Underwater cutting device

Abstract

The invention belongs to the technical field of underwater cutting, and particularly relates to an underwater cutting device. An underwater cutting robot is connected with a working ship, the working ship is used for providing a high-pressure water source and an air source, the underwater cutting robot comprises a base frame, a camera is installed on the base frame, and a power device and a plurality of adjusters are installed on the base frame; underwater advancing power is provided through a power device, the advancing direction is adjusted through an adjuster, a mounting frame is arranged on a base frame, a mechanical arm is mounted on the mounting frame, a mounting barrel is arranged on the mechanical arm, a plurality of positioning pieces are mounted on the mounting barrel, and a high-pressure water jet cutter is mounted in the mounting barrel and located among the positioning pieces. The problems that the distance between a water outlet of the high-pressure water jet cutter and a working face is determined by making contact with the working face through the contactor, the cutting environment is limited, underwater cutting manual operation is difficult to carry out, the application range of electro-oxygen cutting is small, and the requirement is difficult to meet are solved.

Description

Technical Field

[0001] This invention belongs to the field of cutting equipment technology, and specifically relates to an underwater cutting device. Background Technology

[0002] Underwater cutting technology originated from the needs of marine engineering in the mid-20th century. Early operations were primarily conducted by manual diving. With the emergence of complex scenarios such as deep-sea resource development, ship salvage, and nuclear facility decommissioning, the technology has gradually evolved towards intelligence and high precision. Currently, underwater cutting operations are mostly carried out through manual underwater electro-oxygen cutting and mechanical cutting. However, due to certain limitations imposed by the cutting environment, especially in deep water areas, manual operation is difficult and unsafe, and electro-oxygen cutting has a limited scope of application, making it difficult to meet the requirements. Summary of the Invention

[0003] In view of this, in order to solve the problems that underwater cutting is difficult to perform manually due to limited cutting environment, and that electro-oxygen cutting has a small applicable range and cannot meet the requirements, the present invention provides an underwater cutting device.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] An underwater cutting device is disclosed, connected to a workboat that provides high-pressure water and air sources. The cutting device includes a submersible and a cutting robot. Cable assemblies connect the submersible, the cutting robot, and the workboat, including high-pressure water pipes, air supply pipes, and control lines. A docking platform is located at the top of the submersible, which houses a sand-mixing tank. The sand-mixing tank is connected to the cutting robot and the high-pressure water source on the workboat via high-pressure water pipes. High-pressure water from the workboat passes through the sand-mixing tank and is then sent to the cutting robot, where it can be mixed with corundum. The cutting robot includes a base frame on which a camera is mounted. The base frame is equipped with a power unit and multiple regulators. The power unit provides underwater propulsion, and the regulators adjust the direction of travel. The base frame is equipped with a mounting frame, and a robotic arm is mounted on the mounting frame. The robotic arm is equipped with a mounting cylinder, and multiple positioning components are mounted on the mounting cylinder. A high-pressure water jet is installed inside the mounting cylinder. The high-pressure water jet is connected to a first water supply pipe and a high-pressure water source. The high-pressure water jet is located between the multiple positioning components. The positioning components include a mounting bracket and a contactor mounted on the mounting bracket. The contactor contacts the working surface to determine the distance between the outlet of the high-pressure water jet and the working surface.

[0006] Furthermore, the contactor includes a connecting part with multiple supports. A metal ball is positioned between the supports, and a strong magnet is located near the metal ball on one end of each support. Each support contains a motor-driven rotating wheel, and a transmission ring is mounted on each wheel. The transmission ring includes a central annular shaft, which is fixedly connected to the rotating wheel. Several contact wheels are evenly spaced on the annular shaft, contacting the metal ball. The contact between the metal ball and the working surface ensures the distance between the high-pressure water jet and the working surface. By controlling the rotation direction and speed of the rotating wheels on each support, the metal ball can rotate in different directions, thus controlling the movement direction of the water jet.

