Underwater high-pressure cleaning robot based on electromagnetic adsorption

Abstract

The utility model relates to the field of underwater cleaning equipment, in particular to an underwater high-pressure cleaning robot based on electromagnetic adsorption, which comprises a load-bearing rack, a control system waterproof bin, a holding adsorption mechanism, an underwater propelling device and a cleaning device are arranged on the load-bearing rack, and the holding adsorption mechanism comprises a right-angle connecting plate mounted on the load-bearing rack. A push rod motor is arranged on the right-angle connecting plate and connected with a circular connecting piece through a ball hinge base, and the circular connecting piece is connected with an electromagnet. The underwater high-pressure cleaning robot based on electromagnetic adsorption solves the cleaning problem of a fixed pile foundation jacket of an offshore oil and gas drilling platform, and compared with a traditional mode that a diver carries cleaning equipment to conduct cleaning, the underwater high-pressure cleaning robot based on electromagnetic adsorption is high in operation efficiency and operation safety.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater cleaning equipment field especially relates to a kind of underwater high-pressure cleaning robot based on electromagnetic adsorption. BACKGROUND

[0002] Offshore oil and gas drilling platform usually adopts fixed pile foundation jacket structure, which is composed of steel pipe pile, jacket and deck. The jacket is fixed on the seabed, and a large amount of marine organisms can easily accumulate on its surface. The attachment of these organisms increases the weight of the jacket, reduces the stability and wind resistance of the platform. In addition, the long-term attachment of marine organisms also accelerates the corrosion of the jacket, posing a serious threat to the safe operation of the platform, so regular cleaning and maintenance of the jacket are needed. The method of carrying cleaning equipment by divers to implement cleaning operation is currently common. However, the underwater cleaning of divers requires high operating personnel, has great labor intensity, low operating efficiency and limited operating water depth. The debris splashing during cleaning and the reaction force generated by water jet can cause harm to the operating personnel, and the operating safety is relatively poor. SUMMARY

[0003] The utility model aims at providing a kind of underwater high-pressure cleaning robot based on electromagnetic adsorption, solve the cleaning problem of offshore oil and gas drilling platform fixed pile foundation jacket, compared with traditional diver carrying cleaning equipment to implement cleaning, the utility model operating efficiency is high, operating safety is high.

[0004] In order to achieve the above purpose, the utility model adopts the technical scheme: a kind of underwater high-pressure cleaning robot based on electromagnetic adsorption, including bearing frame, bearing frame is provided with control system waterproof bin, tight adsorption mechanism, underwater propulsion device and cleaning device, the tight adsorption mechanism includes right-angle connecting plate installed on bearing frame, right-angle connecting plate is provided with push rod motor, push rod motor is connected with circular connecting piece through ball swivel base, and the circular connecting piece is connected with electromagnet.

[0005] Preferably, the bearing frame includes lateral bearing plate, bottom bearing plate and aluminum profile crossbeam, the lateral bearing plate and the bottom bearing plate are connected by angle code and auxiliary connected by screw, the aluminum profile crossbeam is connected with the lateral bearing plate in the middle of the frame, and the lateral bearing plate and the bottom bearing plate are lattice structure.

[0006] Preferably, the control system waterproof bin includes main control system bullet type waterproof bin and vice control system waterproof bin, and the two are communicated through waterproof data communication line, the main control system bullet type waterproof bin is matched with sealing back cover, and the vice control system waterproof bin is matched with sealing upper cover.

[0007] The cleaning device is preferably installed on a load-bearing frame through a bottom connector, and the cavitation jet gun is connected with a high-pressure water pipe and controlled by a cam to start and stop the cavitation jet gun, and the cam is matched with a steering wheel.

[0008] The underwater propulsion device preferably comprises a buoyancy block and a propeller connecting plate connected therewith, and vertical side propellers and horizontal side propellers are arranged below the propeller connecting plate, and the buoyancy block is installed on a lateral load-bearing plate.

[0009] The technical effects of the utility model are as follows:

[0010] The cleaning problem of the fixed pile foundation jacket of the offshore oil and gas drilling platform is solved, and compared with the traditional diver carrying cleaning equipment for cleaning, the utility model has high operation efficiency and high operation safety.

[0011] The aluminum profile cross beam is connected with the lateral load-bearing plate in the middle of the frame, the deformation resistance of the whole frame is improved, the lateral load-bearing plate and the bottom load-bearing plate are both provided with a hollow dot matrix structure, light weight design and enhanced load-bearing capacity are realized, and other devices are conveniently connected. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a three-dimensional schematic view of an underwater high-pressure cleaning robot based on electromagnetic adsorption.

[0013] Figure 2 It is a three-dimensional schematic view of a load-bearing frame.

[0014] Figure 3 It is a three-dimensional schematic view of a control system waterproof bin.

[0015] Figure 4 It is a three-dimensional schematic view of a holding and adsorbing mechanism.

[0016] Figure 5 It is a three-dimensional schematic view of a cleaning device.

[0017] Figure 6 It is a three-dimensional schematic view of an underwater propulsion device.

[0018] The text annotations shown in the figure are: 1, bearing frame; 2, control system waterproof bin; 3, cleaning device; 4, holding and adsorbing mechanism; 5, underwater propulsion device; 9, right-angle connecting plate; 10, push rod motor; 11, spherical hinge base; 12, circular connecting piece; 13, electromagnet; 14, cavitation jet gun; 15, cam; 16, steering engine; 17, bottom connecting piece; 18, high-pressure water pipe; 19, vertical side thruster; 20, horizontal side thruster; 21, buoyancy block; 22, thruster connecting plate; 34, main control system bullet-shaped waterproof bin; 35, sealed rear cover; 36, auxiliary control system waterproof bin; 37, sealed upper cover; 38, waterproof data communication line; 41, lateral bearing plate; 42, bottom bearing plate; 43, aluminum profile cross beam. DETAILED DESCRIPTION

[0019] In order for those skilled in the art to better understand the technical scheme of the utility model, the utility model will be described in detail below in combination with the drawings, and the description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the utility model.

[0020] As shown in Figure 1 and Figure 4 The utility model discloses an underwater high-pressure cleaning robot based on electromagnetic adsorption, which comprises a bearing frame 1, and the bearing frame 1 is provided with a control system waterproof bin 2, a holding and adsorbing mechanism 4, an underwater propulsion device 5 and a cleaning device 3.

[0021] In specific use, the control system in the control system waterproof bin 2 controls the underwater propulsion device 5 to move to the vicinity of the fixed pile guide frame of the offshore oil and gas drilling platform that needs to be cleaned, then controls the push rod motor 10 to be elongated, thereby driving the electromagnet block 13 to contact the guide frame, then controls the electromagnet 13 to be electrified, generally four sets of push rod motor 10 and electromagnet 13 structures are used, so that the four electromagnets 13 generate electromagnetic attraction, so that the underwater robot can be adsorbed on the drilling platform fixed pile guide frame structure, then the cleaning device 3 is controlled to clean, compared with the traditional diver carrying cleaning equipment to implement cleaning, the utility model has high operation efficiency and high operation safety; the control system can make the four push rod motors 10 generate a specific length ratio by controlling the extension and retraction amount of the four push rod motors 10, thereby adjusting the posture of the underwater robot itself to change the cleaning range that the cleaning device can radiate, and buffering the reaction force brought by the cleaning operation.

[0022] As shown in Figure 2As shown, the load-bearing frame 1 includes lateral load-bearing plates 41, bottom load-bearing plates 42 and aluminum profile cross beams 43, the lateral load-bearing plates 41 and the bottom load-bearing plates 42 are connected by angle codes and are additionally connected by screws, the aluminum profile cross beams 43 are connected with the lateral load-bearing plates 41 in the middle of the frame, and the lateral load-bearing plates 41 and the bottom load-bearing plates 42 are lattice structures.

[0023] The aluminum profile cross beams 43 are connected with the lateral load-bearing plates 41 in the middle of the frame, which improves the anti-deformation ability of the whole frame; the lateral load-bearing plates 41 and the bottom load-bearing plates 42 are both lattice structures, which realizes lightweight design and enhances the load-bearing capacity, and facilitates the connection of other devices.

[0024] As shown in the figure, Figure 3 As shown, the control system waterproof bin 2 includes a main control system bullet-shaped waterproof bin 34 and a vice control system waterproof bin 36, and the two are communicated through a waterproof data communication line 38, the main control system bullet-shaped waterproof bin 34 is matched with a sealed rear cover 35, and the vice control system waterproof bin 36 is matched with a sealed upper cover 37.

[0025] Its working process is as follows: when working, the main control chip, power management module, battery, etc. are loaded into the main control system bullet-shaped waterproof bin 34, which is sealed by the rear cover 35, and there are sealing rings and screws on it which are tightly matched with the waterproof bin to meet the sealing requirements of the whole waterproof bin, and then it communicates with the shore control platform and the vice control system through the waterproof data communication line 38; the working principle of the vice control system waterproof bin 36 is similar to that of the main control system bullet-shaped waterproof bin 34 when working, and the relevant control modules, batteries, etc. are loaded into the vice control system waterproof bin 36, and finally the sealed upper cover 37 is attached to cover it and sealed with a sealing ring and a screw.

[0026] As shown in the figure, Figure 5 As shown, the cleaning device 3 includes a cavitation jet gun 14 installed on the load-bearing frame 1 through a bottom connecting piece 17. The cavitation jet gun 14 is connected with a high-pressure water pipe 18, and the starting and stopping of the cavitation jet gun 14 is controlled by a cam 15, and the cam 15 is matched with a rudder 16.

