CN106475364B - A kind of encircling type underwater steel construction pipeline external surface marine growth cleaning robot - Google Patents
A kind of encircling type underwater steel construction pipeline external surface marine growth cleaning robot Download PDFInfo
- Publication number
- CN106475364B CN106475364B CN201611189296.1A CN201611189296A CN106475364B CN 106475364 B CN106475364 B CN 106475364B CN 201611189296 A CN201611189296 A CN 201611189296A CN 106475364 B CN106475364 B CN 106475364B
- Authority
- CN
- China
- Prior art keywords
- arc
- fixed plate
- robot
- fixing bracket
- external surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/023—Cleaning the external surface
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of encircling type underwater steel construction pipeline external surface marine growths to clear up robot, the robot includes robot ambulation unit and the mobile cleaning unit being arranged on robot ambulation unit, robot ambulation unit includes upper arc fixed plate arranged in parallel, arc lower fixed plate and the outstanding magnetic suck component being separately positioned between arc fixed plate and arc lower fixed plate, hoofing part mechanism and lifting mechanism, movable type cleaning unit includes the arc fixing bracket being arranged on upper arc fixed plate, arc-shaped rack on arc fixing bracket and the circumferentially moved cavitation water injection mechanism for being arranged on arc fixing bracket and being meshed with arc-shaped rack are set.Compared with prior art, the present invention clears up the marine growth of underwater steel construction pipeline external surface by the way of cavitating water jet, and cleaning efficiency is high, and disposal costs are low, the operation is stable, easy to disassemble, and safety is good, has a wide range of application.
Description
Technical field
The invention belongs to ocean platform marine growth Removal Technology fields, are related to a kind of encircling type underwater steel construction pipeline appearance
Face marine growth clears up robot.
Background technology
With the extensive utilization of marine resources, the quantity of ocean platform is continuously increased in the world.In the model of sea level ± 5m
In enclosing, due to the influence of tidal bulge tide, in ocean platform the outer surface of steelwork pipe can periodically ingress of air and seawater,
So that many marine growths are quickly bred in steelwork pipe outer surface, are grown, such as oyster, barnacle etc., these marine growths are not
The weight of ocean platform is increased only, but also ocean platform is increased by the active area of ocean current, it is hidden to produce huge safety
Suffer from, therefore, it is necessary to the marine growth of periodic cleaning steelwork pipe outer surface.
Currently, the underwater steel construction pipeline external surface marine growth manner of cleaning up generally used is artificial underwater cleaning, i.e., by
Diver dives beneath the water, using the jetting tool polishing pipeline external surface of carrying, to clear up the marine growth of pipeline external surface.The party
Formula exists as following drawbacks：
(1) there are personal safety hidden danger by diver, might have dangerous generation at any time；
(2) it being affected by weather and oceanic condition, weather and sea situation vary slightly, and just can not carry out cleaning work,
So which has greater limitations in application；
(3) the underwater steel construction pipeline of ocean platform is laid staggeredly, and pipe frame structure is complicated so that the workload of manual cleaning
Greatly；
(4) when sandblasting, the protective layer of pipeline external surface can be also destroyed while cleaning up marine growth, it is necessary to japanning again
It can just prevent from corroding, therefore increase subsequent workload, increase maintenance cost；
(5) abrasive jet cleaning mode can also aggravate the pollution of the dust on ocean platform and noise pollution.
Application publication number is that the Chinese invention patent of CN103883840A discloses a kind of pipeline anticorrosion coating cleaning robot,
The pipeline anticorrosion coating clears up robot：Pipe support body, wherein pipe support body is docked by two tube bodies that section is semicircle,
First frame body and the second frame body are set in pipe support body；Driving group is arranged on the first frame body；Cleaning mechanism is arranged in the second frame
On body；Workpiece polishing mechanism, setting are oppositely arranged on the second frame body, and with cleaning mechanism；Control mechanism is arranged on pipe support body.
In the technical solution of above-mentioned patent disclosure, pipeline anticorrosion coating cleaning robot can mitigate the work of manual cleaning to a certain extent
It measures, but the tube body of two semicircles is set in pipeline external surface by its needs in advance, and connects to form pipe support body by axis pin, pacify
Dress is inconvenient with dismounting, and is not suitable for underwater operation, can not clear up underwater steel construction pipeline external surface marine growth.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of flexibility is good and easy
Robot is cleared up in the encircling type underwater steel construction pipeline external surface marine growth of dismounting.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of encircling type underwater steel construction pipeline external surface marine growth cleaning robot, which includes robot ambulation
Unit and the mobile cleaning unit being arranged on robot ambulation unit, the robot ambulation unit include mutually flat
The upper arc fixed plate of row setting and is separately positioned between arc fixed plate and arc lower fixed plate arc lower fixed plate
Outstanding magnetic suck component, hoofing part mechanism and lifting mechanism, the described mobile cleaning unit includes that setting is solid in upper arc
Arc fixing bracket on fixed board, the arc-shaped rack being arranged on arc fixing bracket and circumferentially moved setting are solid in arc
The cavitation water injection mechanism being meshed on fixed rack and with arc-shaped rack, the robot are adsorbed on by outstanding magnetic suck component
Pipe surface is axially moved under the action of hoofing part mechanism along pipeline, and removes pipeline appearance by cavitation water injection mechanism
The marine growth in face.Lifting mechanism is convenient for removing robot from pipe surface.
