected to the umbilical cable 5 for efficient cleaning.

[0051] Cleaning, testing, fault diagnosis and emergency recovery are coordinated and together constitute a systematic solution for anchor chain maintenance of the cleaning and testing device: the cleaning function provides a clean basic environment for subsequent testing, and can more accurately identify surface problems. The detection function can quickly and effectively evaluate the status of the anchor chain after cleaning to ensure the effectiveness of the cleaning work. The fault diagnosis and emergency recovery functions guarantee the safety and stability of the entire process, ensuring that the equipment can respond in time when any problems arise and the maintenance work can proceed smoothly. Through the cooperation of these three, the overall system can not only improve the cleaning efficiency and accuracy, but also ensure the safety of the operation and the durability of the equipment, providing comprehensive technical support for marine operations.

[0052] The emergency recovery plan for the cleaning and detection device is as follows: When the underwater frame structure suddenly loses power or a fault that cannot be recovered autonomously occurs, the underwater frame structure can be automatically released to achieve emergency release from the anchor chain and execute the emergency recovery plan. 1. The water unit turns off the power supply of the umbilical cable to force the electromagnetic locking pin to lose power. 2. The electromagnetic locking pin automatically disengages, allowing the clamping block and the clamping seat to slide freely. 3. Operate the onshore umbilical winch to disengage the pulling device from the clamping block, that is, from the anchor chain, and continue to recover the umbilical cable lifting device to complete the emergency retrieval function. The fuselage is stuck: turn off the power supply and release the clamp. Operate the winch to release and complete the recovery. Exhausted power: automatically terminate the operation, automatically return to the original route, and recover the underwater system for inspection.

[0053] The marine environment is complex and changeable. In order to improve the safety of the cleaning and testing device of the anchor chain during underwater operation, an auxiliary crane is combined with the underwater frame structure drive. In order to complete the cleaning and testing of the anchor chain, the underwater frame structure needs to operate according to a reasonable operation process, which is divided into 5 steps, namely pre-release inspection, hanging, installation and clamping, descending, underwater inspection, recovery, and post-dive inspection. The specific workflow of the cleaning and testing device includes the following steps:

[0054] Step 1, layout and preparation of cleaning and detection equipment: Arrange and position various components on the platform or deck, including the control cabinet, power cabinet, umbilical cable winch and high-pressure water pump station. Carry out a comprehensive inspection of the above-water system, underwater system and underwater frame structure of the various functional parts of the cleaning and detection device. The monitoring and operating system should be able to control the underwater frame structure to drive and retract, turn on and off the lighting, adjust the light brightness, and turn on and off the camera and detection probe. Connect the umbilical cable and check the stability and safety of the connection. After the preparations are completed, use a crane to lift the device into the water, close to the anchor chain to be cleaned.

[0055] Step 2, start the system and position: start the anchor chain cleaning and test the underwater frame structure to ensure that all components are operating normally. With the assistance of divers, push the underwater frame structure onto the anchor chain to ensure that the clamping mechanism is reliably connected to the anchor chain.

[0056] Step 3, cleaning and inspection work: Start normal cleaning and inspection work on the anchor chain. When the upper connecting component and the anchor chain are clamped and the lower connecting component and the anchor chain are in a loose state, the extension of the linear drive device will cause the lower connecting component to move downward; in the opposite case, that is, when the lower connecting component and the anchor chain are clamped and the upper connecting component and the anchor chain are in a loose state, shortening the linear drive device will cause the upper connecting device to move downward. By alternately controlling the clamping and loosening states of the upper and lower connecting components and adjusting the extension and contraction of the linear drive device accordingly, the entire device can be accurately moved down and up along the direction of the anchor chain. While moving along the anchor chain, the underwater high-definition camera will transmit video images back in real time. According to the transmitted video images, the attachment status of the anchor chain attachments is judged to control the intensity of the cleaning water flow to achieve better cleaning effect. When visibility is low, the underwater light will be turned on to improve the observation effect and monitor the operation process in real time.

[0057] Step 4, end of operation and release: After the work is completed, the clamping mechanism is released, and the underwater frame structure is released from the anchor chain to ensure the position and state of the underwater frame structure and prepare for the recovery operation.

[0058] Step 5, recovery operation: hoist the cleaning and detection device to the water surface safely through the umbilical cable winch, complete the recovery and inspection of the cleaning and detection device, and ensure the safety of the cleaning and detection device.

