ROV robot operable riser detection device

Abstract

The utility model relates to the technical field of marine riser monitoring, in particular to an ROV (Remote Operated Vehicle) robot operable riser detection device, which comprises an openable clamping piece, the clamping piece comprises a first clamping arm and a second clamping arm, a circular clamping space is formed between the first clamping arm and the second clamping arm, and the first clamping arm and the second clamping arm are connected with each other. One end of the first clamping arm is hinged to one end of the second clamping arm, the hinged end of the first clamping arm and the hinged end of the second clamping arm are connected with a grabbing rod used for controlling opening and closing of the first clamping arm and the second clamping arm, the grabbing rod is in sliding connection with the first clamping arm, and the grabbing rod is fixedly connected with the second clamping arm. A mounting structure for mounting a sensor is fixed on the second clamping arm, and a fixed handle capable of being clamped by the ROV robot is arranged on the first clamping arm. According to the utility model, the stress, the strain and the motion state of the riser at different seawater depths can be measured, the clamping device can be quickly locked and disassembled, and the accuracy of measured data such as the stress, the strain and the like is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of ocean riser monitoring, more particularly to a riser detection device operable by ROV robot. BACKGROUND

[0002] Deep sea oil and gas resources are abundant, and in the process of deep sea oil and gas production and treatment, a riser needs to be lowered into the sea. Due to the combined effect of sea wind and current, the riser is prone to vortex-induced vibration, which causes the riser structure to fatigue. As an important oil and gas processing channel, the structural integrity of the riser has attracted widespread attention. Existing pipe body detection devices mainly use methods such as binding and adhesion. The binding method is to connect the monitoring device to the pipe body by a steel wire before the pipe body enters the water, so as to achieve the purpose of pipe body monitoring. The adhesion method is to connect the strain gauge to the pipe body device by a special adhesive before the pipe body enters the water, so as to achieve the purpose of monitoring the pipe body. However, both the binding method and the adhesion method have certain limitations. With the increase of water depth, the adhesion effect of the adhesive will gradually decrease, and the adhesive cannot be used for riser monitoring in the field of deep water riser monitoring. The binding method cannot guarantee that the monitoring device is highly attached to the pipe body, which will seriously reduce the accuracy of riser monitoring. At the same time, due to the complex hydrological environment in the deep sea, the installation of the detection device by means of artificial diving is prone to safety risks. In order to ensure safety, the detection device is generally installed by ROV robot. Therefore, a riser detection device convenient for installation and removal by ROV robot is needed to detect the working state of the riser. SUMMARY

[0003] In order to solve the lack of riser detection convenient for ROV robot in the prior art, the utility model provides a riser detection device operable by ROV robot, which is convenient for ROV robot operation to realize the installation and removal of the riser detection device, and ensures the stability of the connection between the riser detection device and the riser and the accuracy of detection.

[0004] To solve the above technical problems, the utility model adopts the technical scheme of a riser detection device operable by ROV robot, which comprises a clamping piece that can be opened and closed, the clamping piece comprises a first clamping arm and a second clamping arm, a circular clamping space is formed between the first clamping arm and the second clamping arm, one end of the first clamping arm is hinged to one end of the second clamping arm, a grab lever for controlling the opening and closing of the first clamping arm and the second clamping arm is connected to the hinged ends of the first clamping arm and the second clamping arm, the grab lever is slidingly connected to the first clamping arm, the grab lever is fixedly connected to the second clamping arm, an installation structure for installing a sensor is fixed to the second clamping arm, and a fixed handle for being clamped by the ROV robot is arranged on the first clamping arm.