Upper arc fixed plate is connected with the both ends of arc lower fixed plate by side frame, and upper arc fixed plate is solid with arc lower
Main circuit chamber, the cable for being additionally provided with main circuit chamber fixed plate between fixed board and being separately positioned in main circuit chamber fixed plate are fixed
Seat, main circuit chamber are internally provided with master control borad and control the stepper motor driver of each stepper motor respectively, and master control borad includes one
A attitude transducer is used for the posture of monitoring robot, and carries out feedback control to the rotating speed of axial traveling wheel.The main electricity
The fluid level transmitter for monitoring robot position is additionally provided in the chamber fixed plate of road.
The outstanding magnetic suck component includes multiple being circumferentially laid in arc fixed plate and arc lower fixed plate respectively
Between permanent magnets group, the permanent magnets group be connected with pipe surface side magnetic field intensity be more than deviate from pipe surface side
Magnetic field intensity.
As a preferred technical solution, in the permanent magnets group, the magnetization for the multiple permanent magnets being sequentially connected in an axial direction
Direction according to " it is right, under, it is left, on " sequence cycle arrangement successively, keep permanent magnets group strong close to the magnetic field of the side of pipe surface
Spend larger, allow the robot to be adsorbed on pipe surface, meanwhile, permanent magnets group away from pipe surface side magnetic field intensity compared with
It is small, permanent magnets group is reduced to the attraction of other irony objects other than pipeline, and the sundries in water is avoided to be adsorbed on robot
It is upper to influence the normal work of robot, thus improve safety.
The outstanding magnetic suck component is circumferentially laid in arc including 6 and consolidates respectively as a preferred technical solution,
Permanent magnets group between fixed board and arc lower fixed plate, and 3, left side permanent magnets group and 3, the right permanent magnets group are about upper arc
The vertical central axes of fixed plate and arc lower fixed plate are symmetrical arranged, in 6 permanent magnets groups, the permanent magnets group of left end with it is most right
The permanent magnets group at end is separately positioned on the left and right ends between arc fixed plate and arc lower fixed plate, other 4 permanent magnetism
Middle part of the block group integrated distribution between upper arc fixed plate and arc lower fixed plate.
The hoofing part mechanism includes first be disposed in parallel between arc fixed plate and arc lower fixed plate
Axial traveling wheel mounting plate, the second axial traveling wheel mounting plate, setting are in first axis traveling wheel mounting plate and the second axial row
The axial traveling wheel stepper motor walked to take turns the axial traveling wheel between mounting plate, be arranged on the outside of the second axial traveling wheel mounting plate
Mounting cylinder and the axial traveling wheel for being arranged in axial traveling wheel stepper motor mounting cylinder and being sequentially connected with axial traveling wheel
Stepper motor.Axial traveling wheel stepper motor drives axial traveling wheel to be advanced axially relative or retreat in pipeline external surface, axial row
It walks to take turns stepper motor mounting cylinder and axial traveling wheel stepper motor is sealed in inside, prevent from intaking in axial traveling wheel stepper motor
And influence normal work.
There are two the hoofing part mechanism is set altogether as a preferred technical solution, and about upper arc fixed plate with
The vertical central axes of arc lower fixed plate are symmetrical arranged, to ensure the balance and stability being axially moved.
The axial traveling wheel stepper motor mounting cylinder is equipped with the first underwater electrical connector.Axial traveling wheel stepper motor
It is connect with the conducting wire outside axial traveling wheel stepper motor mounting cylinder by the first underwater electrical connector, to transmit power supply and signal,
It ensure that watertightness, motor entering water can be effectively prevented.
