Robot for cleaning outer wall surface of underwater pipeline

Abstract

A robot for cleaning the outer wall face of an underwater pipeline comprises oppositely-arranged supporting frames, the two supporting frames define a circle, the connecting positions are connected through magnetic attraction quick buckles, the upper supporting frame and the lower supporting frame are each provided with two supporting frames, a plurality of limiting supporting plates distributed at intervals are fixedly installed between the upper supporting frame and the lower supporting frame, and a long round hole is formed in each limiting supporting plate. A sliding block is installed in the oblong hole in a matched mode, the hydraulic oil cylinder is vertically fixed, the output end of the hydraulic oil cylinder is fixed to the sliding block, spring connecting rods are symmetrically hinged to the two outer sides of the sliding block, and upper connecting rods are symmetrically hinged to the two outer sides above the limiting supporting plate; the deep-sea motor drives the crawler device to act, and the other ends of the spring connecting rod and the upper connecting rod are both mounted on the crawler device; a plurality of steel wire brushes are installed on the inner wall face of the supporting frame located at the top, 360-degree steering of thrust can be achieved, the thruster can be retracted into the platform light shell, cleaning is more effective, and working reliability is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of deep-sea pipeline cleaning equipment, in particular to an underwater pipeline outer wall cleaning robot. Background Art

[0002] Currently, after years of service, deep-sea oil pipelines are subject to corrosion due to scaling or the accumulation of aquatic organisms on their outer walls, seriously impacting their safety. Furthermore, the long-term accumulation of sediment on the outer walls of pipelines can cause stress changes on the outer walls, which in turn can cause deformation in the pipeline and affect the flow of the fluid within. Existing pipe wire brushes are often a combination of high-pressure water hoses and scraper discs. These rely on high pressure water flow to clean pipelines, solving the cleaning and maintenance issues. However, these high-pressure water hoses cannot effectively output water in deep-sea environments, preventing them from achieving ideal cleaning results. Furthermore, using scraper discs to clean the outer walls inevitably damages the corrosion protection layer on the outer walls, making it difficult to guarantee effective cleaning and even affecting the operational stability of the cleaning machine. Deep-sea pipeline outer wall cleaning robots, ideal for deep-sea pipeline inspection and maintenance, utilize technologies such as adaptive pipe diameter adjustment, automatic movement, and wire brush cleaning. These robots are not only effective for cleaning pipeline outer walls, but also have significant implications for extending pipeline service life and reducing the risk of safety accidents. Summary of the Invention

[0003] In response to the shortcomings of the above-mentioned existing production technology, the applicant provides an underwater pipeline outer wall cleaning robot. Through its unique design, it can not only achieve 360° thrust steering, but also retract the thruster into the platform's light shell, making its cleaning more effective and ensuring working reliability.

[0004] The technical solutions adopted in the present invention are as follows:

[0005] An underwater pipeline outer wall cleaning robot includes two opposing support frames, each of which is a semi-annular structure. Two support frames form a circle and are connected at the joint by a magnetic quick-release buckle, which adjusts the size of the circle.

[0006] Two support frames are arranged above and below, and a plurality of spaced-apart limit support plates are fixedly installed between the upper and lower support frames. A single limit support plate is provided with an oblong hole, in which a slider is fitted. The unit also includes a vertically fixed hydraulic cylinder, the output end of which is fixed to the slider, and spring connecting rods are symmetrically hinged on the two outer sides of the slider, and upper connecting rods are symmetrically hinged on the two outer sides above the limit support plate;

[0007] The invention also includes a deep-sea motor, which drives the crawler device to move, and the other ends of the spring connecting rod and the upper connecting rod are both installed on the crawler device;

[0008] A plurality of steel wire brushes are installed on the inner wall surface of the support frame located at the top.

[0009] Its further technical solution is:

[0010] A single limiting support plate is in the form of a long strip.

[0011] The top surface and the bottom surface of a single limiting support plate are locked by connecting keys.

[0012] The slider is an integrated structure.

[0013] One end of the slider is locked with the hydraulic cylinder, and the other end of the slider is provided with a notch and is connected with the oblong hole through a pin shaft, and the slider moves up and down along the oblong hole.

