Underwater pipeline cleaning robot

Abstract

An underwater pipeline cleaning robot comprises movable diving equipment, a fixing seat is arranged on the movable diving equipment, a cleaning device used for cleaning the outer wall of a pipeline is installed on the fixing seat, connecting seats are installed on the left side and the right side of the fixing seat respectively, swing seats are hinged to the connecting seats, and steering engines are installed on the connecting seats. An output shaft of the steering engine is in connection transmission with the swing seat, one end of the fixing rod extends into and is fixed into the swing seat, the tubular brush movably sleeves the fixing rod and comprises a flexible pipe and bristles arranged on the outer wall of the flexible pipe, the flexible pipe sleeves the fixing rod, one end of the flexible pipe extends into the swing seat and is provided with a first gear, and the other end of the flexible pipe is provided with a second gear. The motor is installed on the swing seat, an output shaft of the motor extends into the swing seat and is provided with a second gear, and the first gear and the second gear are in meshing transmission. The cleaning device is mounted on the mobile diving equipment, so that sediments on the outer wall of the pipeline can be cleaned.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater pipeline robots, in particular to an underwater pipeline cleaning robot. Background Art

[0002] At present, underwater pipelines are widely used as a channel for energy or water transportation. Pipeline inspection is an important means to discover problems such as aging and corrosion in pipelines. Because underwater pipelines are prone to form sediments on the outer wall of the pipeline. During the inspection process, the sediments will have a great impact on the inspection task, and the inspection results cannot be obtained in time, or even the inspection cannot be carried out. Manual cleaning of sediments is very dangerous. Therefore, it is hoped that mobile diving equipment can be used to clean the sediments on the outer wall of the underwater pipeline to facilitate inspection.

[0003] Chinese patent document CN209441584U, published (announced) on September 27, 2019, discloses a multi-purpose underwater robot, which includes an upper computer, a middle computer and a lower computer. The upper computer includes a floating plate, a side plate and a frame support rod. The middle computer includes a single-chip control system, a monitoring system, a lighting system, an energy system in the core cabin, and a horizontal propulsion system and a vertical propulsion system on both sides. The lower computer includes a mechanical arm, a mechanical arm and a magnetic crawler, and the middle computer and the lower computer are connected by optical fiber. The middle computer sends and receives data and the camera takes images, and sends corresponding instructions to the lower computer. Its characteristics are that the multi-purpose underwater robot can be used for real-time monitoring of underwater pipelines, manual rescue auxiliary functions, picking up seabed garbage, underwater welding, and underwater cutting; its disadvantage is that it cannot clean the sediment on the outer wall of the pipeline. Utility Model Content

[0004] The technical problem to be solved by the utility model is: to solve the problems existing in the above-mentioned background technology and to provide an underwater pipeline cleaning robot, which can clean the sediment on the outer wall of the pipeline by installing a cleaning device on a mobile diving device.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: an underwater pipeline cleaning robot, including a mobile diving device, a fixed seat is provided on the mobile diving device, a cleaning device for cleaning the outer wall of the pipeline is installed on the fixed seat, the cleaning device includes a connecting seat, a swing seat, a steering gear, a motor, a fixed rod and a tubular brush, the left and right sides of the fixed seat are respectively installed with connecting seats, the connecting seat is hinged with a swing seat, the steering gear is installed on the connecting seat, the output shaft of the steering gear is connected and transmitted with the swing seat, the fixed rod is arc-shaped, one end of the fixed rod extends into and is fixed to the swing seat, the tubular brush is movably sleeved on the fixed rod, and a space for surrounding the pipeline is formed between the tubular brushes on both sides, the tubular brush includes a flexible tube and bristles arranged on the outer wall of the flexible tube, the flexible tube is sleeved on the fixed rod, one end of the flexible tube extends into the swing seat, and the end of the flexible tube extending into the swing seat is provided with a first gear, the motor is installed on the swing seat, the output shaft of the motor extends into the swing seat, the output shaft of the motor is installed with a second gear, and the first gear is meshed with the second gear for transmission.

[0006] The end of the hinge hole of the swing seat is provided with a matching section with a polygonal or spline groove structure, and the output shaft of the servo engine is installed with a connecting part with a polygonal or spline groove structure, and the connecting part is inserted into the matching section for transmission connection.

[0007] A buffer is installed on the mobile diving equipment, and a fixing seat is arranged on the buffer.