The lifting mechanism includes the lifting mechanism connection being arranged between upper arc fixed plate and arc lower fixed plate
The leading screw that seat, a pair of radial direction along upper arc fixed plate and arc lower fixed plate are separately positioned on lifting mechanism connecting seat is fixed
Block, the leading screw being arranged between two leading screw fixed blocks, movement is arranged on leading screw and the lead screw between two leading screw fixed blocks
Nut, the radial lifting wheel mounting bracket being fixed on feed screw nut and the radial direction being arranged on being radially lifted wheel mounting bracket
Lifting wheel.The rotation of leading screw drives feed screw nut along the radial motion of upper arc fixed plate and arc lower fixed plate, drives radial
Radial lifting wheel on lifting wheel mounting bracket is radially movable and comes into contact with pipeline external surface, withstands on pipeline external surface later
On, and robot is lifted, so that permanent magnets group is detached from pipeline external surface, convenient for removing robot from pipeline external surface.
There are two the lifting mechanism is set altogether as a preferred technical solution, and about upper arc fixed plate and lower arc
The vertical central axes of shape fixed plate are symmetrical arranged, steady and efficient when ensureing that robot is lifted.
As a preferred technical solution, anti-corrosion spelter is additionally provided on the radial lifting wheel mounting bracket.
It is additionally provided with the guide rail parallel with leading screw on the lifting mechanism connecting seat and is slidably arranged on guide rail simultaneously
With the radial sliding block for being lifted wheel mounting bracket and being fixedly connected.Cylinder shape groove is offered on sliding block, sliding block passes through cylinder shape groove set
It is located on guide rail, and can be slided along guide rail.Sliding block on radial lifting wheel mounting bracket is moved synchronously with feed screw nut, keeps radial
The stable motion of lifting wheel mounting bracket and radial lifting wheel.
The arc fixing bracket includes the arc lower fixing bracket being arranged on upper arc fixed plate, a pair of sets respectively
It sets in the arc fixing bracket connecting plate at arc lower fixing bracket both ends and setting between two arc fixing bracket connecting plates
And the upper arc fixing bracket above the arc lower fixing bracket, arc-shaped rack setting upper arc fixing bracket with
It is fixedly connected between arc lower fixing bracket and with arc fixing bracket connecting plate.Two arc fixing bracket connecting plates can be right
Cavitation water injection mechanism carries out circumferential limit.
The cavitation water injection mechanism includes the rolling being arranged between upper arc fixing bracket and arc lower fixing bracket
It takes turns link, the upper roller component for being separately positioned on idler wheel link upper and lower ends, bottom roller component, be arranged in upper roller component
The circumferential spur gear drive component being meshed between bottom roller component and with arc-shaped rack, the sky being arranged on idler wheel link
The cavitation (operating) water nozzle changed (operating) water nozzle connecting plate and be arranged on cavitation (operating) water nozzle connecting plate.Cavitation (operating) water nozzle passes through high-pressure water pipe
It is connect with cavitation water water source, the cavitation water ejected by cavitation (operating) water nozzle clears up the marine growth of pipeline external surface.Wherein,
Cavitating water jet is a kind of efficient high-pressure water jet, and the principle of hydraulic " cavitation " is utilized, by artificially in water-jet
The many vacuoles of manufacture in a fluid stream are flowed, enhance the function and effect of jet stream using strong impact power caused by cavity collapse.Cavitation
The hydraulic pressure of water is preferably 16Mpa, and the outlet diameter of cavitation (operating) water nozzle is preferably 1.5mm.
The upper roller component include be arranged idler wheel link upper end upper roller fixed plate and be separately positioned on
Outer upper roller, interior upper roller in upper roller fixed plate, the interior upper roller and outer upper roller are located at arc and fix
The inside and outside both ends of holder can simultaneously be rolled along the support bracket fastened end face of upper arc；
The bottom roller component include be arranged idler wheel link lower end bottom roller fixed plate and be separately positioned on
Outer bottom roller, interior bottom roller in bottom roller fixed plate, the interior bottom roller and outer bottom roller are located at arc lower and fix
The inside and outside both ends of holder can simultaneously be rolled along the support bracket fastened end face of arc lower；
The circumferential spur gear drive component includes the circumferential spur gear stepper motor peace being arranged on idler wheel link
Fitted tube, the circumferential spur gear stepper motor being arranged in circumferential spur gear stepper motor mounting cylinder and with circumferential spur gear stepping
The circumferential spur gear that motor drive is connected and is meshed with arc-shaped rack.Circumferential spur gear stepper motor drives circumferential spur gear to exist
Arc-shaped rack surface is moved along the circumferential direction of arc-shaped rack, keeps cavitation (operating) water nozzle uniform to each region of pipeline external surface
Cavitation water is sprayed, the marine growth of pipeline external surface each region is cleared up in guarantee.In the process of circumferential spur gear movement
In, interior upper roller and outer upper roller are rolled respectively along the support bracket fastened inner face of upper arc or outer end face, interior bottom roller and outer
Bottom roller is rolled respectively along the support bracket fastened inner face of arc lower or outer end face, keeps putting down when cavitation water injection mechanism kinematic
It weighs and cavitation water injection mechanism can be moved and is arranged on arc fixing bracket.