[0014] The inner ring of a single support frame is equipped with 2-3 steel wire brushes.

[0015] The installation structure of a single wire brush is as follows: an underwater motor is fixedly installed on the inner ring of the support frame, the output shaft of the underwater motor is installed with the wire brush, and the underwater motor drives the wire brush to rotate.

[0016] An oil cylinder support is fixed at the bottom of the limit support plate, and a hydraulic oil cylinder is fixed on the oil cylinder support.

[0017] The beneficial effects of the present invention are as follows:

[0018] The present invention has a compact and reasonable structure and is easy to operate. It uses a deep-sea linear telescopic oil cylinder with a displacement monitoring function to realize the extension and retraction function of the propeller, and uses a deep-sea swing oil cylinder with a built-in angle sensor to realize the rotation function of the propeller. It uses a deep-sea linear telescopic oil cylinder with a displacement monitoring function to respectively realize the telescopic locking and rotation locking functions of the propeller, so as to prevent the propeller from being displaced again after being extended and rotated into place, thereby causing equipment failure. At the same time, the light outer shell on the outside of the propeller of the deep-sea large mobile platform can realize the functions of synchronous extension and rotation with the propeller. When the propeller is extended, it will open with the light outer shell to perform power position control. When the propeller is retracted into place, the light outer shell on the outside of the propeller will close, which will not affect the linear shape of the entire platform. Therefore, the resistance of the deep-sea large mobile platform will not increase, and the purpose of reducing environmental pollution and increasing economic benefits can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention.

[0020] Figure 2 This is a structural schematic diagram of the present invention from another perspective (steel wire brush omitted).

[0021] Figure 3 It is a front view of the present invention (steel wire brush omitted).

[0022] Figure 4 It is a top view of the present invention (steel wire brush omitted).

[0023] Figure 5 This is a schematic diagram of the present invention in working state (steel wire brush omitted).

[0024] Figure 6 for Figure 5 Partial view (wire brush omitted).

[0025] Figure 7 It is a schematic diagram of the relative position of the present invention and the engineering vessel.

[0026] Among them: 11. Deep sea motor;

[0027] 12. Track device;

[0028] 13. Spring connecting rod;

[0029] 14. Upper connecting rod;

[0030] 15. Limit support plate;

[0031] 151, Slider;

[0032] 17. Hydraulic cylinder;

[0033] 171, oil cylinder support;

[0034] 18. Support frame;

[0035] 21. Connect key;

[0036] 22. Wire brush;

[0037] 23. Magnetic quick buckle. DETAILED DESCRIPTION

[0038] The specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0039] like Figure 1-Figure 7 As shown, the underwater pipe outer wall cleaning robot of this embodiment includes relatively arranged support frames 18. A single support frame 18 has a semi-annular structure. Two support frames 18 form a circle and are connected at the connection point by a magnetic quick buckle 23. The magnetic quick buckle 23 adjusts the size of the circle.

[0040] Two support frames 18 are arranged above and below, and a plurality of spaced apart limit support plates 15 are fixedly installed between the upper and lower support frames 18. A single limit support plate 15 has an oblong hole, in which a slider 151 is fitted. The support plate 15 also includes a vertically fixed hydraulic cylinder 17. The output end of the hydraulic cylinder 17 is fixed to the slider 151. The two outer sides of the slider 151 are symmetrically hinged with spring connecting rods 13. The upper outer sides of the limit support plate 15 are symmetrically hinged with upper connecting rods 14.

[0041] The deep-sea motor 11 is used to drive the crawler device 12. The other ends of the spring connecting rod 13 and the upper connecting rod 14 are both mounted on the crawler device 12.

[0042] A plurality of steel wire brushes 22 are installed on the inner wall surface of the support frame 18 at the top.

[0043] The single limiting support plate 15 is in the shape of an elongated strip.

[0044] The top and bottom surfaces of the single limiting support plate 15 are locked by connecting keys 21 .

[0045] The slider 151 is an integrated structure.

[0046] One end of the slider 151 is locked with the hydraulic cylinder 17 , and the other end of the slider 151 is provided with a notch and is connected to the oblong hole through a pin shaft, so that the slider 151 moves up and down along the oblong hole.

[0047] Two to three steel wire brushes 22 are installed on the inner ring of a single support frame 18 .