[0008] The buffer includes a first connecting block, a second connecting block, a connecting rod and a shock absorber. The two connecting rods are hinged to the first connecting block and the second connecting block respectively. The shock absorber is hinged between the two connecting rods. The first connecting block is connected to the mobile diving equipment, and the fixed seat is connected to the second connecting block.

[0009] The mobile diving equipment is provided with an ear seat, and the first connecting block is connected to the ear seat by bolts.

[0010] A limit ring is arranged in the swing seat, one end of the fixing rod extending into the swing seat is inserted into the limit ring, an internal thread is arranged at the end of the fixing rod, and the screw is screwed with the fixing rod thread after penetrating the swing seat.

[0011] The cleaning device is arranged at the bottom of the mobile diving equipment.

[0012] The utility model has the following beneficial effects:

[0013] 1. The utility model is provided with connecting seats on both sides of the fixed seat respectively, and the connecting seats are hinged with the swinging seat so that the swinging seat can swing. After the steering gear on the connecting seat is connected with the swinging seat, the swinging seat is driven to swing. A fixing rod is installed on the swinging seat, and the fixing rods on both sides swing under the drive of the swinging seat, so that they can be opened and closed. When the fixing rod is opened, the tubular brush can be sleeved on the outside of the pipe. When the fixing rod is closed, the pipe can be surrounded, or the upper half of the pipe can be surrounded. The flexible tubular brush is sleeved on the fixing rod. When the motor rotates, it drives the second gear, and the second gear is meshed with the first gear, thereby driving the tubular brush to rotate on the fixing rod. When the tubular brushes on both sides are closed to surround the pipe, the sediment on the outer wall of the pipe is cleaned.

[0014] 2. The utility model installs a buffer on the mobile diving equipment to buffer the force exerted by the mobile diving equipment in contact with the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0016] Figure 1 It is a schematic diagram of the main structure of the utility model.

[0017] Figure 2 It is a side structural schematic diagram of the utility model.

[0018] Figure 3 It is a schematic diagram of the three-dimensional structure of the utility model.

[0019] Figure 4 It is a schematic diagram of the three-dimensional structure of the cleaning device of the utility model.

[0020] Figure 5 This is a schematic diagram of the main structure of the cleaning device of the utility model.

[0021] Figure 6 The utility model is a schematic structural diagram showing a cleaning device with a tubular brush on one side.

[0022] Figure 7 This is a schematic diagram of the installation structure of the tubular brush of the utility model.

[0023] In the figure: mobile diving equipment 1, fixing seat 11, ear seat 12, bolt 13;

[0024] Cleaning device 2, connecting seat 21, swing seat 22, screw 221, hinge hole 222, limit ring 223, steering gear 23, motor 24, second gear 241, fixing rod 25, tubular brush 26, flexible tube 261, bristles 262, first gear 263;

[0025] Buffer 3, first connecting block 31, second connecting block 32, connecting rod 33, shock absorber 34. DETAILED DESCRIPTION

[0026] like Figure 1-7 As shown, an underwater pipeline cleaning robot comprises a mobile diving device 1, a fixed seat 11 is arranged on the mobile diving device 1, a cleaning device 2 for cleaning the outer wall of the pipeline is installed on the fixed seat 11, the cleaning device 2 comprises a connecting seat 21, a swinging seat 22, a steering gear 23, a motor 24, a fixing rod 25 and a tubular brush 26, the left and right sides of the fixed seat 11 are respectively installed with connecting seats 21, the swinging seat 22 is hinged on the connecting seat 21, the steering gear 23 is installed on the connecting seat 21, the output shaft of the steering gear 23 is connected to the swinging seat 22 for transmission, the fixing rod 25 is arc-shaped, one end of the fixing rod 25 extends into and is fixed to the swinging seat 22, The tubular brush 26 is movably mounted on the fixed rod 25, and a space for surrounding the pipeline is formed between the tubular brushes 26 on both sides. The tubular brush 26 includes a flexible tube 261 and bristles 262 arranged on the outer wall of the flexible tube 261. The flexible tube 261 is mounted on the fixed rod 25, and one end of the flexible tube 261 extends into the swing seat 22. A first gear 263 is arranged at one end of the flexible tube 261 extending into the swing seat 22. The motor 24 is mounted on the swing seat 22, and the output shaft of the motor 24 extends into the swing seat 22. A second gear 241 is mounted on the output shaft of the motor 24, and the first gear 263 is meshed with the second gear 241 for transmission. By installing the cleaning device 2 on the mobile diving equipment 1, the sediment on the outer wall of the pipeline can be cleaned.