The circumferential spur gear stepper motor mounting cylinder is equipped with the second underwater electrical connector.
The both sides of cavitation water injection mechanism are additionally provided with axial close hairbrush and radial close hairbrush, for clear up in time in seawater into
Enter the sundries in mobile cleaning unit, ensure mobile cleaning unit stablizes smooth work.
The device further includes the first underwater camera being arranged in cavitation water injection mechanism and is symmetricly set on lower arc
The second underwater camera, third underwater camera in shape fixed plate.First underwater camera can be to cavitation water injection mechanism
Underwater environment and the front region for clearance of surrounding are monitored in real time, and the second underwater camera and third underwater camera can
To around robot rear underwater environment and cleaning area has monitored in real time, ensure cleaning effect and scale removal process
Safety, and according to the process of actual conditions control cleaning.First underwater camera is set by the first underwater camera head frame
It sets in cavitation water injection mechanism, the second underwater camera and third underwater camera are fixed by the second underwater camera respectively
Frame, third underwater camera fixed mount setting are in arc lower fixed plate.
The present invention by robot in practical application, be set in pipeline external, and be adsorbed on pipe by outstanding magnetic suck component
Road outer surface, hoofing part mechanism drive Robot pipeline to be axially moved, and yearn for along pipeline week with cavitation water injection mechanism
It is multiple mobile, the marine growth of pipeline external surface is cleared up；After cleaning, the radial lifting wheel in lifting mechanism radially moves
Pipeline external surface is moved and withstood on, robot is lifted, outstanding magnetic suck component is made to be detached from pipeline external surface, you can by robot from pipe
It removes on road surface.
Compared with prior art, the invention has the characteristics that：
1) marine growth of underwater steel construction pipeline external surface is cleared up by the way of cavitating water jet, is had than passing
The system higher cleaning efficiency of mechanical chipping, and it is more energy saving than high-pressure water jet, underwater operation environment is more adapted to, is not only reduced
The workload of diver, while the security risk of diver's manual cleaning is reduced, and can be suitable for various weather and sea
Condition has a wide range of application, and cleaning effect is good, and disposal costs are low；
2) curvature for the circumferential type structure and pipeline that arc fixed plate, arc lower fixed plate and arc fixing bracket are formed on
It is adapted, robot and pipeline external surface good fit can be made, and robot is adsorbed on by pipeline by outstanding magnetic suck component
Outer surface ensure that stability and the safety of robot work, avoid turning on one's side；
3) cavitation water injection mechanism is meshed with arc-shaped rack, convenient for circumferentially being moved back and forth along pipeline, reduces walking and drives
The workload of motivation structure, improves cleaning efficiency and job stability；
4) it hangs magnetic suck component to match with lifting mechanism, can either ensure the strong adsorption capacity of robot and pipe surface,
Job stability is improved, and convenient for easily removing robot from pipe surface, flexibility is good.
Description of the drawings
Fig. 1 is the overall structure diagram of robot in embodiment；
Fig. 2 is the overlooking structure diagram of robot in embodiment；
Fig. 3 is the structural schematic diagram that magnetic suck component is hanged in embodiment；
Fig. 4 is that the direction of magnetization of permanent magnets group in embodiment arranges schematic diagram；
Fig. 5 is the structural schematic diagram of hoofing part mechanism in embodiment；
Fig. 6 is the structural schematic diagram of lifting mechanism in embodiment；
Fig. 7 is the structural schematic diagram of embodiment cavitation water injection mechanism；
Fig. 8 is the overlooking structure diagram of embodiment cavitation water injection mechanism；
Fig. 9 is the right side structural representation of embodiment cavitation water injection mechanism；
Description of symbols in figure：
1-upper arc fixed plate, 2-arc lower fixed plates, 3-arc fixing brackets, 4-arc-shaped racks, 5-first axles
To traveling wheel mounting plate, the 6-the second axial traveling wheel mounting plate, 7-axial traveling wheels, 8-axial traveling wheel stepper motors peace
Fitted tube, 9-axial traveling wheel stepper motors, the 10-the first underwater electrical connector, 11-lifting mechanism connecting seats, 12-leading screws are fixed