[0048] The installation structure of a single wire brush 22 is as follows: an underwater motor is fixedly installed on the inner ring of the support frame 18, the output shaft of the underwater motor is installed with the wire brush 22, and the underwater motor drives the wire brush 22 to rotate.

[0049] A cylinder support 171 is fixed at the bottom of the position-limiting support plate 15 , and a hydraulic cylinder 17 is fixed on the cylinder support 171 .

[0050] The specific structure and functions of the underwater pipeline outer wall cleaning robot described in the present invention are as follows:

[0051] It mainly includes a motion mechanism and a frame device.

[0052] Among them, the rack device is composed of two semi-circular support frames 18 on the upper and lower sides, and the two ends are connected by multiple long strips of limit support plates 15 to form a basic frame structure, which can increase the structural stability of the rack device. The rack device also includes a spring connecting rod 13, an upper connecting rod 14, a connecting key 21 and other components.

[0053] It also includes an opening and closing device, which includes a hydraulic cylinder 17 and a cylinder support 171. By driving the hydraulic cylinder 17, it can adapt to changes in different pipe diameters, so that the wire brush 22 fits the pipe more closely.

[0054] It also includes a walking mechanism, which is provided with six groups in total. Each group of the walking mechanism includes a deep-sea motor 11 and a crawler device 12. The deep-sea motor 11 is used to drive the crawler device 12 to move.

[0055] The output end of the hydraulic cylinder 17 is connected to the slider 151, which slides up and down along the oblong hole of the limit support plate 15, thereby driving the spring connecting rods 13 on both sides to move (swing). The other end of the spring connecting rod 13 is connected to the crawler device 12, which is used to transmit the thrust of the hydraulic device to the crawler device 12, and is responsible for controlling the opening and closing of the deep-sea pipeline outer wall cleaning robot to adapt to different pipe diameters; at the same time, the upper connecting rod 14 located above also assists in swinging to ensure the sensitivity and reliability of the action.

[0056] After the deep-sea pipeline outer wall cleaning robot is connected to the pipeline, each set of crawler devices 12 adapts to the outer pipe wall. Deep-sea motor 11 drives crawler devices 12, which are connected to deep-sea motor 11 and crawler devices 12, and crawler devices 12 move along the outer pipe wall. The six sets of crawler devices 12 enable the deep-sea pipeline outer wall cleaning robot to move stably along the pipeline, ensuring a smooth cleaning process.

[0057] When the hydraulic device drives the slider 151 to move downward, it drives the spring connecting rod 13 to move. The upper connecting rod 14 and the spring connecting rod 13 are connected to the two ends of the crawler device 12, which is responsible for making the crawler device 12 fit the outer wall of the pipeline from top to bottom, avoiding the crawler device 12 slipping during the cleaning operation and causing the deep-sea motor 11 to overload.

[0058] The rack device is equipped with a deep-sea motor 11, which is exposed to seawater using a waterproof process to ensure good heat dissipation during operation of the equipment, thereby providing a better working environment for the deep-sea motor 11.

[0059] A wire brush 22 is installed on the top of the frame device. The wire brush 22 includes a scraper disc and a brush. The scraper disc does not directly contact the pipe wall and leaves a certain gap. The purpose is to scrape off aquatic organisms such as barnacles that are adsorbed on the pipe wall and have a corrosive effect on the pipeline. The scraper disc is placed at the front end of the brush. After the scraper disc is cleaned, the brush is responsible for cleaning, and at the same time to prevent garbage from interfering with the normal operation of the deep-sea motor 11 and the crawler device 12.

[0060] In actual work process:

[0061] The engineering vessel arrived above the area where the pipeline was located, detected the location of the pipeline, and dispatched an ROV to assist in installing the underwater pipeline outer wall cleaning robot on the pipeline.

[0062] When the pipeline needs to be applied to the underwater pipeline outer wall cleaning robot, the ROV opens the magnetic quick buckle 23 of the underwater pipeline outer wall cleaning robot, allows the underwater pipeline outer wall cleaning robot to stick to the pipeline, and then closes the magnetic quick buckle 23 to form a whole.

