Seabed mining pipeline crack detection robot

Abstract

The utility model discloses a submarine mining pipeline crack detection robot which comprises a box body, a motor connected with a belt wheel to drive a cleaning disc brush is fixed in front of the box body, an ultrasonic probe connected with a signal cable is fixed behind the box body, and the disc brush can remove sundries on a pipeline so that the ultrasonic probe can detect pipeline cracks conveniently. A motor connected with a speed reducer to drive a large belt wheel is arranged in the box body, the large belt wheel is meshed with a crawler belt fixedly provided with a magnet, the robot can be helped to stably walk or be fixed on a pipeline through the magnet, and propellers for adjusting the robot to ascend and descend are fixed to the periphery of a pressure bearing cylinder above the box body. The device can deal with different seabed and pipeline conditions in a propeller obstacle crossing or crawler walking mode, can comprehensively detect the periphery of the pipeline, and effectively improves the adaptability and the monitoring efficiency of the device.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of submarine pipeline, especially to the submarine mining pipeline crack detection robot. BACKGROUND

[0002] The submarine mining pipeline plays an important role in transporting oil or natural gas in the seabed, due to the pipeline in the deep sea, there are multiple factors such as corrosion, external force, the pipeline is prone to crack at some place, once crack occurs, it will have adverse effects on mining operation and external environment, cause serious impact and damage to nearby mining equipment, operating personnel and submarine ecological environment, because the submarine pipeline is complex, part of the detection equipment is difficult to cross the obstacle, cannot cope with the complex submarine environment, cannot carry out comprehensive safety monitoring on the pipeline, avoid security risks. SUMMARY

[0003] The utility model aims at providing a submarine mining pipeline crack detection robot.

[0004] Technical scheme: a submarine mining pipeline crack detection robot, including the box, the motor of driving the clean disc brush is fixed in the front of the box, the clamping device of fixed ultrasonic probe is equipped with in the rear of the box, the motor of driving the speed reducer is equipped with in the inside of the box, the speed reducer drives the big pulley of the both sides of the box, the caterpillar band of fixed magnet is engaged in the big pulley, the box top pressure cylinder all around fixed has the propeller of adjusting robot lift.

[0005] Further, the small tensioner between the big pulley is equipped with the small tensioner.

[0006] Further, the big pulley outside is fixed with the cover plate.

[0007] Further, the propeller center is equipped with the steering wheel.

[0008] Further, the pressure cylinder inside is equipped with the controller of connecting the steering wheel.

[0009] Advantageous effects: compared with prior art, the utility model has the following advantages: can through the propeller drive, caterpillar band walking and magnet adsorption multiple ways to cope with different submarine and pipeline conditions, can carry out comprehensive detection to the four around of pipeline, effectively improve the device adaptability and monitoring efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 It is the general structure diagram;

[0011] Figure 2 It is the box structure diagram;

[0012] Figure 3 It is the box section plan view;

[0013] Figure 4 is a track device structure diagram;

[0014] Figure 5 is a propeller device section view;

[0015] Figure 6 is a cleaning device section view;

[0016] Figure 7 is a detection device structure diagram. DETAILED DESCRIPTION

[0017] The technical scheme of the utility model will be further explained in connection with the drawings.

[0018] Referring to Figures 1-4 , the utility model discloses a kind of seabed mining pipeline crack detection robots, including box 3, motor 311 and reduction gear frame 304 are equipped in the box 3, reduction gear frame 304 is equipped with reduction gear 306, reduction gear 306 is meshed with gear 308 between each shaft and drives, wherein high-speed shaft 305 is driven with pulley between motor 311, low-speed shaft 307 is driven with pulley between fixed shaft frame 309, fixed shaft frame 309 connects four spherical hinge wheel shafts 106, four spherical hinge wheel shafts 106 are connected with the large pulley 103 of box 3 two sides by ball hinge straight bar 105, large pulley 103 is meshed with magnet 101 of fixed track 102, the inner side of track 102 is equipped with small tension pulley 104 fixed to box 3, large pulley 103 outer side is fixed with cover plate 107.

[0019] Referring to Figure 1 and 5 , the box 3 top is fixed with pressure cylinder 202, pressure cylinder 202 both ends are fixed with support 203, support 203 two sides are respectively fixed with propeller 204 adjusting robot lifting, propeller 204 center is equipped with rudder 205, rudder 205, motor 311 and motor 507 are connected with controller 209 of control robot walking, controller 209 is connected with signal receiver 207 of receiving remote control robot signal above, signal receiver 207 receives remote control signal of ground staff.

[0020] Referring to Figure 1 and 6 , the box 3 front is connected with cleaning plate 504 by spring top frame 301 and hinge joint 302, motor 507 with waterproof paint smearing on surface is fixed on cleaning plate 504 top, motor 507 output shaft passes through protective cover 505 transmission connection sleeve belt, sleeve belt both sides pulley 506 drive lever shaft 509, lever shaft 509 is hingedly connected with bushing 510 of cleaning disc brush 502, cleaning plate 504 both sides are fixed with auxiliary wheel 503.

[0021] Referring to Figure 1 and7 The box 3 is provided with a clamping device 404 for fixing the ultrasonic probe 401 at the rear, the clamping device 404 is connected with a tail bracket 405 through bolts, and a cable 407 for providing power supply and transmitting signals passes through the tail bracket 405 to connect the ultrasonic probe 401, and the ultrasonic probe 401 is used for nondestructive testing of the measured pipeline.

[0022] The detection robot can fall into the seabed by controlling the propeller 204 through the autonomous navigation of the controller 209. The box 3 is provided with a motor 311 and a speed reducer 306 inside, the speed reducer 306 is connected with large pulleys 103 on both sides of the box 3, the large pulleys 103 are engaged with the caterpillar belts 102 fixed with magnets 101, so that the robot can be fixed or walked on the surface of the pipeline. The offshore worker controls the robot to walk on the mining pipeline through the signal receiver 207. The motor 507 with waterproof paint on the fixed surface is fixed on the cleaning plate 504 in front of the box 3. The output shaft of the motor 507 is connected with two side pulleys 506, the pulleys 506 drive the rod shaft 509 and the cleaning disc brush 502 to clean the sundries on the pipeline. The auxiliary wheels 503 on both sides of the disc brush 502 help drive the cleaning device, so that the ultrasonic probe 401 at the rear of the box 3 can detect the cracks of the pipeline, and the recognized pipeline data is transmitted through the cable 407 to complete the detection work.

Claims

1. A subsea mining pipeline crack detection robot comprising a box (3), characterized in that, The box (3) is fixed with a first motor (507) driving a cleaning disc brush (502) in front, a clamping device (404) is arranged at the rear of the box (3) to fix an ultrasonic probe (401), a second motor (311) is arranged inside the box (3) to drive a speed reducer (306), the speed reducer (306) drives two large pulleys (103) on both sides of the box (3), the large pulleys (103) are engaged with a track (102) fixed with a magnet (101), and a propeller (204) adjusting the lifting of the robot is fixed around a pressure cylinder (202) above the box (3).

2. The subsea mining pipeline crack detection robot of claim 1, wherein: Small tension pulleys (104) are arranged between the large pulleys (103) to tension the track (102).

3. The subsea mining pipeline crack detection robot of claim 1, wherein: Cover plates (107) are fixed outside the large pulleys (103).

4. The subsea mining pipeline crack detection robot of claim 1, wherein: A rudder (205) is arranged at the center of the propeller (204).

5. The subsea mining pipeline crack detection robot of claim 1, wherein: A controller (209) connected with the rudder (205) is arranged inside the pressure cylinder (202).

6. The subsea mining pipeline crack detection robot of claim 1, wherein: A signal receiver (207) receiving walking remote control signals is arranged inside the pressure cylinder (202).

7. The subsea mining pipeline crack detection robot of claim 1, wherein: Auxiliary wheels (503) are arranged on both sides of a support around the cleaning disc brush (502).

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