[0007] Furthermore, the mounting cylinder has a partition cavity in the middle, with a first pressure detector and a second pressure detector installed at both ends of the partition cavity, respectively. The high-pressure water jet slides through the front end of the mounting cylinder and contacts the first pressure detector. A water sprayer is installed through the rear end of the mounting cylinder and contacts the second pressure detector. The water sprayer is connected to a water pump assembly through a second water supply pipe, and the water pump assembly is mounted on the mounting frame. The first pressure detector detects the reaction force generated by the high-pressure water jet, and the second pressure detector detects the reaction force generated by the water sprayer. By controlling the output of the water pump assembly, the reaction force generated by the water sprayer can be controlled, thereby counteracting the thrust generated by the high-pressure water jet. This helps improve the stability of the cutting robot when working underwater and prevents the cutting robot from moving away from the working surface underwater under the thrust generated by the high-pressure water jet, which would make it difficult for the high-pressure water jet to cut the object normally.

[0008] Furthermore, the number of positioning components is three, arranged in a triangular pattern, with the high-pressure water jet positioned in the middle. Stability is improved by using three metal balls as contact points to contact the working surface. By controlling the output of the water pump assembly, the thrust generated by the water jet is made greater than the thrust generated by the high-pressure water jet, thus pressing the three contactors onto the working surface, resulting in higher stability of the high-pressure water jet and better control over the cutting path.

[0009] Furthermore, the mounting cylinder has sliding grooves in both partitioned chambers, and anti-detachment blocks are provided on both the high-pressure water jet and the water sprayer, respectively located in the two sliding grooves. Anti-detachment rings are installed at both ends of the mounting cylinder. This allows the high-pressure water jet and water sprayer to slide within the mounting cylinder while preventing them from falling out.

[0010] Furthermore, each mounting cylinder is equipped with a cover, and a camera is also installed inside the cover. The contactors on the mounting brackets are all located inside the cover. An air inlet pipe is connected to the cover, with one end connected to an air source and the other end communicating with the interior space of the cover. The cover encloses the cutting area of ​​the high-pressure water jet, and there is a gap between the cover and the working surface. By injecting air into the cover through the air inlet pipe, water within the covered area can be expelled, preventing water from obstructing the high-pressure water jet's underwater spray and allowing for better cutting of the working surface.

[0011] Furthermore, the enclosure has an inner cavity with a water inlet communicating with it. The inner cavity is connected to a water pump, which is connected to a water pump on the workboat. The air inlet outlet is located above the high-pressure water jet, and the water inlet is located below it. Wastewater generated during high-pressure water jet cutting flows into the space covered by the enclosure. The water pump draws the wastewater into the inner cavity and discharges it through the water pump, preventing excessive leakage and ensuring the water around the cutting robot remains turbid. This reduces the impact on visibility and facilitates better operation of the cutting robot.

[0012] The beneficial effects of this invention are as follows:

[0013] This device can operate underwater, cutting underwater objects with a high-pressure water jet, and can cut a wider range of objects compared to traditional acetylene oxide cutting methods. By operating the cutting robot underwater, no manual diving is required, resulting in higher safety and suitability for deep-water operations. Attached Figure Description

[0014] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0015] Figure 1 This is a schematic diagram of the structure of an underwater cutting device according to an embodiment of the present invention. Figure 1 ;

[0016] Figure 2 This is a schematic diagram of the structure of an underwater cutting device according to an embodiment of the present invention. Figure 2 ;

[0017] Figure 3 This is a schematic diagram of the underwater vehicle in an embodiment of the present invention;

[0018] Figure 4 This is a schematic diagram of the structure of some components of the cutting robot in an embodiment of the present invention. Figure 1 ;

[0019] Figure 5 This is a partial cross-sectional view of a component of the cutting robot in an embodiment of the present invention;

[0020] Figure 6 This is a schematic diagram of the structure of some components of the cutting robot in an embodiment of the present invention. Figure 2 ;

[0021] Figure 7 This is a schematic diagram of the structure of some components of the cutting robot in an embodiment of the present invention. Figure 3 ;

[0022] Figure 8This is a schematic diagram of the installation structure of the high-pressure water jet and water sprayer in an embodiment of the present invention;

[0023] Figure 9 This is a schematic diagram of the contactor structure in an embodiment of the present invention;