[0063] The hydraulic cylinder 17 built into the underwater pipeline outer wall cleaning robot is started to drive the spring connecting rod 13 connected to the slider 151, so that the crawler of the crawler device 12 is in contact with the outer wall of the pipeline.

[0064] Subsequently, the underwater motor is driven, and the wire brush 22 rotates to clean the outer wall of the pipeline. As the crawler device 12 moves forward, the wire brush 22 can clean along the pipeline while moving.

[0065] When cleaning is completed, the rotation of the wire brush 22 is stopped, and the hydraulic cylinder 17 is driven to drive the slider 151 to retract, so that the spring connecting rod 13 pulls the crawler device 12 away from the outer wall of the pipeline. At this time, the ROV opens the magnetic quick buckle 23 of the underwater pipeline outer wall cleaning robot and retracts the underwater pipeline outer wall cleaning robot.

[0066] This embodiment uses a crawler device 12 to enable the deep-sea pipeline outer wall cleaning robot to accurately extend and retract along the pipeline and lock the pipeline before cleaning the pipeline wall, thereby ensuring the stability of the equipment.

[0067] This embodiment not only enables the deep-sea pipeline outer wall cleaning robot to adapt to different pipe diameters during the pipeline outer wall cleaning process and stably operate to achieve the function of stable cleaning promotion, but also applies technologies such as adaptive adjustment of pipe diameter and wire brush 22 cleaning, which can not only be used for effective cleaning of the pipeline outer wall, but also has important significance for extending the service life of the pipeline and reducing the risk of safety accidents.

[0068] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any modifications may be made within the scope of protection of the present invention.

Claims

1. A robot for cleaning the outer wall of an underwater pipeline, characterized by: The invention comprises supporting frames (18) arranged opposite to each other, wherein a single supporting frame (18) is in a semi-annular structure, and two supporting frames (18) are arranged to form a circle and connected at the connection point by a magnetic fast buckle (23), and the magnetic fast buckle (23) is used to adjust the size of the circle; Two support frames (18) are arranged on the upper and lower sides, and a plurality of spaced-apart limit support plates (15) are fixedly installed between the upper and lower support frames (18). A single limit support plate (15) is provided with an oblong hole, and a slider (151) is installed in the oblong hole. The hydraulic cylinder (17) is also vertically fixed. The output end of the hydraulic cylinder (17) is fixed to the slider (151). The two outer sides of the slider (151) are symmetrically hinged with spring connecting rods (13). The two outer sides above the limit support plate (15) are symmetrically hinged with upper connecting rods (14). The deep-sea motor (11) drives the crawler device (12) to move. The other ends of the spring connecting rod (13) and the upper connecting rod (14) are both installed on the crawler device (12). A plurality of steel wire brushes (22) are installed on the inner wall surface of the support frame (18) at the top.

2. The underwater pipeline outer wall cleaning robot according to claim 1, characterized in that: The single position-limiting support plate (15) is in the form of an elongated strip.

3. The underwater pipeline outer wall cleaning robot according to claim 1, characterized in that: The top surface and the bottom surface of the single limiting support plate (15) are locked by connecting keys (21).

4. The underwater pipeline outer wall cleaning robot according to claim 1, characterized in that: The slider (151) is an integrated structure.

5. The underwater pipeline outer wall cleaning robot according to claim 1, characterized in that: One end of the slider (151) is locked with the hydraulic cylinder (17), and the other end of the slider (151) is provided with a notch and is connected with the oblong hole through a pin shaft, so that the slider (151) moves up and down along the oblong hole.

6. The underwater pipeline outer wall cleaning robot according to claim 1, characterized in that: The inner ring of a single support frame (18) is provided with 2-3 steel wire brushes (22).

7. The underwater pipeline outer wall cleaning robot according to claim 6, characterized in that: The installation structure of a single wire brush (22) is as follows: an underwater motor is fixedly installed on the inner ring of a support frame (18); the output shaft of the underwater motor is installed with the wire brush (22); and the underwater motor drives the wire brush (22) to rotate.

8. The underwater pipeline outer wall cleaning robot according to claim 1, characterized in that: An oil cylinder support (171) is fixed at the bottom of the position-limiting support plate (15), and a hydraulic oil cylinder (17) is fixed on the oil cylinder support (171).

Images