Block, 13-leading screws, 14-feed screw nuts, 15-radial direction lifting wheel mounting brackets, 16-radial lifting wheels, 17-guide rails, 18-are slided
Block, 19-idler wheel links, 20-upper roller fixed plates, 21-outer upper rollers, 22-bottom roller fixed plates, 23-outer lower rollings
Wheel, 24-cavitation (operating) water nozzle connecting plates, 25-cavitation (operating) water nozzles, 26-circumferential spur gear stepper motor mounting cylinders, 27-are circumferentially
Spur gear stepper motor, 28-circumferential spur gears, 29-interior upper rollers, 30-interior bottom rollers, 31-arc lower fixing brackets,
32-arc fixing bracket connecting plates, 33-upper arc fixing brackets, the 34-the first underwater camera, the 35-the second underwater camera
Head, 36-third underwater cameras, 37-permanent magnets groups.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment：
A kind of encircling type underwater steel construction pipeline external surface marine growth as shown in Figs. 1-2 clears up robot, the robot
Including robot ambulation unit and the mobile cleaning unit being arranged on robot ambulation unit, robot ambulation unit packet
It includes upper arc fixed plate 1 arranged in parallel, arc lower fixed plate 2 and is separately positioned on arc fixed plate 1 and lower arc
Outstanding magnetic suck component, hoofing part mechanism and lifting mechanism between shape fixed plate 2, movable type cleaning unit includes being arranged upper
It arc fixing bracket 3 on arc fixed plate 1, the arc-shaped rack 4 being arranged on arc fixing bracket 3 and circumferentially moved sets
The cavitation water injection mechanism set on arc fixing bracket 3 and be meshed with arc-shaped rack 4, the device further include being arranged in cavitation
The first underwater camera 34 in water injection mechanism and the second underwater camera being symmetricly set in arc lower fixed plate 2
35, third underwater camera 36.Robot is adsorbed on pipe surface by outstanding magnetic suck component, in the effect of hoofing part mechanism
It is lower to be axially moved along pipeline, and by the marine growth of cavitation water injection mechanism removing pipeline external surface.
Consolidate with arc lower as shown in figure 3, outstanding magnetic suck component includes multiple arc fixed plates 1 that are circumferentially laid in respectively
Permanent magnets group 37 between fixed board 2, permanent magnets group 37 be connected with pipe surface side magnetic field intensity be more than deviate from pipe surface
The direction of magnetization arrangement of the magnetic field intensity of side, permanent magnets group 37 is as shown in Figure 4.
As shown in figure 5, hoofing part mechanism includes being disposed in parallel between arc fixed plate 1 and arc lower fixed plate 2
First axis traveling wheel mounting plate 5, the second axial traveling wheel mounting plate 6, setting is in first axis traveling wheel mounting plate 5 and the
Axial row in 6 outside of the second axial traveling wheel mounting plate is arranged in axial traveling wheel 7 between two axial traveling wheel mounting plates 6
It walks to take turns stepper motor mounting cylinder 8 and setting in axial traveling wheel stepper motor mounting cylinder 8 and is driven with axial traveling wheel 7 to connect
The axial traveling wheel stepper motor 9 connect.Axial traveling wheel stepper motor mounting cylinder 8 is equipped with the first underwater electrical connector 10.
As shown in fig. 6, lifting mechanism includes the lifting machine being arranged between upper arc fixed plate 1 and arc lower fixed plate 2
Structure connecting seat 11, a pair of radial direction along upper arc fixed plate 1 and arc lower fixed plate 2 are separately positioned on lifting mechanism connecting seat 11
On leading screw fixed block 12, be arranged between two leading screw fixed blocks 12 leading screw 13, mobile be arranged on leading screw 1 and be located at two
Feed screw nut 14 between thick stick fixed block 12, radial lifting wheel mounting bracket 15 and the setting being fixed on feed screw nut 14
Radial lifting wheel 16 on being radially lifted wheel mounting bracket 15.It is additionally provided on lifting mechanism connecting seat 11 parallel with leading screw 13
Guide rail 17 and the sliding block 18 for being slidably arranged on guide rail 17 and being fixedly connected with radial lifting wheel mounting bracket 15.
Arc fixing bracket 3 includes that the arc lower fixing bracket 31 that is arranged on upper arc fixed plate 1, a pair are respectively set
In the arc fixing bracket connecting plate 32 at 31 both ends of arc lower fixing bracket and setting in two arc fixing bracket connecting plates 32
Between and positioned at the upper arc fixing bracket 33 of the top of arc lower fixing bracket 31, the setting of arc-shaped rack 4 fixes branch in upper arc
It is fixedly connected between frame 33 and arc lower fixing bracket 31 and with arc fixing bracket connecting plate 32.
