An underwater riser surface cleaning crawler

Abstract

The utility model discloses a kind of for underwater water hose sleeve surface cleaning crawling equipment, including structure body, the structure body is provided with fixed crawler, the fixed crawler is connected with structure body by supporting connecting arm, one hydraulic cylinder is respectively installed in the both ends of structure body, the hydraulic rod of the hydraulic cylinder is connected with one end of holding arm, holding crawler is provided on the holding arm, cleaning rotary mechanism is connected in the lower part of body structure, the cleaning rotary mechanism includes semicircular rack connected in the lower end of structure body, high-pressure spray head is installed in the both ends of rotary rack, speed reducer and the rotating hydraulic motor connected with speed reducer are installed on the upper end of the structure body of rotary rack, main drive gear meshed with semicircular rack is installed on the lower rotary output end of the speed reducer. This structure is simple, strong stability, can satisfy different pipe diameter water hose sleeve construction operation.

Description

Technical Field

[0001] This utility model relates to an underwater crawling device, and more particularly to a crawling device for cleaning the surface of underwater waterproof sleeves. Background Technology

[0002] The riser casing, extending from the offshore drilling platform into the shallow seabed, is a critical component ensuring the safe and smooth operation of offshore drilling, but it is also a weak point in the entire drilling system. In tidal zones, splash zones, and atmospheric zones, the riser casing experiences marine organism adhesion, corrosion, and mud splash adhesion. These phenomena not only reduce its service life but also pose safety hazards. Therefore, cleaning and anti-corrosion treatment of the riser casing in these areas is essential.

[0003] Currently, the cleaning of the riser casing surface of offshore platforms is primarily done manually, with divers carrying cleaning equipment for underwater operations. This method demands highly skilled personnel, involves extreme labor intensity, has low efficiency, is susceptible to adverse sea conditions, and has limited operating depth. The splashing debris and the reaction force generated by the water jet during the cleaning process can potentially injure the workers, making it difficult to guarantee operational safety. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a crawling device for cleaning the surface of underwater waterproof sleeves, which enables safe and efficient underwater cleaning.

[0005] To achieve the objectives of this utility model, the technical solution adopted by this utility model is as follows:

[0006] As shown in the attached figure, this utility model provides a crawling device for cleaning the surface of an underwater waterproof casing. The device includes a structural body, which is an arc-shaped cylindrical structure. At least two fixed crawling vehicles are fixedly positioned on the structural body at intervals along its circumference. A rotating shaft is rotatably connected to each end of the structural body in a vertical direction. Each rotating shaft is fixedly connected to one end of a clamping arm, and the other end of the clamping arm is fixedly connected to a clamping crawling vehicle. A hydraulic cylinder is installed at each end of the structural body, and the hydraulic rod of each hydraulic cylinder, arranged horizontally, is connected to the rotating shaft.

[0007] The clamping crawler and the fixed crawler have the same structure, both including a base. The left and right sides of the middle of the base are fixedly connected to the bottom wall of a connecting support arm by base bolts. A sprocket shaft is rotatably connected to the upper and lower ends of the base. A crawling wheel is installed at the left and right ends of each sprocket shaft. A sprocket is fixed on the upper and lower sprocket shafts and inside one of the crawling wheels. The two sprockets are connected by a chain. A crawling hydraulic motor, a reducer, and a commutator are installed on the base in sequence. The output end of the commutator is connected to two adjacent crawling wheels, driving the crawling wheels to move forward or backward. The connecting support arm of the fixed crawler is fixedly connected to the main body of the structure. The connecting support arm of the clamping crawler is fixedly connected to the other end of the clamping arm at the corresponding position. Driven by the hydraulic rod of the hydraulic cylinder, the clamping crawler can rotate so that the crawling wheels of the fixed crawler and the clamping crawler can clamp together on the water-proof sleeve.

[0008] A cleaning rotary mechanism is connected to the lower part of the main body of the structure. The cleaning rotary mechanism includes a rotary drive mechanism. The output end of the rotary drive mechanism is meshed with a semi-circular large rack and can drive the semi-circular large rack to rotate in the horizontal plane. A high-pressure cleaning nozzle is installed at each of the left and right ends of the semi-circular large rack. The high-pressure cleaning nozzle is used to spray water onto the water-proof sleeve.

[0009] Compared with the prior art, the advantages of this invention are: simple structure, strong stability, and ability to meet the construction requirements of water-proof sleeves with different pipe diameters. Furthermore, without altering the structure, different underwater operations such as underwater inspection and underwater coating can be achieved by changing the working terminal connected to the working terminal interface. Attached Figure Description

[0010] Figure 1 This is a three-dimensional structural diagram of a crawling device for cleaning the surface of underwater waterproof casing.

[0011] Figure 2 This is a schematic diagram illustrating the installation and use of a crawling device for cleaning the surface of underwater waterproof casing.

[0012] Figure 3 yes Figure 1 A three-dimensional structural diagram of the fixed crawler and the clinging crawler in the structure shown;

[0013] Figure 4 yes Figure 3 Top view of the structure shown;

[0014] Figure 5 yes Figure 1 A three-dimensional structural diagram of the cleaning rotary mechanism in the structure shown, taken at the first angle.

[0015] Figure 6 yes Figure 1 A three-dimensional structural diagram of the second angle of the cleaning rotary mechanism in the structure shown. Detailed Implementation

[0016] The structure of this utility model will be described below with reference to the accompanying drawings.

[0017] As shown in the attached drawings, this utility model discloses a crawling device for cleaning the surface of an underwater waterproof casing, comprising a structural body 1, which is an arc-shaped cylindrical structure. At least two fixed crawling vehicles 2 are fixedly positioned at intervals along the circumference of the structural body 1. A rotating shaft is rotatably connected to each end of the structural body in a vertical direction. Each rotating shaft is fixedly connected to one end of a clamping arm 4, and the other end of the clamping arm 4 is fixedly connected to a clamping crawling vehicle 5. A hydraulic cylinder 3 is installed at each end of the structural body, and the hydraulic rod of each hydraulic cylinder 3, arranged horizontally, is connected to the rotating shaft.

[0018] The described clamping crawler and fixed crawler have the same structure, both including a base 2-1. Preferably, the base is a rectangular structure. The left and right sides of the middle of the base are fixedly connected to the bottom wall of a connecting support arm 2-8 by base bolts 2-2. A sprocket shaft 2-4 is rotatably connected to the upper and lower ends of the base. A crawling wheel 2-3 is installed at the left and right ends of each sprocket shaft. A sprocket 2-10 is fixed on the sprocket shaft at the upper and lower ends and located inside a crawling wheel. The two sprockets are connected by a chain 2-9. A crawling hydraulic motor 2-5, a reducer 2-6, and a commutator 2-7 are installed on the base in sequence. The output end of the commutator is connected to two adjacent crawling wheels 2-3 to drive the crawling wheels forward or backward.

[0019] Preferably, a sprocket tensioner 2-11 is provided on one of the sprocket shafts 2-4.

[0020] Preferably, the surface of the crawling wheels 2-3 is an inwardly inclined annular frustum-shaped structure, which is suitable for crawling through circular tubes.

[0021] The connecting support arm of the fixed crawler is fixedly connected to the main structure. The connecting support arm of the clamping crawler is fixedly connected to the other end of the clamping arm at the corresponding position. Driven by the hydraulic rod of the hydraulic cylinder 3, the clamping crawler can rotate so that the crawling wheels of the fixed crawler and the clamping crawler can clamp together on the waterproof sleeve.