[0005] In the technical solution, the clamping member is provided, which is used for clamping the outer circumferential surface of the riser. The clamping member includes a first clamping arm and a second clamping arm, and the second clamping arm is provided with a mounting structure. The mounting structure can be used for mounting different sensors to match different detection requirements. At the same time, the mounting structure ensures that the sensor can be stably fixed on the clamping member, and ensures that the sensor will not displace during detection. At the same time, the mounting structure is as close as possible to the outer wall surface of the riser, and is highly matched with the pipe body to ensure the accuracy of the detection data. The first clamping arm and the second clamping arm form a circular clamping space therebetween, which is matched with the shape of the riser. One end of the first clamping arm is hingedly connected with one end of the second clamping arm, so that the first clamping arm and the second clamping arm can rotate relative to each other to realize the opening and closing action. When the first clamping arm and the second clamping arm rotate in the direction away from each other, the end of the first clamping arm away from the hinge point and the end of the second clamping arm away from the hinge point are away from each other, so that a channel is formed therebetween to connect the clamping space with the external space. The riser can enter the clamping space through the channel, that is, the opening action in the opening and closing action of the first clamping arm and the second clamping arm is realized. When the first clamping arm and the second clamping arm rotate in the direction close to each other, the channel will become smaller, until the end of the first clamping arm away from the hinge point and the end of the second clamping arm away from the hinge point abut each other. The channel is completely closed, and the clamping space becomes a closed space, that is, the closing action in the opening and closing action of the first clamping arm and the second clamping arm is realized. The hinge end of the first clamping arm and the hinge end of the second clamping arm are connected with a grab lever, and the first clamping arm and the second clamping arm can be operated to rotate relative to each other through the grab lever. The first clamping arm is also provided with a fixed handle for grabbing the entire riser detection device. When the riser needs to be detected, the corresponding detector is first installed on the mounting structure on the working platform. The ROV robot has at least two mechanical arms, one of which clamps the fixed handle for grabbing the entire riser detection device. Then the ROV robot is put into the water, and the ROV robot is operated to move to the position of the riser to be detected. Then the other mechanical arm of the ROV robot operates the grab lever, which is slidingly connected with the first clamping arm and fixedly connected with the second clamping arm. When the ROV robot operates the grab lever, the grab lever only moves the second clamping arm while the first clamping arm remains stationary, so that the first clamping arm and the second clamping arm move relative to each other to complete the opening and closing action. In this process, the first clamping arm and the second clamping arm contact the outer wall surface of the riser to generate a friction force, which limits the sliding of the clamping member on the riser, so as to fix the riser detection device on the riser. When the detection is completed or the detector needs to be replaced, only the first clamping arm and the second clamping arm need to be opened by controlling the grab lever of one mechanical arm of the ROV robot, so that the riser detection device can be detached from the riser.

[0006] Preferably, the hinged end of the first clamping arm extends outward to form a first protruding portion which is inclined away from the second clamping arm, the hinged end of the second clamping arm extends outward to form a second protruding portion which is inclined away from the first clamping arm, the first protruding portion is in sliding connection with the grab lever, and the second protruding portion is in fixed connection with the grab lever.

[0007] Preferably, a first mounting block is rotatably mounted on the first protruding portion, a first mounting hole is formed in the first mounting block, the grab lever is inserted into the first mounting hole and in sliding connection with the first mounting hole, a second mounting block is rotatably mounted on the second protruding portion, and the second mounting block is in fixed connection with the grab lever.

[0008] Preferably, the grab lever is a screw rod, the first mounting hole is a threaded hole, the grab lever is in threaded connection with the first mounting hole, and the end of the grab lever and the second mounting block are in fixed connection which can rotate relative to each other.

[0009] Preferably, the end of the grab lever away from the second protruding portion is further provided with a limiting portion which is coaxial with the grab lever and has a cross-sectional area greater than that of the first mounting hole.

[0010] Preferably, the end of the grab lever is further provided with a handle for gripping.

[0011] Preferably, the mounting structure is a square slot structure, the mounting structure includes a slot bottom and a slot wall, the slot bottom is in fixed connection with the outer wall surface of the second clamping arm, a mounting slot is formed in the slot wall, one end of the mounting structure is further provided with a sealing plate, and a mounting hole is formed in the sealing plate.