[0027] Connecting seats 21 are respectively installed on both sides of the fixed seat 11. The connecting seat 21 is hinged with the swing seat 22, so that the swing seat 22 can swing. After the steering engine 23 on the connecting seat 21 is connected to the swing seat 22, the swing seat 22 is driven to swing. A fixing rod 25 is installed on the swing seat 22. The fixing rods 25 on both sides swing under the drive of the swing seat 22, so that they can be opened and closed. When the fixing rods 25 are opened, the tubular brush 26 can be sleeved on the outside of the pipeline. When the fixing rods 25 are closed, the pipeline can be enclosed, or the upper half of the pipeline can be enclosed. The flexible tubular brush 26 is sleeved on the fixing rod 25, see Figure 7 When the motor 24 rotates, it drives the second gear 241, and the second gear 241 meshes with the first gear 263, thereby driving the tubular brush 26 to rotate on the fixed rod 25. When the tubular brushes 26 on both sides are closed to surround the pipeline, the sediment on the outer wall of the pipeline is cleaned.

[0028] Specifically, the flexible tube 261 of the tubular brush 26 is a plastic tube that can be bent and deformed, and the outer wall of the plastic tube is implanted with bristles 262, which is similar to the structure of bristles on a toothbrush.

[0029] Specifically, the mobile diving equipment 1 adopts the upper computer and the middle computer disclosed in CN209441584U, a multi-purpose underwater robot.

[0030] For further information, see Figure 7 The end of the hinge hole 222 of the swing seat 22 is provided with a polygonal or spline groove structure matching section, and the output shaft of the servo 23 is installed with a connecting part of a polygonal or spline groove structure, which is inserted into the matching section for transmission connection. With the above structure, the servo 23 can be conveniently connected to the swing seat 22 for transmission. Figure 7 In the figure, it is shown that a spline groove structure is provided at the end of the hinge hole 222, and then a connecting part matching with the spline groove structure is installed on the output shaft of the servo 23 to form a spline pair.

[0031] Furthermore, a buffer 3 is installed on the mobile diving equipment 1, and the fixing seat 11 is arranged on the buffer 3. The buffer 3 is used to buffer the force of the mobile diving equipment contacting the pipeline.

[0032] For details, see Figure 4 The buffer 3 includes a first connecting block 31, a second connecting block 32, a connecting rod 33 and a shock absorber 34. The two connecting rods 33 are respectively hinged to the first connecting block 31 and the second connecting block 32. The shock absorber 34 is hinged between the two connecting rods 33. The first connecting block 31 is connected to the mobile diving device 1, and the fixing seat 11 is connected to the second connecting block 32. Through the above structure, the cleaning device 2 can move up and down in parallel to buffer.

[0033] See also Figure 4-6 The mobile diving equipment 1 is provided with an ear seat 12 , and the first connecting block 31 is connected to the ear seat 12 by a bolt 13 , so as to facilitate the installation and disassembly of the buffer 3 .

[0034] See also Figure 7 A limiting ring 223 is provided in the swing seat 22, and one end of the fixing rod 25 extending into the swing seat 22 is inserted into the limiting ring 223. An internal thread is provided at the end of the fixing rod 25, and the screw 221 penetrates the swing seat 22 and is screwed with the fixing rod 25. The fixing rod 25 is fixedly installed by the above structure. Furthermore, the end of the fixing rod 25 is a square structure or a spline structure, and the fixing rod 25 is inserted into the limiting ring 223 through the square structure or the spline structure, so that the fixing rod 25 can be better limited to prevent the fixing rod 25 from rotating.

[0035] In this embodiment, the cleaning device 2 is arranged at the bottom of the mobile diving equipment 1. According to actual needs, the cleaning device 2 can also be arranged at the front, rear or top of the mobile diving equipment 1.

[0036] The use process or principle of the utility model is as follows:

[0037] The mobile diving device 1 is capable of diving underwater. A visual camera is installed on the mobile diving device 1 to observe underwater conditions.

[0038] When the mobile diving device 1 moves to the top of the pipeline, the steering gears 23 on both sides are started to open the tubular brushes 26 on both sides. Figure 1 As shown, until the pipeline is located in the space formed between the tubular brushes 26 on both sides, the steering engine 23 starts in the reverse direction, driving the swing seat 22 to swing back, thereby driving the tubular brushes 26 on both sides to close and surround the pipeline. According to the actual situation of the pipeline, if the pipeline is suspended, it can be fully surrounded. If the pipeline falls on the ground, only a semi-enclosed cleaning device 2 can be used to surround the part of the pipeline located on the upper side of the ground.

[0039] Then the control motor 24 is started, the motor 24 drives the second gear 241 to rotate, the second gear 241 drives the first gear 263 to rotate, thereby driving the flexible tube 261 to rotate on the fixed rod 25. When the flexible tube 261 rotates, the bristles 262 flip over, and the mobile diving equipment 1 moves along the pipeline, thereby cleaning the outer wall of the pipeline.

[0040] After the cleaning task is completed, the steering gear 23 controls the tubular brush 26 to open left and right, and the mobile diving equipment 1 returns to the water surface for recovery.

[0041] It should be noted that the steering gear 23 and the motor 24 are centrally controlled by the control system of the core cabin in the mobile diving equipment 1.

Claims

1. An underwater pipeline cleaning robot, comprising a mobile diving device (1), characterized in that: The mobile diving equipment (1) is provided with a fixed seat (11), and a cleaning device (2) for cleaning the outer wall of the pipeline is installed on the fixed seat (11). The cleaning device (2) comprises a connecting seat (21), a swing seat (22), a steering gear (23), a motor (24), a fixing rod (25) and a tubular brush (26). The left and right sides of the fixed seat (11) are respectively provided with connecting seats (21), the swing seat (22) is hingedly connected to the connecting seat (21), the steering gear (23) is installed on the connecting seat (21), and the output shaft of the steering gear (23) is connected to the swing seat (22) for transmission. The fixing rod (25) is arc-shaped, and one end of the fixing rod (25) extends into and is fixed to the swing seat (22). The tubular brush (26) is movable. On the fixed rod (25), a space for surrounding a pipeline is formed between the tubular brushes (26) on both sides. The tubular brushes (26) include a flexible tube (261) and bristles (262) arranged on the outer wall of the flexible tube (261). The flexible tube (261) is sleeved on the fixed rod (25). One end of the flexible tube (261) extends into the swing seat (22). A first gear (263) is arranged on the end of the flexible tube (261) extending into the swing seat (22). The motor (24) is mounted on the swing seat (22). The output shaft of the motor (24) extends into the swing seat (22). A second gear (241) is mounted on the output shaft of the motor (24). The first gear (263) is meshed with the second gear (241) for transmission.

2. The underwater pipeline cleaning robot according to claim 1, characterized in that: The end of the hinge hole (222) of the swing seat (22) is provided with a matching section with a polygonal or spline groove structure, and the output shaft of the steering gear (23) is provided with a connecting portion with a polygonal or spline groove structure, which is inserted into the matching section for transmission connection.

3. The underwater pipeline cleaning robot according to claim 1, characterized in that: A buffer (3) is installed on the mobile diving equipment (1), and a fixing seat (11) is arranged on the buffer (3).

4. The underwater pipeline cleaning robot according to claim 3, characterized in that: The buffer (3) comprises a first connecting block (31), a second connecting block (32), a connecting rod (33) and a shock absorber (34); the two connecting rods (33) are respectively hinged to the first connecting block (31) and the second connecting block (32); the shock absorber (34) is hinged between the two connecting rods (33); the first connecting block (31) is connected to the mobile diving equipment (1); and the fixing seat (11) is connected to the second connecting block (32).

5. The underwater pipeline cleaning robot according to claim 4, characterized in that: The mobile diving equipment (1) is provided with an ear seat (12), and the first connecting block (31) is connected to the ear seat (12) via a bolt (13).

6. The underwater pipeline cleaning robot according to claim 1, characterized in that: A limiting ring (223) is arranged in the swing seat (22); one end of the fixing rod (25) extending into the swing seat (22) is inserted into the limiting ring (223); an internal thread is arranged at the end of the fixing rod (25); and the screw (221) is threadedly connected to the fixing rod (25) after passing through the swing seat (22).

7. The underwater pipeline cleaning robot according to any one of claims 1 to 6, characterized in that: The cleaning device (2) is arranged at the bottom of the mobile diving equipment (1).

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