As Figure 7-9, cavitation water injection mechanism includes being arranged in upper arc fixing bracket 33 and arc lower fixing bracket
Idler wheel link 19 between 31, bottom roller component, is set the upper roller component for being separately positioned on 19 upper and lower ends of idler wheel link
Set between upper roller component and bottom roller component and be meshed with arc-shaped rack 4 circumferential spur gear drive component, setting exist
Cavitation (operating) water nozzle connecting plate 24 on idler wheel link 19 and the cavitation (operating) water nozzle being arranged on cavitation (operating) water nozzle connecting plate 24
25。
Upper roller component include be arranged 19 upper end of idler wheel link upper roller fixed plate 20 and be separately positioned on
It is solid that outer upper roller 21, interior upper roller 29 in idler wheel fixed plate 20, interior upper roller 29 and outer upper roller 21 are located at arc
The inside and outside both ends of fixed rack 33 can simultaneously be rolled along the end face of upper arc fixing bracket 33；Bottom roller component includes that setting connects in idler wheel
Connect the bottom roller fixed plate 22 of 19 lower end of frame and the outer bottom roller 23 being separately positioned in bottom roller fixed plate 22, interior bottom roller
30, interior bottom roller 30 and outer bottom roller 23 are located at the inside and outside both ends of arc lower fixing bracket 31 and can fix branch along arc lower
The end face of frame 31 rolls；Circumferential spur gear drive component includes the circumferential spur gear stepper motor being arranged on idler wheel link 19
Mounting cylinder 26, the circumferential spur gear stepper motor 27 being arranged in circumferential spur gear stepper motor mounting cylinder 26 and with it is circumferential straight
The circumferential spur gear 28 that gear steps motor 27 is sequentially connected and is meshed with arc-shaped rack 4.
Robot by robot in practical application, be set in pipeline external, and be adsorbed on pipe by outstanding magnetic suck component
Road outer surface, hoofing part mechanism drive Robot pipeline to be axially moved, and yearn for along pipeline week with cavitation water injection mechanism
It is multiple mobile, the marine growth of pipeline external surface is cleared up；After cleaning, the radial lifting wheel 16 in lifting mechanism is radially
Move and withstand on pipeline external surface, robot is lifted, outstanding magnetic suck component is made to be detached from pipeline external surface, you can by robot from
Pipe surface is removed.
The above description of the embodiments is intended to facilitate ordinary skill in the art to understand and use the invention.
Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein general
Principle is applied in other embodiment without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be the present invention's
Within protection domain.
Claims (10)
1. a kind of encircling type underwater steel construction pipeline external surface marine growth clears up robot, which is characterized in that the robot includes
Robot ambulation unit and the mobile cleaning unit being arranged on robot ambulation unit, the robot ambulation unit
Including upper arc fixed plate (1) arranged in parallel, arc lower fixed plate (2) and it is separately positioned on upper arc fixed plate
(1) outstanding magnetic suck component, hoofing part mechanism and the lifting mechanism between arc lower fixed plate (2), the movable type are clear
Unit is managed to include the arc fixing bracket (3) being arranged on upper arc fixed plate (1), be arranged on arc fixing bracket (3)
Arc-shaped rack (4) and the circumferentially moved cavitation water being arranged on arc fixing bracket (3) and be meshed with arc-shaped rack (4)
Injection equipment, the robot are adsorbed on pipe surface by outstanding magnetic suck component, edge under the action of hoofing part mechanism
Pipeline is axially moved, and the marine growth of pipeline external surface is removed by cavitation water injection mechanism；
It is additionally provided with main circuit chamber fixed plate between the upper arc fixed plate (1) and arc lower fixed plate (2), the main circuit chamber
Fixed plate is equipped with the fluid level transmitter for monitoring robot position.
2. a kind of encircling type underwater steel construction pipeline external surface marine growth according to claim 1 clears up robot, special
Sign is that the outstanding magnetic suck component includes that multiple arc fixed plates (1) that are circumferentially laid in respectively are fixed with arc lower
Permanent magnets group (37) between plate (2), the permanent magnets group (37) be connected with pipe surface side magnetic field intensity be more than the back of the body
Magnetic field intensity from pipe surface side.
3. a kind of encircling type underwater steel construction pipeline external surface marine growth according to claim 1 clears up robot, special
Sign is that the hoofing part mechanism includes being disposed in parallel between arc fixed plate (1) and arc lower fixed plate (2)
First axis traveling wheel mounting plate (5), is arranged in first axis traveling wheel mounting plate (5) the second axial traveling wheel mounting plate (6)
Axial traveling wheel (7) between the second axial traveling wheel mounting plate (6), setting the second axial traveling wheel mounting plate (6) outside
The axial traveling wheel stepper motor mounting cylinder (8) of side and setting are in axial traveling wheel stepper motor mounting cylinder (8) and and axis
The axial traveling wheel stepper motor (9) being sequentially connected to traveling wheel (7).
4. a kind of encircling type underwater steel construction pipeline external surface marine growth according to claim 3 clears up robot, special
Sign is that the axial traveling wheel stepper motor mounting cylinder (8) is equipped with the first underwater electrical connector (10).
