Submarine pipeline inspection robot for ocean engineering

Abstract

This utility model discloses a subsea pipeline inspection robot for marine engineering, relating to the field of marine engineering technology. It includes a walking frame with two sets of drive wheels mounted on both sides of the frame, each driven by an independent synchronous motor. A stabilizing mechanism is installed inside the drive wheels. Adjustable panoramic cameras are located at the front and rear ends of the walking frame. A movable groove is located in the middle of the walking frame, and a movable ring is mounted on the outside of the groove via bearings. An all-around inspection mechanism is located outside the movable ring. The all-around inspection mechanism includes a drive motor and spherical cameras. Multiple sets of spherical cameras are arranged in a ring outside the movable ring. A drive motor is located above the movable groove on the outside of the walking frame, driving the movable ring to rotate and performing precise inspections through the spherical cameras. This utility model significantly improves the adaptability and work efficiency of the inspection robot by enhancing its imaging capabilities and innovating its walking drive structure.

Description

Technical Field

[0001] This utility model relates to the field of marine engineering technology, and in particular to a subsea pipeline inspection robot for marine engineering. Background Technology

[0002] With the continuous advancement of marine engineering technology, the inspection and maintenance of subsea pipelines has become an increasingly important link in ensuring the safe and efficient transmission of marine energy. As an advanced tool in this field, the design rationality, functional completeness and environmental adaptability of subsea pipeline inspection robots are directly related to inspection efficiency and safety. For example, the patent document with publication number CN110939825B discloses a fully automatic subsea pipeline inspection robot for marine engineering, which includes a walking vehicle and a camera frame. The walking vehicle is equipped with a camera, and the camera frame is equipped with a camera body. The camera frame is fixedly mounted on the surface of the walking vehicle via a base. This fully automatic subsea pipeline inspection robot for marine engineering is reasonably designed, but there are still some shortcomings in its structural design, which affect its inspection efficiency and reliability. Current submarine pipeline inspection robots are often limited by the installation position and angle of the camera when taking all-round pictures, resulting in blind spots and making it impossible to fully capture the detailed conditions of the inner and outer walls of the pipeline. The submarine pipeline environment is complex and changeable, and the combination of wheeled and tracked vehicles is prone to rollover accidents and is often difficult to adapt to changes in the submarine pipeline. At the same time, traditional inspection robots have difficulty accurately identifying and locating minor defects such as corrosion and damage inside the pipeline. Utility Model Content

[0003] The submarine pipeline inspection robot for marine engineering proposed in this utility model solves the problems of limited imaging capabilities, unstable walking drive structure, and insufficient inspection accuracy of existing submarine pipeline inspection robots for marine engineering.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A marine engineering subsea pipeline inspection robot includes a walking frame. Two sets of drive wheels are installed on the outer sides of the walking frame, and each drive wheel is driven by an independent synchronous motor. A stabilizing mechanism is installed inside the drive wheel. Adjustable panoramic cameras are installed at the front and rear ends of the walking frame. A movable groove is provided in the middle of the walking frame, and a movable ring is installed on the outside of the movable groove through a bearing. An all-round detection mechanism is provided on the outside of the movable ring. The all-around inspection mechanism includes a drive motor and a spherical camera. Multiple sets of spherical cameras are arranged in a ring on the outside of the movable ring. A drive motor is located above the movable groove on the outside of the walking frame. The drive motor drives the movable ring to rotate and performs precise inspection through the spherical cameras.

[0005] Preferably, the stabilizing mechanism includes a fixing groove and an annular magnet, and the fixing groove is provided inside the walking frame on the inner side of the drive wheel. The synchronous motor is fixedly installed inside the fixing groove, and the annular magnet is provided inside the drive wheel.

[0006] Preferably, both ends of the walking frame are provided with protrusions on the upper and lower sides, and a vision camera is installed inside the protrusion.

[0007] Preferably, a rotary motor is provided inside the front and rear ends of the walking frame, and a seated bearing is provided on the outside of the rotary motor, with the inner end of the seated bearing fixedly connected to the side of the walking frame.

[0008] Preferably, the outer side of the bearing with seat is connected to the side of the electric cylinder, and the output end of the rotary motor is fixedly connected to the electric cylinder, and a panoramic camera is installed on the movable end of the electric cylinder.

[0009] Preferably, the omnidirectional detection mechanism further includes a ring rack, a drive gear, a mounting base, bolts, and a lighting lamp, and a mounting base is fixedly connected above the movable slot on the outside of the walking frame, and a drive motor is mounted on the mounting base by bolts.

[0010] Preferably, the output end of the drive motor is equipped with a drive gear, and an annular rack is fixedly connected to the inner side of the movable ring. The annular rack meshes with the drive gear, and multiple sets of lighting lamps are provided on the outer side of the movable ring.

[0011] Compared with the prior art, the beneficial effects of this utility model are: 1. This marine engineering subsea pipeline inspection robot is equipped with multiple spherical cameras on the outside of its moving ring, and adjustable panoramic cameras at the front and rear of its walking frame. The multi-camera array layout enables panoramic shooting without blind spots, ensuring high-quality image data can be obtained in any environment. At the same time, multiple lighting lights are installed on the outside of the moving ring, providing sufficient light source for the inside of the pipeline, further improving the shooting quality and efficiency.

[0012] 2. Two sets of drive wheels are installed on both sides of the external walking frame. The design of large casters increases the diameter and width of the wheels, improving the robot's adaptability to uneven terrain. At the same time, the surface of the wheels is made of anti-slip material to increase friction with the pipe wall and reduce the risk of tipping over. In addition, magnetic wheel technology is introduced, with ring magnets embedded inside the wheels. By utilizing the metallic properties of the pipe wall, the robot can achieve a tight fit with the pipe. This design not only enhances the stability of the robot, but also provides a certain traction force when the pipe is damaged or deposits accumulate, helping the robot to smoothly cross obstacles.

[0013] 3. When minor corrosion or damage is found inside the pipeline during inspection, the rotary motor adjusts the position of the electric cylinder by rotating the bearing with a seat. Then, the panoramic camera is activated to record and photograph the minor corrosion and damage, achieving accurate identification and positioning, which significantly improves the inspection accuracy. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model.

[0015] Figure 2 This is a schematic diagram of the structure of this utility model from another perspective.

[0016] Figure 3 This utility model Figure 2 Enlarged view of point A in the middle.

[0017] Figure 4 This is a schematic diagram of the exploded structure of this utility model.

[0018] Figure 5 This is a schematic diagram of the rotary motor and the bearing with mounting bracket of this utility model.

[0019] The following are the labels in the diagram: 1. Walking frame; 2. Drive wheel; 3. Synchronous motor; 4. Movable slot; 5. Bearing; 6. Movable ring; 7. Drive motor; 8. Spherical camera; 9. Fixing slot; 10. Ring magnet; 11. Boss; 12. Vision camera; 13. Panoramic camera; 14. Bearing with mounting bracket; 15. Electric cylinder; 17. Ring rack; 18. Drive gear; 19. Mounting base; 20. Bolt; 21. Lighting lamp; 22. Rotary motor. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0021] Example 1 Reference Figures 1-5This utility model provides a technical solution: a marine engineering subsea pipeline inspection robot, including a walking frame 1. Two sets of drive wheels 2 are installed on the outer sides of the walking frame 1. The surface of the drive wheels 2 is made of anti-slip material, which can increase the friction with the pipeline wall and improve the walking stability. The drive wheels 2 are driven by independent synchronous motors 3. The drive wheels 2 are equipped with a stabilizing mechanism. Adjustable panoramic cameras 13 are set at the front and rear ends of the walking frame 1. The middle of the walking frame 1 is provided with a movable groove 4, and the outer side of the movable groove 4 is connected to a movable ring 6 by bearings 5.