[0012] Preferably, the outer surface of the clamping member is further provided with a corrosion prevention device.

[0013] Preferably, the corrosion prevention device is a zinc material structure which is in close contact with the outer peripheral surface of the clamping member.

[0014] Preferably, the clamping member, the mounting structure, the fixed handle and the grab lever are all stainless steel material structures.

[0015] Compared with the prior art, the utility model discloses the beneficial effect is: be provided with the installation structure and be convenient for the pole shape with the detector of different dismounting to adapt to the detection need, and guarantee installation firm and the outer wall surface of the fit riser, ensure the accuracy of detection result. Be provided with the clamping piece, and the clamping piece includes the first clamping arm and second clamping arm of hinge, can be through rotating first clamping arm and second clamping arm to realize the fixing and dismounting on the riser, be provided with the grab pole, and through operating grab pole can control first clamping arm and second clamping arm rotation. Be provided with the fixed handle and be convenient for ROV robot to grab. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the riser detection device of the utility model ROV robot operable perspective drawing;

[0017] Figure 2 It is the riser detection device of the utility model ROV robot operable plan view;

[0018] Figure 3 It is the riser detection device of the utility model ROV robot operable left view.

[0019] In the drawing, 1, clamping piece, 2, installation structure, 3, fixed handle, 4, grab pole, 5, anticorrosion device, 11, first clamping arm, 12, second clamping arm, 13, first protruding portion, 14, second protruding portion, 15, first mounting block, 16, second mounting block, 21, groove bottom, 22, groove wall, 23, installation groove, 24, sealing plate, 25, mounting hole, 41, limiting portion, 42, handle. DETAILED DESCRIPTION

[0020] The drawings are only for example description, and can not be understood as the limitation of the patent; in order to better illustrate the embodiment, some components of the drawing can be omitted, enlarged or reduced, and do not represent the size of actual product; for those skilled in the art, some well-known structures in the drawing and their description can be omitted, which can be understood. The positional relationship described in the drawing is only for example description, and can not be understood as the limitation of the patent.

[0021] The same or similar reference numerals in the drawings of the utility model embodiment correspond to the same or similar components; in the description of the utility model, it is understood that if the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "long" and "short" is based on the orientation or positional relationship shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicating or implying that the device or element indicated must have a particular orientation, a particular orientation and operation, therefore the terms describing the positional relationship in the drawing are only for example description, and can not be understood as the limitation of the patent, for ordinary skilled in the art, the specific meaning of the above terms can be understood according to the specific situation.

[0022] The technical scheme of the utility model will be further concretely described below by specific embodiments and in combination with the drawings:

[0023] Example 1

[0024] As Figure 1As shown, a kind of ROV robot operable riser detection device, including openable and closable clamping piece 1, clamping piece 1 includes first clamping arm 11 and second clamping arm 12, and the circular clamping space is formed between first clamping arm 11 and second clamping arm 12, one end of first clamping arm 11 is hinged with one end of second clamping arm 12, and the hinged end of first clamping arm 11 is connected with the hinged end of second clamping arm 12 with the lever 4 for controlling the opening and closing of first clamping arm 11 and second clamping arm 12, the lever 4 is slidably connected with first clamping arm 11, and the lever 4 is fixedly connected with second clamping arm 12, and the mounting structure 2 for installing sensor is fixed on second clamping arm 12, and the fixed handle 3 for being clamped by ROV robot is provided on first clamping arm 11.Set with openable and closable clamping piece 1, clamping piece 1 is used for clamping the outer circumferential surface of riser.Chipping piece 1 includes first clamping arm 11 and second clamping arm 12, and mounting structure 2 is arranged on second clamping arm 12, and mounting structure 2 can be used for installing different sensors to match different detection requirements.Meanwhile, mounting structure 2 ensures that the sensor can be stably fixed on clamping piece 1, and ensures that the sensor does not displace in the detection process.Meanwhile, mounting structure 2 is as close as possible to the outer wall surface of riser, and is highly matched with pipe body, so as to ensure the accuracy of detection data.The circular clamping space is formed between first clamping arm 11 and second clamping arm 12, and the clamping space is matched with the shape of riser.One end of first clamping arm 11 is hinged with one end of second clamping arm 12, so that first clamping arm 11 and second clamping arm 12 can be rotated to realize the opening and closing action.When first clamping arm 11 and second clamping arm 12 are rotated in the direction of moving away from each other, the end of first clamping arm 11 away from the hinged point and the end of second clamping arm 12 away from the hinged point move away from each other, so that a channel is formed between them to connect the clamping space with the external space, and the riser can enter the clamping space through the channel, that is, the opening action in the opening and closing action of first clamping arm and second clamping arm is realized, when first clamping arm 11 and second clamping arm 12 are rotated in the direction of moving close to each other, the channel will become smaller, until the end of first clamping arm 11 away from the hinged point and the end of second clamping arm 12 away from the hinged point abut, the channel is completely closed, and the clamping space becomes a closed space, that is, the closing action in the opening and closing action of first clamping arm and second clamping arm is realized.The hinged end of first clamping arm 11 is connected with the hinged end of second clamping arm 12 with the lever 4, and first clamping arm 11 and second clamping arm 12 can be relatively rotated by the lever 4.The fixed handle 3 is further provided on first clamping arm 11 for grabbing the whole riser detection device.When the riser needs to be detected, first, the corresponding detector is installed on mounting structure 2 on the working platform.ROV robot has at least two mechanical arms, one of which clamps the fixed handle 3 for grabbing the whole riser detection device.Then the ROV robot is put into the water, the ROV robot is operated to move to the position of the riser to be detected, and then another mechanical arm of the ROV robot operates the grab bar 4, the grab bar 4 is in sliding connection with the first clamping arm 11, and the grab bar 4 is in fixed connection with the second clamping arm 12, when the ROV robot operates the grab bar 4, the grab bar 4 only drives the second clamping arm 12 to move while the first clamping arm 11 remains stationary, so that the first clamping arm 11 and the second clamping arm 12 are relatively moved to complete the opening and closing action. In this process, the first clamping arm 11 and the second clamping arm 12 are in contact with the outer wall of the riser to generate a friction force, which limits the sliding of the clamping piece 1 on the riser, and the riser detection device is fixed on the riser. When the detection is completed or the detector needs to be replaced, only the grab bar 4 of the ROV robot needs to be operated to control the first clamping arm 11 and the second clamping arm 12 to open, so that the riser detection device can be detached from the riser.

[0025] As shown in Figure 2 , the hinged end of the first clamping arm 11 extends outward to form a first protruding portion 13, the first protruding portion 13 is inclined away from the second clamping arm 12, the hinged end of the second clamping arm 12 extends outward to form a second protruding portion 14, the second protruding portion 14 is inclined away from the first clamping arm 11, the first protruding portion 13 is in sliding connection with the grab bar 4, and the second protruding portion 14 is in fixed connection with the grab bar 4. The first protruding portion 13 and the second protruding portion 14 cooperate with the first clamping arm 11 and the second clamping arm 12 to form a scissors-like structure, and only the distance between the first protruding portion 13 and the second protruding portion 14 needs to be controlled to realize the clamping and loosening of the first clamping arm 11 and the second clamping arm 12. When working underwater, the rotation of the first clamping arm 11 and the second clamping arm 12 is affected by the resistance of the water body, and there is a difficulty in opening and closing. The hinge points of the first clamping arm 11 and the second clamping arm 12 are fulcrums, and the grab bar 4 provides power for the rotation of the second clamping arm 12 relative to the first clamping arm 11, the grab bar 4 is in sliding connection with the first protruding portion 13 and in fixed connection with the second protruding portion 14, the first protruding portion 13 and the second protruding portion 14 increase the distance of the grab bar 4 from the fulcrum, so that the grab bar 4 has a greater torque when acting, and it is easier to overcome the resistance encountered by the first clamping arm 11 and the second clamping arm 12 in water.