[0024] Figure 10 for Figure 9 Enlarged structural diagram at point A in the middle;

[0025] Figure 11 This is a schematic diagram of the structure of the submersible and the cutting robot in an embodiment of the present invention;

[0026] Reference numerals: Base frame 1, Regulator 11, Power unit 12, Mounting frame 13, Water pump assembly 16, Mechanical arm 2, Mounting bracket 21, Mounting cylinder 22, Separating cavity 221, High-pressure water jet 3, First water supply pipe 31, First pressure detector 32, Water sprayer 4, Second water supply pipe 41, Second pressure detector 42, Contactor 5, Connecting part 51, Support 52, Strong magnet 53, Rotating wheel 54, Motor 55, Transmission ring 56, Annular shaft 561, Contact wheel 562, Metal ball 57, Cover 6, Inner cavity 61, Water inlet 62, Water suction pipe 63, Air inlet pipe 64, Submersible 7, Parking platform 71, Cable assembly 72. Detailed Implementation

[0027] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] To enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0029] like Figure 1 , Figure 2 , Figure 11As shown, an underwater cutting device is connected to a workboat, which provides a high-pressure water and air source. The cutting device includes a submersible 7 and a cutting robot. A cable assembly 72 connects the submersible 7, the cutting robot, and the workboat. The cable assembly includes a high-pressure water pipe, an air supply pipe, and a control line. A parking platform 71 is provided at the top of the submersible 7, and the cutting robot is located on the parking platform 71. An electromagnet adsorption layer is provided on the parking platform 71, and the cutting robot is fixed by the electromagnet adsorption layer when it is on the parking platform 71. A sand mixing tank is provided in the submersible 7. The sand mixing tank is connected to the cutting robot and the high-pressure water source on the workboat through a high-pressure water pipe. The high-pressure water output from the workboat is sent to the cutting robot after passing through the sand mixing tank and can be mixed with diamond. The underwater cutting robot includes a base frame 1, on which a power unit 12 and multiple adjusters 11 are installed. The adjusters 11 are small propellers that provide underwater propulsion power through the power unit 12 and can adjust the direction of travel by controlling the deflection power provided by the adjusters 11 at different positions.

[0030] like Figures 2-5 As shown, a mounting frame 13 is provided on the base frame 1, and a robotic arm 2 is mounted on the mounting frame 13. A mounting cylinder 22 is mounted on the robotic arm 2, allowing the position of the mounting cylinder 22 to be changed. Three positioning elements are mounted on the mounting cylinder 22 in a triangular arrangement. A high-pressure water jet 3 is installed inside the mounting cylinder 22, positioned in the middle of the three positioning elements. A first water supply pipe 31 is connected to the high-pressure water jet 3, which is connected to a high-pressure water source. High-pressure water is ejected from the high-pressure water jet 3 to form a water jet for cutting objects. The positioning elements include a mounting bracket 21 and a contactor 5 mounted on the mounting bracket 21. The contactor 5 contacts the working surface, thus limiting the distance between the outlet of the high-pressure water jet 3 and the working surface.

[0031] like Figure 6 , Figure 7As shown, a partition cavity 221 is provided in the middle of the mounting cylinder 22. A first pressure detector 32 and a second pressure detector 42 are respectively installed at both ends of the partition cavity 221. The high-pressure water jet 3 slides through the front end of the mounting cylinder 22 and contacts the first pressure detector 32. A water sprayer 4 is installed through the rear end of the mounting cylinder 22 and contacts the second pressure detector 42. The water sprayer 4 is connected to a water pump assembly 16 through a second water supply pipe 41. The water pump assembly 16 is installed on the mounting frame 13. The reaction force generated by the high-pressure water jet 3 is detected by the first pressure detector 32, and the reaction force generated by the water sprayer 4 is detected by the second pressure detector 42. By controlling the output of the water pump assembly 16, the reaction force generated by the water sprayer 4 can be controlled, thereby counteracting the thrust generated by the high-pressure water jet 3. This helps to improve the stability of the cutting robot when working underwater and prevents the cutting robot from moving away from the working surface underwater under the thrust generated by the high-pressure water jet 3, which would make it difficult for the high-pressure water jet 3 to cut objects normally. Stability is improved by using three contactors 5 as contact points to contact the working surface. By controlling the output of the water pump assembly 16, the thrust generated by the water sprayer 4 is made greater than the thrust generated by the high-pressure water jet 3. This allows the three contactors 5 to be pressed onto the working surface, making the high-pressure water jet 3 more stable and allowing for better control of the cutting path.