[0022] Reference Figure 1 , Figure 4 The stabilizing mechanism includes a fixed groove 9 and a ring magnet 10. The fixed groove 9 is located inside the drive wheel 2 inside the walking frame 1. The synchronous motor 3 is fixedly installed inside the fixed groove 9. The ring magnet 10 is installed inside the drive wheel 2. The drive wheel 2 at the front end of the walking frame 1 adopts an integrated drive and steering magnetic wheel. The synchronous motor 3 controls the angle of the magnetic wheel to achieve precise steering. Both ends of the walking frame 1 have protrusions 11 on the upper and lower sides. The protrusions 11 are equipped with vision cameras 12. The vision camera 12 can be a SENTECH STC-620 model. Through the observation of the vision camera 12, the robot can autonomously cope with various complex environments and emergencies.

[0023] In practical implementation, the submarine pipeline inspection robot used in marine engineering first activates the synchronous motor 3 when it moves. The synchronous motor 3, which can be equipped with a reducer (not shown in the diagram), drives the drive wheels 2 to rotate, thus enabling the robot to move. Since each drive wheel 2 is driven by an independent synchronous motor 3, and the front drive wheel 2 uses an integrated drive and steering magnetic wheel, the synchronous motor 3 can control the angle of the magnetic wheel to achieve precise steering, thereby improving the robot's maneuverability and flexibility. Simultaneously, vision cameras 12 are installed on the upper and lower sides of the walking frame 1 at both ends. The vision cameras 12 enable... The inspection robot can observe various complex environments inside the pipeline in real time, enabling it to autonomously respond to emergencies. Furthermore, even if the inspection robot overturns, the diameter and width of the drive wheels 2 are much larger than those of the walking frame 1, so the robot can still move normally even if it flips over. In addition, a ring magnet 10 is embedded inside the drive wheels 2, which utilizes the metallic properties of the pipeline wall to achieve a tight fit between the robot and the pipeline. Combined with the large-sized drive wheels 2, the risk of overturning is reduced. Through the above operations, the robot's adaptability to uneven terrain is improved, and the robot's stability is enhanced.

[0024] Example 2 Reference Figure 2This embodiment is an optimization based on the first embodiment. An all-round detection mechanism is set on the outside of the movable ring 6. The all-round detection mechanism includes a drive motor 7 and a spherical camera 8. Multiple sets of spherical cameras 8 are arranged in a ring on the outside of the movable ring 6. The spherical camera 8 can be of the DS-2CD2T43G0-I8 type. A drive motor 7 is set on the outside of the walking frame 1 above the movable slot 4. The drive motor 7 drives the movable ring 6 to rotate and performs precise inspection through the spherical camera 8.

[0025] Reference Figure 3 The all-round inspection mechanism also includes a ring rack 17, a drive gear 18, a mounting base 19, bolts 20, and lighting lamps 21. The mounting base 19 is fixedly connected above the movable slot 4 on the outside of the walking frame 1. The drive motor 7 is mounted on the mounting base 19 by bolts 20. The drive gear 18 is mounted on the output end of the drive motor 7. The ring rack 17 is fixedly connected to the inside of the movable ring 6. The ring rack 17 meshes with the drive gear 18. Multiple sets of lighting lamps 21 are provided on the outside of the movable ring 6.

[0026] Reference Figure 4 , Figure 5 The walking frame 1 has a rotary motor 22 installed inside the front and rear ends, and a bearing 14 with a seat is installed on the outside of the rotary motor 22. The inner end of the bearing 14 with a seat is fixedly connected to the side of the walking frame 1. An electric cylinder 15 is fixedly connected to the outside of the bearing 14 with a seat, and the output end of the rotary motor 22 is fixedly connected to the electric cylinder 15. A panoramic camera 13 is installed on the movable end of the electric cylinder 15. The panoramic camera 13 can be of model DS-2CD6365G0-I.