[0022] A cleaning rotary mechanism is connected to the lower part of the main structure. This mechanism includes a rotary drive mechanism, the output of which is engaged with a semi-circular large rack 1-3 and can drive the rack to rotate horizontally. A high-pressure cleaning nozzle 1-7 is installed at each of the left and right ends of the semi-circular large rack. These nozzles are used to spray water onto the water-resistant sleeve. The high-pressure cleaning nozzles can be connected to a water supply source via water pipes.

[0023] In one embodiment of this utility model, the structural body includes an upper support plate 12, a lower support plate 14, an upper structural body 1-1, and a lower structural body 1-2, which are arranged parallel to each other from top to bottom and fixedly connected to each other. The connecting support arm of the fixed crawler is fixedly connected to the upper and lower support plates, and the semi-circular large rack 1-3 of the cleaning rotary mechanism is installed between the upper and lower structural bodies. A limiting device is provided between the outer edges of the upper and lower structural bodies, which contacts the rear part of the semi-circular large rack. Preferably, the limiting device is structured such that the outer edges of the upper and lower structural bodies are connected by a cylindrical rolling bearing 1-9, and the rear part of the semi-circular large rack contacts the cylindrical rolling bearing, thereby limiting movement and reducing friction. Two auxiliary gears 1-10 are connected at intervals on the left and right sides of the upper structure, respectively. The gear shafts of the four auxiliary gears arranged vertically are connected to rotating bearings mounted on the upper structure. The rotary drive mechanism includes a reducer 1-5 installed in the middle of the upper structure, and a rotary hydraulic motor 1-6 connected to the reducer, which provides power to the reducer. A main drive gear 1-4 is installed on the lower rotary output end of the reducer. The main drive gear is the output end of the rotary drive mechanism. The semi-circular rack can mesh with the main drive gear and the auxiliary gears. A proximity sensor 1-8 is installed on each side of the reducer. The two proximity sensors are used to detect the position of the left or right end of the semi-circular rack during rotation and transmit the position signal to an external controller 8 mounted on the upper support plate. The external controller is connected to the controller of the hydraulic motor to control the start, stop, and rotation direction of the hydraulic motor.

[0024] The working process of this equipment is as follows:

[0025] First, with the cooperation of the construction personnel, the equipment with the clamping arm 4 in the open position is hoisted close to the waterproof sleeve 13 that needs to be cleaned. The hydraulic rod of the hydraulic cylinder 3 extends, causing the clamping arm 4 to close. The clamping crawler 5 on the clamping arm 4 approaches the waterproof sleeve 13. At this time, the fixed crawler 2 and the traveling wheels of the clamping crawler contact the waterproof sleeve 13, so that the clamping force reaches the predetermined value and keeps the whole equipment from falling off. At this time, the crawling hydraulic motor 2-5 drives the clamping crawler and the fixed crawler to move the crawling equipment up and down on the waterproof sleeve 13. At this time, the main drive gear 1-4 on the hydraulic motor 1-6 is rotated to drive the semi-circular large rack 1-3 to rotate. The high-pressure nozzle 1-7 on the semi-circular large rack 1-3 sprays water to perform rust removal. By replacing the high-pressure nozzle with other equipment, different underwater operations such as underwater inspection and underwater painting can be achieved.

[0026] Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and these all fall within the protection scope of the present invention.

Claims

1. A crawling device for cleaning the surface of underwater waterproof casing, comprising a structural body (1), wherein the structural body is an arc-shaped cylindrical structure, characterized in that: At least two fixed crawler vehicles (2) are fixed at intervals on the left and right sides of the structure body along the circumferential direction of the structure body. A rotating shaft is rotatably connected to each end of the structure body in the vertical direction. Each rotating shaft is fixedly connected to one end of a clamping arm (4). The other end of the clamping arm is fixedly connected to a clamping crawler vehicle (5). A hydraulic cylinder (3) is installed at each end of the structure body. The hydraulic rod of each hydraulic cylinder is connected to the rotating shaft in the horizontal direction. The described clamping crawler and fixed crawler have the same structure, both including a base (2-1). The left and right sides of the middle of the base are fixedly connected to the bottom wall of a connecting support arm (2-8) by base bolts (2-2). A sprocket shaft (2-4) is rotatably connected to the upper and lower ends of the base. A crawling wheel (2-3) is installed at the left and right ends of each sprocket shaft. A sprocket (2-10) is fixed on the upper and lower sprocket shafts and inside one of the crawling wheels. The two sprockets are connected by a chain (2-9). The system is equipped with a crawling hydraulic motor (2-5), a reducer (2-6), and a commutator (2-7) connected in sequence. The output end of the commutator is connected to two adjacent crawling wheels (2-3) to drive the crawling wheels forward or backward. The connecting support arm of the fixed crawling vehicle is fixedly connected to the main body of the structure. The connecting support arm of the clamping crawling vehicle is fixedly connected to the other end of the clamping arm at the corresponding position. Under the drive of the hydraulic rod of the hydraulic cylinder (3), the clamping crawling vehicle can rotate so that the crawling wheels of the fixed crawling vehicle and the clamping crawling vehicle can clamp together on the water-proof sleeve. A cleaning rotary mechanism is connected to the lower part of the main body of the structure. The cleaning rotary mechanism includes a rotary drive mechanism. The output end of the rotary drive mechanism is engaged with a semi-circular large rack (1-3) and can drive the semi-circular large rack to rotate in the horizontal plane. A high-pressure cleaning nozzle (1-7) is installed at the left and right ends of the semi-circular large rack. The high-pressure cleaning nozzle is used to spray water onto the water-proof sleeve.

2. The crawling device for cleaning the surface of underwater waterproof casing according to claim 1, characterized in that: The structural body includes an upper support plate (12), a lower support plate, an upper structure (1-1), and a lower structure (1-2) arranged parallel to each other from top to bottom and fixedly connected. The connecting support arm of the fixed crawler is fixedly connected to the upper and lower support plates. The semi-circular large rack (1-3) of the cleaning rotary mechanism is installed between the upper and lower structures. A limiting device is provided between the outer edges of the upper and lower structures, which contacts the rear of the semi-circular large rack. Two auxiliary gears (1-10) are connected at intervals on the left and right sides of the upper structure, respectively. The gear shafts of the four auxiliary gears arranged vertically are respectively connected to the rotating bearings installed on the upper structure. The rotary drive mechanism includes... The structure includes a reducer (1-5) installed in the middle of the upper structure, a rotary hydraulic motor (1-6) connected to the reducer, a main drive gear (1-4) installed on the lower rotary output end of the reducer, the main drive gear being the output end of the rotary drive mechanism, the semi-circular large rack meshing with the main drive gear and auxiliary gear, and a proximity sensor (1-8) installed on the left and right sides of the reducer respectively. The two proximity sensors are used to detect the position of the left or right end of the semi-circular large rack during rotation and transmit the position signal to an external controller (8) installed on the upper support plate. The external controller is connected to the controller of the hydraulic motor to control the start, stop and rotation direction of the hydraulic motor.

3. The crawling device for cleaning the surface of underwater waterproof sleeves according to claim 2, characterized in that: The limiting device is structured as follows: the outer edges of the upper and lower structures are connected by a cylindrical rolling bearing, and the rear part of the semi-circular large toothed rack is in contact with the cylindrical rolling bearing.

4. The crawling device for cleaning the surface of underwater waterproof casing according to claim 2, characterized in that: The surface of the crawling wheel is an inwardly inclined annular frustum-shaped structure.

5. The crawling device for cleaning the surface of underwater waterproof sleeves according to claim 2, characterized in that: A sprocket tensioner is installed on one of the sprocket shafts.

6. The crawling device for cleaning the surface of underwater waterproof casing according to claim 2, characterized in that: The base is a rectangular structure.

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