[0059] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A cleaning and detection device for an anchor chain, characterized in that: It comprises an above-water system and an underwater system, wherein the above-water system and the underwater system are connected via an umbilical cable (5), and the umbilical cable (5) is used to provide high-pressure water, power supply, and communication, and is also used to retract, release, and tow the underwater system; The underwater system comprises an underwater frame structure (6), wherein the underwater frame structure (6) comprises an upper connecting assembly (7), a linear drive device (8) and a lower connecting assembly (9), wherein the upper connecting assembly (7) is connected to the lower connecting assembly (9) via the linear drive device (8), wherein the upper connecting assembly (7) is provided with an upper detection system (11) and an electronic control cabin (13), and wherein the lower connecting assembly (9) is provided with a high-pressure cleaning device (10), a lower detection system (12) and a wiring cabin (14). ); the upper connecting assembly (7) and the lower connecting assembly (9) are both provided with independent clamping mechanisms (15), and the clamping mechanisms (15) are used to realize clamping and loosening operations with the anchor chain. When the upper connecting assembly (7) and the anchor chain are in a clamped state, and the lower connecting assembly (9) and the anchor chain are in a loosened state, the extension of the linear drive device (8) will cause the lower connecting assembly (9) to move downward, or the shortening of the linear drive device (8) will cause the lower connecting assembly (9) to move upward.

2. The cleaning and detection device for anchor chain according to claim 1, characterized in that: The underwater system comprises a monitoring and operating system (1), an above-water power distribution system, a high-pressure water pump station (3), an umbilical cable winch (2) and an auxiliary crane (4), wherein the auxiliary crane (4) is used to hoist the underwater system into the water near the anchor chain to be cleaned.

3. The cleaning and detection device for anchor chain according to claim 1, characterized in that: The upper connecting assembly (7) and the lower connecting assembly (9) are both provided with an electric push rod (16) and an auxiliary push rod (20), the electric push rod (16) and the auxiliary push rod (20) are connected to the clamping mechanism (15), and the clamping mechanism (15) is also provided with an electromagnetic locking pin (19).

4. The cleaning and detection device for anchor chain according to claim 1, characterized in that: The upper connecting assembly (7) and the lower connecting assembly (9) are both provided with a guide plate (17), and the guide plate (17) is used to achieve precise guiding movement along the length direction of the anchor chain.

5. The cleaning and detection device for anchor chain according to claim 1, characterized in that: The lower visual detection system (12) comprises a camera (12-1) and an LED lighting lamp (12-2).

6. The cleaning and detection device for anchor chain according to claim 1, characterized in that: The upper connecting assembly (7) is mounted with four propellers (18) via screws.

7. An operating method of the cleaning and detection device for anchor chain according to claim 1, characterized in that: The specific steps include: Step 1, layout and preparation of cleaning and detection device: Arrange and position various components on the platform or deck, including control cabinet, power cabinet, umbilical cable winch and high-pressure water pump station, and clean various functional parts of the detection device. Carry out a comprehensive inspection of the above-water system, underwater system and underwater frame structure. The monitoring and operating system should be able to control the underwater frame structure to drive and retract, turn on and off the lighting and adjust the light brightness, turn on and off the camera and detection probe, etc. Connect the umbilical cable and check the stability and safety of the connection; Step 2, start the system and position: start the anchor chain cleaning and test the underwater frame structure to ensure that all components are operating normally. With the assistance of divers, push the underwater frame structure onto the anchor chain to ensure that the clamping mechanism is reliably connected to the anchor chain; Step 3, cleaning and inspection work: start normal cleaning and inspection work on the anchor chain. When the upper connecting component and the anchor chain are kept in a clamped state, and the lower connecting component and the anchor chain are in a loose state, the extension of the linear drive device will cause the lower connecting component to move downward; in the opposite case, that is, when the lower connecting component and the anchor chain are kept in a clamped state and the upper connecting component and the anchor chain are in a loose state, shortening the linear drive device will cause the upper connecting device to move downward. By alternately controlling the clamping and loosening states of the upper and lower connecting components and adjusting the extension and contraction of the linear drive device accordingly, the entire device can be accurately moved downward and upward along the direction of the anchor chain. Step 4, end of operation and release: after the work is completed, the clamping mechanism is released, the underwater frame structure is released from the anchor chain, the position and state of the underwater frame structure are ensured, and the recovery operation is prepared; Step 5, recovery operation: hoist the cleaning and detection device to the water surface safely through the umbilical cable winch, complete the recovery and inspection of the cleaning and detection device, and ensure the safety of the cleaning and detection device.

8. The method for operating the cleaning and detection device of the anchor chain according to claim 7, characterized in that: In the step (1), after the preparation work is completed, the device is hoisted into the water by a crane, close to the position of the anchor chain to be cleaned.

9. The method for operating the cleaning and detection device of an anchor chain according to claim 7, characterized in that: In the step (3), while moving along the anchor chain, the underwater high-definition camera will transmit video images back in real time, and the attachment status of the anchor chain attachments will be judged based on the transmitted video images to control the intensity of the cleaning water flow to achieve a better cleaning effect.

10. The method for operating the cleaning and detection device of the anchor chain according to claim 7, characterized in that: In step (3), when visibility is low, the underwater lights are turned on to improve the observation effect and to monitor the operation process in real time.

Images