[0027] In practical implementation, when the marine engineering subsea pipeline inspection robot is recording and taking pictures, the drive motor 7 is started during the robot's movement. The drive motor 7 can be equipped with a reducer (not shown in the figure) to drive the meshing ring rack 17 and the drive gear 18 to rotate. Since the ring rack 17 is fixedly connected to the inner side of the movable ring 6, the movable ring 6 can rotate on the outer side of the movable groove 4 through the bearing 5. At the same time, the lighting lamp 21 is started, which provides sufficient lighting for the inside of the inspected pipeline. Since multiple sets of spherical cameras 8 are set on the outer side of the movable ring 6, the inspection robot can quickly take pictures of the panoramic inspection without blind spots by rotating the spherical cameras 8. In addition, if minor corrosion or damage is found inside the pipeline during inspection, and because the electric cylinder 15 has a mounting groove on its side that matches the seated bearing 14 (not shown in the figure), and the electric cylinder 15 is connected to the outside of the seated bearing 14 through the side mounting groove, the traveling frame 1 and the electric cylinder 15 are movably connected. Furthermore, because the traveling frame 1 has a rotary motor 22 fixedly installed inside the front and rear ends, located in the middle of the seated bearing 14, the rotary motor 22 is started. The rotary motor 22 rotates through the seated bearing 14 to adjust the position of the electric cylinder 15. After adjusting to the position of minor corrosion or damage, the electric cylinder 15 is started, and the panoramic camera 13 is extended and retracted by the electric cylinder 15 to take detailed pictures and achieve accurate identification and positioning. This provides accurate and clear image data for the subsequent repair plan. Through the above operations, the inspection accuracy and efficiency are significantly improved.

[0028] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

Claims

1. A submarine pipeline inspection robot for marine engineering, comprising a walking frame (1), characterized in that, The walking frame (1) has two sets of drive wheels (2) installed on both sides of its exterior. Each drive wheel (2) is driven by an independent synchronous motor (3). The drive wheel (2) has a stabilizing mechanism inside. The walking frame (1) has adjustable panoramic cameras (13) at its front and rear ends. The walking frame (1) has a movable groove (4) in the middle. The movable groove (4) has a movable ring (6) installed on its outer side through a bearing (5) in a movable connection. The movable ring (6) has an all-round detection mechanism on its outer side. The all-round inspection mechanism includes a drive motor (7) and a spherical camera (8). Multiple sets of spherical cameras (8) are arranged in a ring on the outside of the movable ring (6). A drive motor (7) is arranged above the movable groove (4) on the outside of the walking frame (1). The drive motor (7) drives the movable ring (6) to rotate and performs precise inspection through the spherical camera (8).

2. The subsea pipeline inspection robot for marine engineering according to claim 1, characterized in that, The stabilizing mechanism includes a fixed groove (9) and an annular magnet (10). The fixed groove (9) is located inside the drive wheel (2) of the walking frame (1). The synchronous motor (3) is fixedly installed inside the fixed groove (9). The annular magnet (10) is located inside the drive wheel (2).

3. The subsea pipeline inspection robot for marine engineering according to claim 1, characterized in that, Both ends of the walking frame (1) are provided with protrusions (11) on the upper and lower sides, and a visual camera (12) is provided inside the protrusions (11).

4. The subsea pipeline inspection robot for marine engineering according to claim 1, characterized in that, The walking frame (1) has a rotary motor (22) inside its front and rear ends, and a seated bearing (14) is provided on the outside of the rotary motor (22). The inner end of the seated bearing (14) is fixedly connected to the side of the walking frame (1).

5. The subsea pipeline inspection robot for marine engineering according to claim 4, characterized in that, An electric cylinder (15) is connected to the outside of the bearing (14), and the output end of the rotary motor (22) is fixedly connected to one side of the electric cylinder (15). A panoramic camera (13) is installed on the movable end of the electric cylinder (15).

6. The subsea pipeline inspection robot for marine engineering according to claim 1, characterized in that, The all-round detection mechanism also includes a ring rack (17), a drive gear (18), a mounting base (19), bolts (20), and a lighting lamp (21). The mounting base (19) is fixedly connected above the movable slot (4) on the outside of the walking frame (1). A drive motor (7) is installed above the mounting base (19) by bolts (20).

7. The subsea pipeline inspection robot for marine engineering according to claim 6, characterized in that, The output end of the drive motor (7) is equipped with a drive gear (18), and an annular rack (17) is fixedly connected to the inner side of the movable ring (6). The annular rack (17) meshes with the drive gear (18), and multiple sets of lighting lamps (21) are provided on the outer side of the movable ring (6).

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