[0026] As shown in Figure 1 , 3As shown, the first protruding part 13 is rotatably provided with a first mounting block 15, the first mounting block 15 is provided with a first mounting hole, the grab bar 4 is inserted into the first mounting hole and is in sliding connection with the first mounting hole, the second protruding part 14 is rotatably provided with a second mounting block 16, and the second mounting block 16 is fixedly connected with the grab bar 4. When the first clamping part 11 and the second clamping part 12 rotate, the first protruding part 13 and the second protruding part 14 will also rotate, so that the orientation of the first protruding part 13 and the second protruding part 14 changes. The grab bar 4 is a hard rod structure and cannot change with the change of the orientation of the first protruding part 13 and the second protruding part 14, so that the first protruding part 13 and the second protruding part 14 interfere with the grab bar 4, affecting the normal movement of the grab bar 4. Therefore, the first protruding part 13 is rotatably provided with the first mounting block 15, the first mounting block 15 is provided with the first mounting hole, the first mounting hole is in sliding connection with the grab bar 4, and the second mounting block is rotatably provided on the second protruding part 14. One end of the grab bar 4 is connected with the second mounting block 16 after passing through the first mounting hole. The first mounting block 15 and the second mounting block 16 can be adjusted in orientation by rotating to ensure that they will not interfere with the grab bar 4. The grab bar 4 is in sliding connection with the first mounting hole on the first mounting block 15, so that the first clamping part 11 can move relatively along the axial direction of the grab bar 4. The grab bar 4 is connected with the second mounting block 16, and the second mounting block 16 cannot move relatively along the axial direction of the grab bar 4. When it is necessary to clamp the first clamping part 11 and the second clamping part 12, the worker controls the ROV robot to move the grab bar 4 in the direction of inserting into the first mounting hole, and the second mounting block 16 moves away from the first protruding part 13 under the pushing of the grab bar 4, so that the distance between the first protruding part 13 and the second protruding part 14 becomes larger, thereby driving the first clamping arm 11 and the second clamping arm 12 to rotate in the direction of approaching each other, and finally clamping the first clamping arm 11 and the second clamping arm 12. When it is necessary to open the first clamping arm 11 and the second clamping arm 12, the worker controls the ROV robot to move the grab bar 4 in the direction of pulling out of the first mounting hole, and the second mounting block 16 moves in the direction of the first protruding part 13 under the pulling of the grab bar 4, so that the distance between the first protruding part 13 and the second protruding part 14 becomes larger, thereby driving the first clamping arm 11 and the second clamping arm 12 to rotate in the direction of moving away from each other, and finally opening the first clamping arm 11 and the second clamping arm 12.

[0027] As Figure 1 , 3As shown, the grab lever 4 is a screw rod, the first mounting hole is a threaded hole, the grab lever 4 is threadedly connected with the first mounting hole, and the end of the grab lever 4 is fixedly connected with the second mounting block 16 in a manner that relative rotation can occur. The grab lever 4 is threadedly connected with the first mounting hole, which facilitates accurate control of the position of the grab lever 4 without affecting the relative movement of the first mounting hole along the axial direction of the grab lever 4, and the relative movement of the first mounting hole and the grab lever 4 can only be realized by rotating the grab lever 4, so that the grab lever 4 is not prone to accidental movement due to the influence of external force. The grab lever 4 can rotate in different directions to realize the relative movement of the first mounting hole and the grab lever 4 in different directions, thereby realizing the opening and closing of the first clamp arm 11 and the second clamp arm 12. The end of the grab lever 4 is fixedly connected with the second mounting block 16 in a manner that relative rotation can occur, which does not affect the normal rotation of the grab lever 4, and the second mounting block 16 and the grab lever 4 cannot move along the axial direction of the grab lever 4, so that the grab lever 4 can drive the second mounting block 16 to move by pulling or pushing, and finally realize the control of the relative distance between the first mounting block 15 and the second mounting block 16 by a single grab lever 4, thereby controlling the opening and closing of the first clamp arm 11 and the second clamp arm 12.

[0028] As shown in Figure 1 , 3 , the end of the grab lever 4 away from the second protruding part 14 is also provided with a limiting part 41 coaxial with the grab lever 4, and the cross-sectional area of the limiting part 41 is greater than that of the first mounting hole. The limiting part 41 limits the excessive movement of the grab lever 4 to cause the disengagement of the grab lever 4 from the first mounting hole. Since the cross-sectional area of the limiting part 41 is greater than that of the first mounting hole, the limiting part cannot pass through the first mounting hole, and when the limiting part 41 moves to the first mounting hole, it will be in contact with the first mounting block 15, thereby limiting the movement of the grab lever 4 and ensuring that the grab lever 4 will not be disengaged from the first mounting hole.

[0029] As shown in Figure 2 , the end of the grab lever 4 is also provided with a handle 42 for gripping. The handle 4 facilitates the gripping of the grab lever 4 by the simple mechanical arm of the ROV robot.

[0030] Embodiment 2

[0031] This embodiment is similar to the above-mentioned embodiment 1, and the difference lies in that, as shown in Figure 1As shown, the mounting structure 2 is a square groove structure, including a groove bottom 21 and a groove wall 22. The groove bottom 21 is fixedly connected to the outer wall of the second clamping arm 12. An installation groove 23 is provided on the groove wall 22. A sealing plate 24 is also provided at one end of the mounting structure 2, and an installation hole 25 is provided on the sealing plate 24. The mounting structure 2 can be used to install a detector for detecting risers. The square groove structure forms a semi-enclosed state for the detector, facilitating installation and disassembly while protecting the detector and preventing direct impact from water flow. The groove bottom 21 is fixedly connected to the outer wall of the second clamping arm 12, minimizing the distance between the detector fixed to the mounting structure 2 and the riser, ensuring detection accuracy. The installation groove 23 on the groove wall 22 allows the detector to be fixed to the installation groove 32 by snap-fit, facilitating installation and disassembly. One end of the mounting structure 2 is also provided with a sealing plate 24, which has the function of supporting the detector. At the same time, the sealing plate 24 is also provided with mounting holes 25, and the detector can be fastened to the mounting holes 25 through fasteners to ensure that the detector is installed securely.

[0032] Example 3

[0033] This embodiment is similar to Embodiment 1 above, except that, as Figure 1 As shown, an anti-corrosion device 5 is also provided on the outer surface of the clamping component 1. The deep-sea environment is characterized by high humidity and high salinity, which easily causes metal corrosion, thereby shortening the service life of the riser inspection device. Therefore, it is necessary to install the anti-corrosion device 5 to mitigate the corrosive effects of the environment on the riser inspection device.

[0034] like Figure 1 As shown, the anti-corrosion device 5 is made of zinc and is in close contact with the outer peripheral surface of the clamping component 1. The zinc-based anti-corrosion device 5 exhibits high metal activity, exceeding that of the clamping component 1, mounting structure 2, fixing handle 3, and gripping rod 4. Upon contact with the outer peripheral surface of the clamping component 1, the anti-corrosion device 5 forms a galvanic cell with the clamping component 1, mounting structure 2, fixing handle 3, and gripping rod 4. In deep-sea environments, due to the electrochemical properties of zinc, the zinc-based anti-corrosion device 5 preferentially undergoes corrosion compared to other metal components, thus protecting the clamping component 1, mounting structure 2, fixing handle 3, and gripping rod 4 from corrosion. This sacrificial anode protection method can significantly extend the service life of the riser inspection device in harsh environments.

[0035] like Figure 1As shown, the clamping piece 1, the mounting structure 2, the fixed handle 3 and the grab bar 4 are all made of stainless steel material. The stainless steel material has the properties of rust resistance and corrosion resistance, is suitable for the working environment of deep sea, has high hardness and is suitable for the impact of water flow in the sea. Meanwhile, the metal activity of the stainless steel material is lower than that of the zinc material, so that the clamping piece 1, the mounting structure 2, the fixed handle 3 and the grab bar 4 made of the stainless steel material can form a primary cell with the corrosion prevention device 5 made of the zinc material, thereby having a good protection effect on the clamping piece 1, the mounting structure 2, the fixed handle 3 and the grab bar 4.

[0036] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the implementation modes are not required or can not be exhausted. Any modification, equivalent replacement and improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. An ROV robot operable riser inspection apparatus, characterised in that, The utility model provides a kind of including openable clamp (1), the clamp (1) includes first clamping arm (11) and second clamping arm (12), and the first clamping arm (11) and the second clamping arm (12) form circular clamping space, one end of the first clamping arm (11) is hinged with one end of the second clamping arm (12), and the hinged end of the first clamping arm (11) and the hinged end of the second clamping arm (12) are connected with the lever (4) for controlling the first clamping arm (11) and the second clamping arm (12) open and close, the lever (4) is slidably connected with the first clamping arm (11), and the lever (4) is fixedly connected with the second clamping arm (12), and the second clamping arm (12) is fixed with the mounting structure (2) for installing sensor, and the first clamping arm (11) is provided with fixed handle (3) that can be gripped by ROV robot.

2. A ROV robot operable riser inspection apparatus according to claim 1 characterised in that, The hinged end of the first clamping arm (11) extends outward to form a first protruding portion (13), which is inclined away from the second clamping arm (12), and the hinged end of the second clamping arm (12) extends outward to form a second protruding portion (14), which is inclined away from the first clamping arm (11), the first protruding portion (13) is slidably connected with the lever (4), and the second protruding portion (14) is fixedly connected with the lever (4).

3. A ROV robot operable riser inspection apparatus according to claim 2, characterised in that, A first mounting block (15) is rotatably mounted on the first protruding portion (13), the first mounting block (15) has a first mounting hole, the lever (4) is inserted into the first mounting hole and slidably connected with the first mounting hole, and a second mounting block (16) is rotatably mounted on the second protruding portion (14), the second mounting block (16) is fixedly connected with the lever (4).

4. A ROV robot operable riser inspection apparatus according to claim 3, characterised in that, The lever (4) is a lead screw, the first mounting hole is a threaded hole, the lever (4) is threadedly connected with the first mounting hole, and the end of the lever (4) and the second mounting block (16) are fixedly connected in a rotatable manner.

5. A ROV robot operable riser inspection apparatus according to claim 4, characterised in that, The end of the lever (4) away from the second protruding portion (14) is further provided with a limiting portion (41), the limiting portion is coaxial with the lever (4), and the cross-sectional area of the limiting portion (41) is greater than that of the first mounting hole.

6. A ROV robot operable riser inspection apparatus according to claim 1 characterised in that, The end of the lever (4) is further provided with a handle (42) for gripping.

7. A ROV robot operable riser inspection apparatus according to claim 1 characterised in that, The mounting structure (2) is a square slot structure, the mounting structure (2) includes a slot bottom (21) and a slot wall (22), the slot bottom (21) is fixedly connected with the outer wall surface of the second clamping arm (12), the slot wall (22) has a mounting slot (23), one end of the mounting structure (2) is further provided with a sealing plate (24), and the sealing plate (24) is provided with a mounting hole (25).

8. A ROV robot operable riser inspection apparatus according to claim 1 characterised in that, The outer surface of the clamp (1) is further provided with a corrosion protection device (5).

9. A ROV robot operable riser inspection apparatus according to claim 8, characterised in that, The corrosion protection device (5) is made of zinc material, and the corrosion protection device (5) is in close contact with the outer peripheral surface of the clamp (1).

10. A ROV robot operable riser inspection apparatus according to claim 1 characterised in that, The clamping piece (1), the mounting structure (2), the fixed handle (3) and the grab lever (4) are all stainless steel material structures.

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