[0032] like Figure 8 , Figure 9 As shown, the contactor 5 includes a connecting part 51, on which multiple supports 52 are provided. Metal balls 57 are positioned between the supports 52. A strong magnet 53 is provided at one end of each support 52 near the metal balls 57. Each support 52 has a rotating wheel 54 driven by a motor 55. A transmission ring 56 is mounted on each rotating wheel 54. The transmission ring 56 includes a central annular shaft 561, which is fixedly connected to the rotating wheel 54. Several contact wheels 562 are evenly spaced on the annular shaft, contacting the metal balls 57. The contact between the metal balls 57 and the working surface ensures the distance between the high-pressure water jet 3 and the working surface. By controlling the rotation direction and speed of the rotating wheels 54 on each support 52, the metal balls 57 can rotate in different directions, thus controlling the movement direction of the water jet.

[0033] like Figure 7 As shown, the mounting cylinder 22 has sliding grooves in both partition chambers 221. Anti-detachment blocks are provided on both the high-pressure water jet 3 and the water sprayer 4, located within the two sliding grooves respectively. Anti-detachment rings are installed at both ends of the mounting cylinder 22. This allows the high-pressure water jet 3 and the water sprayer 4 to slide within the mounting cylinder 22 while preventing them from falling out.

[0034] like Figure 4As shown, each mounting cylinder 22 is equipped with a cover 6, and the contactors 5 on the mounting bracket 21 are all located inside the cover 6. An air inlet pipe 64 is connected to the cover 6, with one end connected to an air source and the other end connected to the space inside the cover 6. The cover 6 covers the cutting area of ​​the high-pressure water jet 3. When the metal ball 57 contacts the working surface, there is a gap between the cover 6 and the working surface, with the gap width ranging from 2mm to 5mm. By injecting air into the cover 6 through the air inlet pipe 64, water within the area covered by the cover 6 can be discharged, preventing water from obstructing the high-pressure water jet 3 from being sprayed underwater, allowing the high-pressure water jet 3 to cut the working surface more effectively.

[0035] like Figure 4 As shown, the enclosure 6 has an inner cavity 61, and a water inlet 62 communicating with the inner cavity 61. A water suction pipe 63 is connected to the inner cavity 61, and the water suction pipe 63 is connected to a water pump on the workboat. The outlet of the air inlet pipe 64 is located above the high-pressure water jet 3, and the water inlet 62 is located below the high-pressure water jet 3. Wastewater generated from the high-pressure water jet 3 cutting the working surface flows into the space covered by the enclosure 6. The water pump draws the wastewater into the inner cavity 61 and discharges it through the water suction pipe 63, preventing excessive wastewater leakage that could increase turbidity in the water around the cutting robot, thus reducing the impact on visibility and facilitating better operation of the cutting robot.

[0036] In operation, the workboat is driven to the target waters, and the cutting robot is sent into the deep-water work area via a submersible. The electromagnet adsorption layer of the parking platform 71 on the submersible 7 is closed, and the cutting robot is started to move out from the parking platform 71. The underwater situation is observed through the camera, and the power unit 12 and regulator 11 are remotely operated to move the cutting robot underwater. When the cutting robot reaches the work position, the robotic arm 2 extends the high-pressure water jet 3, and the water sprayer 4 is activated to provide thrust to the mounting cylinder 22, pressing the contactor 5 against the work surface. The air intake pipe 64 and the water suction pipe 63 are connected to remove water from the space inside the cover 6. The high-pressure water is gradually connected to activate the high-pressure water jet 3, and the output of the water sprayer 4 is increased at the same time, so that the thrust generated by the water sprayer 4 is always greater than the thrust generated by the high-pressure water jet 3, ensuring that the contactor 5 can always adhere to the work surface. By controlling the rotation direction and speed of the rotating wheel 54 on each support 52, the metal ball 57 can be rotated in different directions, controlling the movement direction of the high-pressure water jet 3 and controlling the cutting path until the cutting operation is completed.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An underwater cutting device, wherein the cutting device is connected to a workboat, the workboat being used to provide a high-pressure water source and an air source, the cutting device comprising a submersible (7) and a cutting robot, the submersible (7) having a parking platform (71) at its top, the submersible (7) having a sand mixing tank, the sand mixing tank being connected to the cutting robot and the high-pressure water source on the workboat via a high-pressure water pipe, the high-pressure water output from the workboat being sent to the cutting robot via the sand mixing tank to mix with corundum, the cutting robot comprising a base frame (1), the base frame (1) being equipped with a power unit (12) and multiple regulators (11), the power unit (12) providing underwater propulsion power, and the regulators (11) adjusting the direction of travel, characterized in that: The base frame (1) is provided with a mounting frame (13), the mounting frame (13) is provided with a robotic arm (2), the robotic arm (2) is provided with a mounting cylinder (22), the mounting cylinder (22) is provided with multiple positioning components, a high-pressure water jet (3) is installed inside the mounting cylinder (22), the high-pressure water jet (3) is connected to a first water supply pipe (31) and connected to a high-pressure water source, the high-pressure water jet (3) is located between multiple positioning components, the positioning components include a mounting bracket (21) and a contactor (5) set on the mounting bracket (21), the contactor (5) contacts the working surface to determine the distance between the outlet of the high-pressure water jet (3) and the working surface.

2. The underwater cutting device according to claim 1, characterized in that: The contactor (5) includes a connecting part (51), and a plurality of supports (52) are provided on the connecting part (51). A metal ball (57) is provided between the supports (52). A strong magnet (53) is provided at one end of the support (52) near the metal ball (57). A rotating wheel (54) that can be driven by a motor (55) is installed in each of the supports (52). A transmission ring (56) is installed on the rotating wheel (54). The transmission ring (56) includes an annular shaft (561) located in the middle. The annular shaft (561) is fixedly connected to the rotating wheel (54). A plurality of contact wheels (562) are installed at equal intervals on the annular shaft. The contact wheels (562) contact the metal ball (57).

3. The underwater cutting device according to claim 2, characterized in that: The mounting cylinder (22) has a partition cavity (221) in the middle. A first pressure detector (32) and a second pressure detector (42) are installed at both ends of the partition cavity (221). A high-pressure water jet (3) slides through the front end of the mounting cylinder (22) and contacts the first pressure detector (32). A water sprayer (4) is installed through the rear end of the mounting cylinder (22) and contacts the second pressure detector (42). The water sprayer (4) is connected to a water pump assembly (16) through a second water supply pipe (41). The water pump assembly (16) is installed on the mounting frame (13).

4. The underwater cutting device according to claim 3, characterized in that: The number of positioning components is three, and they are arranged in a triangular pattern, with the high-pressure water jet (3) located in the middle of the three positioning components.

5. The underwater cutting device according to claim 4, characterized in that: The mounting cylinder (22) has sliding grooves in both partition chambers (221), and anti-detachment blocks are provided on the high-pressure water jet (3) and the water sprayer (4) respectively located in the two sliding grooves. Anti-detachment rings are installed at both ends of the mounting cylinder (22).

6. The underwater cutting device according to claim 1, characterized in that: Each of the mounting cylinders (22) is equipped with a cover (6), and the contactors (5) on the mounting brackets (21) are located inside the cover (6). An air inlet pipe (64) is connected to the cover (6). One end of the air inlet pipe (64) is connected to an air source, and the other end is connected to the space inside the cover (6).

7. An underwater cutting device according to claim 6, characterized in that: The cover (6) has an inner cavity (61) and a water inlet (62) communicating with the inner cavity (61). The inner cavity (61) is connected to a water pump (63), which is connected to a water pump on the workboat. The outlet of the air inlet (64) is located above the high-pressure water jet (3), and the water inlet (62) is located below the high-pressure water jet (3).

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