[0027] Its working process is as follows: the bottom connecting piece 17 integrates and connects the cavitation jet gun 14, the cam 15 and the rudder 16 to the bottom load-bearing plate 42, the cam 15 is connected with the rudder 16 and is installed at the handle starting position of the cavitation jet gun 14, one end of the high-pressure water pipe 18 is installed at the tail of the cavitation jet gun 14, and the other end is installed on the super-high-pressure cleaning machine on land. When working, the underwater robot drags the high-pressure water pipe and the related communication line to the target cleaning position and is adsorbed and fixed, the super-high-pressure cleaning machine on land is turned on, and then the rotation of the cam 15 is controlled by the rudder 16 to control the starting and stopping of the cavitation jet gun 14.

[0028] As shown in the figure, Figure 6As shown, the underwater propulsion device 5 comprises a buoyancy block 21 and a propeller connecting plate 22 connected therewith, and a vertical side propeller 19 and a horizontal side propeller 20 arranged below the propeller connecting plate 22, and the buoyancy block 21 is installed on a lateral bearing plate 41.

[0029] The working principle is as follows: the propeller connecting plate 22 integrally connects the vertical side propeller 19, the horizontal side propeller 20 and the buoyancy block 21 to the lateral bearing plate 41, the vertical side propeller 19 is oriented vertically downward, and cooperates with the buoyancy block 21 and the self-weight of the underwater robot to realize the up-down movement of the overall mechanism; the horizontal side propeller 20 is designed as four, and is oriented in a splayed manner (i.e., the inclined orientation as shown in the figure), which can generate good propulsion force and steering force, so as to accurately control the steering and translation of the underwater robot, and realize more flexible underwater maneuvering; the splayed orientation can also offset the interference force of external water flow and other factors from multiple angles, and maintain the balance and stability of the underwater equipment. Figure 5

[0030] It should be noted that in this document, the terms "comprise", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or inherent to such a process, method, article or device.

[0031] The principle and implementation mode of the present application are described by applying specific examples in this document, and the above examples are only used to help understand the method and its core idea; the above description is only the preferred implementation mode of the present application, and it should be pointed out that due to the limitation of language expression, there are infinite specific structures objectively, and for ordinary skilled persons in the technical field, some improvements, decorations or changes can be made without departing from the principle of the present application, and the above technical features can also be combined in a proper manner; these improvements, decorations, changes or combinations, or the direct application of the concept and technical scheme of the present application to other occasions without improvement, should be regarded as the protection scope of the present application.​

Claims

1. An underwater high-pressure cleaning robot based on electromagnetic adsorption, characterized in that, Including load-bearing frame (1), load-bearing frame (1) is provided with control system waterproof bin (2), embrace and adsorb mechanism (4), underwater propulsion device (5) and cleaning device (3), embrace and adsorb mechanism (4) includes the right-angle connecting plate (9) installed on load-bearing frame (1), right-angle connecting plate (9) is provided with push rod motor (10), push rod motor (10) is connected with round connecting piece (12) through ball swivel (11), round connecting piece (12) is connected with electromagnet (13).

2. The underwater high-pressure cleaning robot based on electromagnetic adsorption of claim 1, wherein, The load-bearing frame (1) includes a lateral load-bearing plate (41), a bottom load-bearing plate (42), and an aluminum profile beam (43). The lateral load-bearing plate (41) and the bottom load-bearing plate (42) are connected by angle codes and are additionally connected by screws. The aluminum profile beam (43) is connected to the lateral load-bearing plate (41) in the middle of the frame. The lateral load-bearing plate (41) and the bottom load-bearing plate (42) have a hollow dot matrix structure.

3. The underwater high-pressure cleaning robot based on electromagnetic adsorption of claim 1, wherein, The control system waterproof bin (2) includes a main control system bullet type waterproof bin (34) and a vice control system waterproof bin (36), and both are communicated through waterproof data communication line (38). The main control system bullet type waterproof bin (34) is matched with a sealed rear cover (35), and the vice control system waterproof bin (36) is matched with a sealed upper cover (37).

4. The underwater high-pressure cleaning robot based on electromagnetic adsorption of claim 1, wherein, The cleaning device (3) includes a cavitation jet gun (14) installed on the load-bearing frame (1) through a bottom connecting piece (17). The cavitation jet gun (14) is connected with a high-pressure water pipe (18), and the start and stop of the cavitation jet gun (14) is controlled by a cam (15). The cam (15) is matched with a rudder (16).

5. The underwater high-pressure washing robot based on electromagnetic adsorption of claim 2, wherein, The underwater propulsion device (5) includes a buoyancy block (21) and a propeller connecting plate (22) connected thereto. A vertical side propeller (19) and a horizontal side propeller (20) are arranged below the propeller connecting plate (22). The buoyancy block (21) is installed on the lateral load-bearing plate (41).

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