An endoscopic inspection apparatus for large marine pipelines

Abstract

The application discloses an endoscopic detection device for large marine pipelines, and particularly relates to the endoscopic detection field, which comprises a marine pipeline and an endoscopic robot, the endoscopic robot is arranged on the inner wall of the marine pipeline, one side of the endoscopic robot is provided with a data cable, one side of the endoscopic robot is provided with a positioning assembly and an improved conveying assembly, the improved conveying assembly comprises a fixed plate fixedly connected to one end of the data cable close to the endoscopic robot, one side of the fixed plate is fixedly connected with a pull rope, one side of the endoscopic robot is provided with a cable support, the inner wall of the cable support is slidably connected with a movable shaft rod, and the outer side of the movable shaft rod is rotatably connected with a winding roller. The data cable is lifted away from the inner wall of the pipeline through the improved conveying assembly, the friction of the data cable during movement is reduced, the burden of the endoscopic robot during movement is reduced, and the positioning assembly is used for positioning and placing deviation, so that the burden of the endoscopic robot during movement can be significantly reduced, and the service duration is prolonged.

Description

Technical Field

[0001] This invention relates to the field of endoscopic inspection technology, and more specifically, to an endoscopic inspection device for large marine pipelines. Background Technology

[0002] Offshore pipelines are large pipelines laid on the seabed to transport oil and natural gas. When such pipelines malfunction and require inspection, they are often inspected by using a pipeline endoscope robot to enter the pipeline. The pipeline endoscope robot is a small, remotely controlled device, driven in a manner similar to an electric vehicle. It moves its base, which is equipped with a camera, via an electric drive. This type of device allows maintenance workers to observe the inner wall of the pipeline in detail from the outside, thus enabling them to easily detect faults inside the pipeline.

[0003] Current pipeline endoscopy robots often use long data transmission cables to ensure good data transmission even when deep inside pipelines. However, when the robot is deep inside the pipeline, the data transmission cable will continuously rub against the inner wall of the pipeline, which will gradually damage the cable. Furthermore, when the robot pulls on the long cable, the friction caused by the cable will further increase the robot's form resistance, thereby increasing the robot's burden and reducing its endurance. Therefore, to address this problem, this application provides an endoscopic inspection device for large marine pipelines to meet the requirements. Summary of the Invention

[0004] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide an endoscopic inspection device for large marine pipelines. By raising the transport component to lift the data cable away from the inner wall of the pipeline, friction during data cable movement is reduced, thus reducing the burden on the endoscopic robot during movement. This, combined with the positioning component to prevent misalignment, solves the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An endoscopic inspection device for large marine pipelines includes a marine pipeline and an endoscopic robot. The endoscopic robot is installed on the inner wall of the marine pipeline. A data cable is installed on one side of the endoscopic robot. A positioning component and a lifting and conveying component are installed on one side of the endoscopic robot. The lifting and conveying component includes a fixed plate fixedly connected to the end of the endoscopic robot near the data cable. A pull rope is fixedly connected to one side of the fixed plate. A cable bracket is installed on one side of the endoscopic robot. A movable shaft is slidably connected to the inner wall of the cable bracket. A roller is rotatably connected to the outer side of the movable shaft. A coil spring is provided between the roller and the movable shaft. The pull rope is wound around the outer side of the roller. A rotating shaft is fixedly connected to the inner wall of the cable bracket. A transmission plate is rotatably connected to the outer side of the rotating shaft. A torsion spring is provided between the rotating shaft and the transmission plate. The transmission plate and the movable shaft are arranged in an abutting position. A movable connecting piece is fixedly connected to one side of the transmission plate.

[0006] In a preferred embodiment, a conveyor wheel is rotatably connected to the top of the cable bracket, a limit frame is fixedly connected to the top of the cable bracket, the data cable is slidably connected to the outside of the conveyor wheel, tilting wheels are rotatably connected to both sides of the cable bracket, a rear arm plate is fixedly connected to the inside of the cable bracket, and a rear support wheel is rotatably connected to one end of the rear arm plate.

[0007] In a preferred embodiment, the positioning component includes a support base plate fixedly connected to one side of the fixing plate, the data cable is disposed inside the support base plate, and a base sleeve plate is fixedly connected to the top of the support base plate.

[0008] In a preferred embodiment, the base sleeve is rotatably connected to a threaded shaft, and the inner side of the base sleeve is slidably connected to an inner slide plate. The threaded shaft and the inner slide plate are connected by a thread.

[0009] In a preferred embodiment, a central frame is fixedly connected to the top of the inner slide plate, and a rotating handle is rotatably connected inside the central frame. Both ends of the rotating handle are fixedly connected to transmission screws.

[0010] In a preferred embodiment, both ends of the central frame are fixedly connected to limit side plates, and the outer side of the transmission screw is threadedly connected to a side support rod, which is slidably sleeved on the outer side of the limit side plate.

[0011] In a preferred embodiment, a spring is fixedly connected to one end of the side support rod away from the central frame, and a movable frame is fixedly connected to one end of the spring. The movable frame is slidably connected to the outside of the side support rod.

[0012] In a preferred embodiment, two movable shaft plates are rotatably connected to the inner side of the movable frame, a torsion spring is provided between the two movable shaft plates, and a pulley is rotatably connected to one end of each of the two movable shaft plates.

[0013] The technical effects and advantages of this invention are as follows: 1. This invention, by setting up lifting and conveying components, keeps the data cable away from the inner wall of the marine pipeline, avoiding friction that could damage the data cable. At the same time, the conveying wheel rotates as the data cable moves, which can further reduce friction during the movement of the data cable. This can significantly reduce the burden on the endoscopic robot during movement, extend its service life, and during the movement of the endoscopic robot, multiple lifting and conveying components are separated one by one to provide multi-point support for the data cable. This can prevent the data cable from gradually extending and still coming into contact with the inner wall of the marine pipeline in some places. 2. This invention positions the endoscopic robot by setting a positioning component, ensuring that the endoscopic robot is always on the vertical center line of the marine pipeline. This allows the endoscopic robot to move in a straight line, thereby avoiding the situation where the transport component deviates from its path during movement, which would reduce stability. Simultaneously, by positioning the endoscopic robot using positioning components, it is possible to maintain contact with the inner wall of the marine pipeline when the endoscopic robot is placed from the top of the vertical section of the pipeline. This allows the endoscopic robot to gradually descend when activated, replacing the current method of using a rope to lower the endoscopic robot. This enables the endoscopic robot to move vertically, ensuring the accuracy of endoscopic inspection of the vertical section of the marine pipeline. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of an endoscopic robot located inside a marine pipeline. Figure 2 To improve the partial structural cross-sectional view of the conveying assembly; Figure 3 for Figure 2 Enlarged view of the A-section structure; Figure 4 A schematic diagram of the three-dimensional structure of the conveying assembly; Figure 5 for Figure 4 Enlarged view of the structure of section B; Figure 6 A three-dimensional structural diagram of an endoscopic inspection device used for large marine pipelines; Figure 7 for Figure 6 Enlarged view of the C-section structure; Figure 8 for Figure 6 Enlarged view of the structure of part D; Figure 9 This is a schematic diagram of the top structure of the positioning component.

[0015] The attached figures are labeled as follows: 1. Marine pipeline; 2. Endoscopic robot; 3. Fixing plate; 4. Data cable; 5. Pull rope; 6. Roller; 7. Movable shaft; 8. Cable bracket; 9. Rotary shaft; 10. Transmission plate; 11. Movable connector; 12. Tilting wheel; 13. Rear arm plate; 14. Rear support wheel; 15. Conveyor wheel; 16. Limiting frame; 17. Support base plate; 18. Base sleeve plate; 19. Threaded rotating shaft; 20. Inner sliding plate; 21. Center frame; 22. Rotating handle; 23. Transmission screw; 24. Side support rod; 25. Limiting side plate; 26. Spring; 27. Movable frame; 28. Movable shaft plate; 29. ​​Pulley. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Refer to the instruction manual appendix Figures 1-9 As shown, an endoscopic inspection device for large marine pipelines according to an embodiment of the present invention includes a marine pipeline 1 and an endoscopic robot 2. The endoscopic robot 2 is disposed on the inner wall of the marine pipeline 1. A data cable 4 is disposed on one side of the endoscopic robot 2. A positioning component and a lifting and conveying component are disposed on one side of the endoscopic robot 2.

[0018] The improved conveying assembly includes a fixed plate 3 fixedly connected to one end of the endoscopic robot 2 near the data cable 4. A pull rope 5 is fixedly connected to one side of the fixed plate 3. A cable bracket 8 is provided on one side of the endoscopic robot 2. Tilting wheels 12 are rotatably connected to both sides of the cable bracket 8. A rear arm plate 13 is fixedly connected to the inner side of the cable bracket 8. A rear support wheel 14 is rotatably connected to one end of the rear arm plate 13. The cable bracket 8 adopts a lightweight design to reduce the overall weight and the force required for movement. The tilting wheels 12 are tilted to improve the overall stability of the cable bracket 8. A movable shaft 7 is slidably connected to the inner wall of the cable bracket 8. The outer side of the movable shaft 7 is rotatably connected to... There is a roller 6, and a coil spring is provided between the roller 6 and the movable shaft 7. The pull rope 5 is wound around the outside of the roller 6. The inner wall of the cable bracket 8 is fixedly connected to the rotating shaft 9. The outer side of the rotating shaft 9 is rotatably connected to the transmission plate 10. A torsion spring is provided between the rotating shaft 9 and the transmission plate 10. The transmission plate 10 and the movable shaft 7 are in abutting position. A movable connector 11 is fixedly connected to one side of the transmission plate 10. The movable connector 11 is snapped into the bottom of the cable bracket 8 in the lifting conveyor assembly near the side of the movable connector 11. The top of the cable bracket 8 is rotatably connected to the conveyor wheel 15. The top of the cable bracket 8 is fixedly connected to the limit frame 16. The data cable 4 is slidably connected to the outside of the conveyor wheel 15.

[0019] It should be noted that the lifting and conveying components are configured in multiple groups, which are connected by multiple pull ropes 5. When the endoscopic robot 2 performs endoscopic inspection on the marine pipeline 1, the endoscopic robot 2 is placed inside the marine pipeline 1 and connected to the movable connector 11 in the last lifting and conveying component via a fixed hook. The connection method is similar to... Figure 3 As shown, the other end of the fixing hook is connected to the outer wall of the marine pipeline 1, as follows. Figure 1 As shown, the lifting and conveying assembly at the end is fixed in this way. At this time, the endoscopic robot 2 is started and moves forward along the inner wall of the marine pipeline 1. As the endoscopic robot 2 gradually penetrates into the inner side of the marine pipeline 1, it pulls the pull rope 5 to make the winding roller 6 gradually rotate and unwind the pull rope 5. During this period, the data cable 4 slides inside the conveying wheel 15, and the conveying wheel 15 rotates at the same time, so as to keep the data cable 4 away from the inner wall of the marine pipeline 1 and avoid friction that could damage the data cable 4. At the same time, the rotation of the conveying wheel 15 under the movement of the data cable 4 can further reduce the friction when the data cable 4 moves, thereby significantly reducing the burden on the endoscopic robot 2 when it moves and extending its service life.

[0020] After the roller 6 has completely unwound the outer pull rope 5, since the other end of the pull rope 5 is fixedly connected to the roller 6, the pull rope 5 will pull the roller 6, causing the movable shaft 7 to slide on the inner wall of the cable bracket 8, thereby pushing the transmission plate 10 to rotate, and then causing the movable connecting piece 11 to flip downward and separate from the adjacent cable bracket 8. At this time, the foremost lifting and conveying component separates from the rear lifting and conveying component. When the endoscopic robot 2 moves, it will drive the first lifting and conveying component to move synchronously. The setting of the tilting wheel 12 and the rear support wheel 14 can improve the flexibility and stability of the cable bracket 8. When the cable bracket 8 moves, it will drive the rear roller 6 to rotate through the pull rope 5 at the rear. By repeating the above steps, multiple lifting and conveying components can be separated one by one, providing multi-point support for the data cable 4. This can prevent the data cable 4 from gradually extending and still contacting the inner wall of the marine pipeline 1 at some points.

[0021] Furthermore, the positioning component includes a support base plate 17 fixedly connected to one side of the fixed plate 3, a data cable 4 disposed inside the support base plate 17, a base sleeve plate 18 fixedly connected to the top of the support base plate 17, a threaded shaft 19 rotatably connected inside the base sleeve plate 18, an inner slide plate 20 slidably connected inside the base sleeve plate 18, the threaded shaft 19 and the inner slide plate 20 being threadedly connected, a center frame 21 fixedly connected to the top of the inner slide plate 20, and a handle 22 rotatably connected inside the center frame 21.

[0022] Both ends of the handle 22 are fixedly connected to transmission screws 23, and the threads of the two transmission screws 23 are opposite, so that when the handle 22 rotates, the side support rods 24 on both sides can approach or move away from each other. Both ends of the center frame 21 are fixedly connected to limit side plates 25. The outer threads of the transmission screws 23 are connected to the side support rods 24, and the side support rods 24 are slidably sleeved on the outer side of the limit side plates 25. The limit side plates 25 limit the side support rods 24, so that the side support rods 24 can only make linear displacement. The end of the side support rods 24 away from the center frame 21 is fixedly connected to a spring 26, and the end of the spring 26 is fixedly connected to a movable frame 27. The movable frame 27 is slidably connected to the outer side of the side support rods 24. The inner side of the movable frame 27 is rotatably connected to two movable shaft plates 28, and a torsion spring is provided between the two movable shaft plates 28. The torsion spring can keep the two movable shaft plates 28 in a state of tending to merge. Each of the two movable shaft plates 28 is rotatably connected to a pulley 29.

[0023] It should be noted that when the endoscopic robot 2 is placed inside the marine pipeline 1, the height of the base sleeve 18 is adjusted by rotating the threaded shaft 19 to ensure that the pulleys 29 on both sides are located on the horizontal center line of the marine pipeline 1. The side support rods 24 on both sides are moved away from each other by rotating the handle 22 until the pulleys 29 on both sides contact the inner wall of the marine pipeline 1. The two movable shaft plates 28 on one side are opened, so that the torsion spring between the two movable shaft plates 28 is in a stretched state. This ensures that the pulleys 29 are in close contact with the inner wall of the marine pipeline 1, thereby positioning the endoscopic robot 2 so that it is always on the vertical center line of the marine pipeline 1. This allows the endoscopic robot 2 to move in a straight line, thus avoiding the situation where the conveying component deviates from its path during movement, which would reduce stability.

[0024] Simultaneously, by positioning the endoscopic robot 2 using the positioning component, it is possible to maintain contact between the endoscopic robot 2 and the inner wall of the marine pipeline 1 when the endoscopic robot 2 is placed into the pipeline from the top of the vertical section. This allows the endoscopic robot 2 to gradually descend when activated, replacing the current method of lowering the endoscopic robot 2 via a rope. This enables the endoscopic robot 2 to move vertically, ensuring the accuracy of endoscopic inspection of the vertical section of the marine pipeline 1.

[0025] Meanwhile, when the endoscopic robot 2 moves to the bend in the pipeline, the springs 26 on both sides will contract accordingly according to the contour of the bend, so that the movable frame 27 can maintain its displacement, thereby allowing the positioning component to flexibly pass through the bend in the marine pipeline 1.

[0026] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change. Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An endoscopic inspection device for large marine pipelines, comprising a marine pipeline (1) and an endoscopic robot (2), wherein the endoscopic robot (2) is disposed on the inner wall of the marine pipeline (1), characterized in that, A data cable (4) is provided on one side of the endoscopic robot (2). A positioning component and a lifting and conveying component are provided on one side of the endoscopic robot (2). The lifting and conveying component includes a fixing plate (3) fixedly connected to one end of the endoscopic robot (2) near the data cable (4). A pull rope (5) is fixedly connected to one side of the fixing plate (3). A cable bracket (8) is provided on one side of the endoscopic robot (2). A movable shaft (7) is slidably connected to the inner wall of the cable bracket (8). A roller (6) is rotatably connected to the outer side of the movable shaft (7). A coil spring is provided between the roller (6) and the movable shaft (7). The pull rope (5) is wound around the outside of the roller (6). A rotating shaft (9) is fixedly connected to the inner wall of the cable bracket (8). A transmission plate (10) is rotatably connected to the outside of the rotating shaft (9). A torsion spring is provided between the rotating shaft (9) and the transmission plate (10). The transmission plate (10) and the movable shaft (7) are arranged in an abutting position. A movable connecting piece (11) is fixedly connected to one side of the transmission plate (10). The lifting and conveying assembly is configured in multiple groups, and the multiple groups of assemblies are connected by multiple pull ropes (5). After the roller (6) has unwound all the outer pull ropes (5), since the other end of the pull ropes (5) is fixedly connected to the roller (6), the pull ropes (5) will pull the roller (6), causing the movable shaft (7) to slide on the inner wall of the cable bracket (8), thereby pushing the transmission plate (10) to rotate, and then causing the movable connector (11) to flip downward and separate from the adjacent cable bracket (8). At this time, the foremost lifting and conveying component separates from the rear lifting and conveying component. When the endoscopic robot (2) moves, it will drive the first lifting and conveying component. The components move synchronously, enabling multiple lifting conveying components to be separated one by one, providing multi-point support for the data cable (4). The top of the cable bracket (8) is rotatably connected to a conveying wheel (15), and the top of the cable bracket (8) is fixedly connected to a limit frame (16). The data cable (4) is slidably connected to the outside of the conveying wheel (15). The two sides of the cable bracket (8) are rotatably connected to tilting wheels (12). The inner side of the cable bracket (8) is fixedly connected to a rear arm plate (13), and one end of the rear arm plate (13) is rotatably connected to a rear support wheel (14).

2. The endoscopic inspection device for large marine pipelines according to claim 1, characterized in that, The positioning component includes a support base plate (17) fixedly connected to one side of the fixed plate (3), the data cable (4) is arranged inside the support base plate (17), and a base sleeve plate (18) is fixedly connected to the top of the support base plate (17).

3. An endoscopic inspection device for large marine pipelines according to claim 2, characterized in that, The base sleeve (18) is rotatably connected to a threaded shaft (19), and the inner side of the base sleeve (18) is slidably connected to an inner slide plate (20). The threaded shaft (19) and the inner slide plate (20) are connected in a threaded manner.

4. An endoscopic inspection device for large marine pipelines according to claim 3, characterized in that, The top of the inner slide plate (20) is fixedly connected to a central frame (21), and the interior of the central frame (21) is rotatably connected to a handle (22). Both ends of the handle (22) are fixedly connected to a transmission screw (23).

5. An endoscopic inspection device for large marine pipelines according to claim 4, characterized in that, Both ends of the central frame (21) are fixedly connected to limit side plates (25), and the outer side of the transmission screw (23) is threadedly connected to a side support rod (24), which is slidably sleeved on the outer side of the limit side plate (25).

6. An endoscopic inspection device for large marine pipelines according to claim 5, characterized in that, A spring (26) is fixedly connected to one end of the side support rod (24) away from the central frame (21), and a movable frame (27) is fixedly connected to one end of the spring (26). The movable frame (27) is slidably connected to the outside of the side support rod (24).

7. An endoscopic inspection device for large marine pipelines according to claim 6, characterized in that, The inner side of the movable frame (27) is rotatably connected to two movable shaft plates (28), and a torsion spring is provided between the two movable shaft plates (28). One end of each of the two movable shaft plates (28) is rotatably connected to a pulley (29).

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