5. a kind of encircling type underwater steel construction pipeline external surface marine growth according to claim 1 clears up robot, special
Sign is that the lifting mechanism includes the lifting mechanism being arranged between upper arc fixed plate (1) and arc lower fixed plate (2)
Connecting seat (11), a pair are separately positioned on lifting mechanism with the radial direction of arc lower fixed plate (2) along upper arc fixed plate (1) and connect
Leading screw fixed block (12) on seat (11) is arranged leading screw (13) between two leading screw fixed blocks (12), mobile is arranged in leading screw
(13) feed screw nut (14) on and between two leading screw fixed blocks (12), the radial direction being fixed on feed screw nut (14)
Lifting wheel mounting bracket (15) and setting are in the radial lifting wheel (16) being radially lifted on wheel mounting bracket (15).
6. a kind of encircling type underwater steel construction pipeline external surface marine growth according to claim 5 clears up robot, special
Sign is, the guide rail parallel with leading screw (13) (17) and sliding setting are additionally provided on the lifting mechanism connecting seat (11)
The sliding block (18) being fixedly connected on guide rail (17) and with radial lifting wheel mounting bracket (15).
7. a kind of encircling type underwater steel construction pipeline external surface marine growth according to claim 1 clears up robot, special
Sign is, the arc fixing bracket (3) include the arc lower fixing bracket (31) being arranged on upper arc fixed plate (1),
A pair is separately positioned on the arc fixing bracket connecting plate (32) at arc lower fixing bracket (31) both ends and is arranged in two arcs
Upper arc fixing bracket (33) between fixing bracket connecting plate (32) and above arc lower fixing bracket (31) is described
Arc-shaped rack (4) is arranged between upper arc fixing bracket (33) and arc lower fixing bracket (31) and connects with arc fixing bracket
Fishplate bar (32) is fixedly connected.
8. a kind of encircling type underwater steel construction pipeline external surface marine growth according to claim 7 clears up robot, special
Sign is, the cavitation water injection mechanism include setting upper arc fixing bracket (33) and arc lower fixing bracket (31) it
Between idler wheel link (19), be separately positioned on idler wheel link (19) upper and lower ends upper roller component, bottom roller component, set
Set between upper roller component and bottom roller component and be meshed with arc-shaped rack (4) circumferential spur gear drive component, setting
The sky of cavitation (operating) water nozzle connecting plate (24) and setting on cavitation (operating) water nozzle connecting plate (24) on idler wheel link (19)
Change (operating) water nozzle (25).
9. a kind of encircling type underwater steel construction pipeline external surface marine growth according to claim 8 clears up robot, special
Sign is,
The upper roller component includes setting in the upper roller fixed plate (20) of idler wheel link (19) upper end and sets respectively
Set outer upper roller (21), interior upper roller (29) in upper roller fixed plate (20), the interior upper roller (29) and outside upper rolling
Wheel (21) is located at the inside and outside both ends of arc fixing bracket (33) and can be rolled along the end face of upper arc fixing bracket (33)；
The bottom roller component includes setting in the bottom roller fixed plate (22) of idler wheel link (19) lower end and sets respectively
Set outer bottom roller (23), interior bottom roller (30) in bottom roller fixed plate (22), the interior bottom roller (30) and outer lower rolling
Wheel (23) is located at the inside and outside both ends of arc lower fixing bracket (31) and can be rolled along the end face of arc lower fixing bracket (31)；
The circumferential spur gear drive component includes the circumferential spur gear stepper motor peace being arranged on idler wheel link (19)
Fitted tube (26), be arranged circumferential spur gear stepper motor (27) in circumferential spur gear stepper motor mounting cylinder (26) and with week
The circumferential spur gear (28) for being sequentially connected to spur gear stepper motor (27) and being meshed with arc-shaped rack (4).
10. according to a kind of encircling type underwater steel construction pipeline external surface marine growth descaling machine of claim 1 to 9 any one of them
Device people, which is characterized in that the robot further include the first underwater camera (34) being arranged in cavitation water injection mechanism and
The second underwater camera (35), the third underwater camera (36) being symmetricly set in arc lower fixed plate (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189296.1A CN106475364B (en) | 2016-12-21 | 2016-12-21 | A kind of encircling type underwater steel construction pipeline external surface marine growth cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189296.1A CN106475364B (en) | 2016-12-21 | 2016-12-21 | A kind of encircling type underwater steel construction pipeline external surface marine growth cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106475364A CN106475364A (en) | 2017-03-08 |
| CN106475364B true CN106475364B (en) | 2018-10-26 |
Family
ID=58284995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611189296.1A Active CN106475364B (en) | 2016-12-21 | 2016-12-21 | A kind of encircling type underwater steel construction pipeline external surface marine growth cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106475364B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107321672B (en) * | 2017-07-04 | 2019-08-27 | 山东大学 | Pipe surface attachment clears up robot |
| CN108380601A (en) * | 2018-04-28 | 2018-08-10 | 中交第三航务工程局有限公司 | A kind of underwater steel-pipe pile surface cleaning machines people |
| CN108655076A (en) * | 2018-06-04 | 2018-10-16 | 苏州格目软件技术有限公司 | Corrective is cleared up in a kind of automation for ocean engineering platform |
| CN108655075A (en) * | 2018-06-04 | 2018-10-16 | 苏州格目软件技术有限公司 | A kind of annular cleaning equipment for ocean engineering platform |
| CN111112180B (en) * | 2019-11-29 | 2021-08-17 | 中广核研究院有限公司 | Submarine organism underwater cleaning equipment, equipment combination and cleaning method for gate sealing surface |
| CN112254014B (en) * | 2020-10-29 | 2022-05-20 | 南通理工学院 | Underwater pipeline detection robot with cleaning function |
| CN113427491B (en) * | 2021-06-19 | 2023-05-12 | 四川大学 | Wall climbing type pipeline outer surface encircling inspection/cleaning robot and pipeline surface cleaning method |
| CN115007570A (en) * | 2022-06-09 | 2022-09-06 | 中广核核电运营有限公司 | Cleaning robot and cleaning equipment |
| CN115055457A (en) * | 2022-06-14 | 2022-09-16 | 中国铁建重工集团股份有限公司 | Pipe piece cleaning device |
| CN115193827B (en) * | 2022-07-18 | 2024-03-22 | 浙江大学 | Underwater pipeline weight layer breaking device based on cavitation jet flow |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102343345A (en) * | 2011-10-11 | 2012-02-08 | 中国海洋石油总公司 | Self-clamping full-rotating cleaning device for coating of high pressure water pipeline |
| CN203170645U (en) * | 2013-01-07 | 2013-09-04 | 浙江大学 | Automatic pipeline cleaning machine |
| CN203737691U (en) * | 2014-02-19 | 2014-07-30 | 中国海洋石油总公司 | Pipeline coating cleaning and clamping machine tool |
| GB2529908A (en) * | 2014-08-25 | 2016-03-09 | Proserv Uk Ltd | Apparatus and method for localised surface cleaning |
| CN104438238A (en) * | 2014-10-27 | 2015-03-25 | 中国海洋石油总公司 | Surface cleaning machine of submarine pipeline |
| CN206366547U (en) * | 2016-12-21 | 2017-08-01 | 中国海洋石油总公司 | A kind of encircling type underwater steel construction pipeline external surface marine growth clears up robot |
-
2016
- 2016-12-21 CN CN201611189296.1A patent/CN106475364B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106475364A (en) | 2017-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106475364B (en) | A kind of encircling type underwater steel construction pipeline external surface marine growth cleaning robot | |
| CN206366547U (en) | A kind of encircling type underwater steel construction pipeline external surface marine growth clears up robot | |
| CN201427125Y (en) | Pipe scale removal robot | |
| CN101430176B (en) | Intelligent movable cleaning robot for condenser | |
| CN107128388A (en) | A kind of crawler belt climb type wind tower cleaning detection robot of variset | |
| CN206770134U (en) | A kind of tower cleaning robot | |
| CN107999477B (en) | A kind of pipeline cleaning robot | |
| CN207929452U (en) | A kind of spray-painting plant quickly to paint | |
| CN106314717A (en) | Ocean attachment cleaning plant based on pulsed jet | |
| CN108482611B (en) | Ship bottom cleaning device for ship shipping | |
| CN205310279U (en) | Boats and ships removing surface robot | |
| CN205550679U (en) | Anticorrosion coating spraying device in pipeline | |
| CN212262725U (en) | High-pressure water mist spraying device of dust suppression equipment | |
| CN216564286U (en) | High-low voltage line inspection device | |
| CN117485504B (en) | Cleaning equipment for ship body attachments | |
| CN106672103B (en) | Internet of things spider robot for cleaning and maintaining outer wall of high building | |
| CN206476068U (en) | Underwater steel construction surface marine growth cleaning robot | |
| CN108894175B (en) | Energy-saving road cleaning watering device | |
| CN113353738A (en) | Position ocean cable recovery device easy to adjust cable | |
| CN212145881U (en) | Derusting wall-climbing robot before ship paint spraying | |
| CN113426768A (en) | Pipeline outer wall cleaning robot | |
| CN106697224B (en) | A kind of underwater cavitating cleaner for ship | |
| CN102873044B (en) | Cast ingot cleaning equipment | |
| CN215475647U (en) | Ship body cleaning vehicle | |
| CN211707530U (en) | Cleaning equipment for roller and roller ring blank |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |