The invention discloses a submarine pipeline detection type underwater robot which is used for accurately detecting underwater petroleum pipelines. The underwater robot (ROV) comprises an ROV body, apipeline fixing clamp device and a chain type pipeline transverse detection device; the ROV body serves as a carrier to provide power for the clamp device and the detection device. According to the clamp device, rotation of a left support and a right support is converted through a linear guide rail sliding block mechanism, so that clamping jaws on the supports are driven to rotate, finally, the clamp device is converted into clamping force for a pipeline, shaking and swinging of the ROV body are prevented, and the working reliability of the clamp is guaranteed. And a stable detection environment can be provided for the chain type pipeline transverse detection device. A flexible manipulator in the detection device carries detection equipment to detect the pipeline, and transverse rotary detection can be carried out on the basis of axial detection of the pipeline. Meanwhile, the underwater robot adopts a flexible manipulator structure, can be automatically attached to the wall of the pipeline, and is suitable for pipelines of most diameters.

    一种海底管道检测型水下机器人。用于对水下石油管道进行精确检测。所述水下机器人(ROV)包括ROV本体、固定管道夹具装置以及链条式管道可横向检测装置;所述ROV本体作为载体为夹具装置和检测装置提供动力;所述夹具装置通过直线导轨滑块机构转化左支架与右支架的转动,从而带动支架上卡爪的转动,最终使该夹具装置转化为对管道的夹紧力,防止ROV本体的晃动和摆动,保证夹具工作的可靠性。也保证链条式管道可横向检测装置提供稳定的检测环境。检测装置中柔性机械手搭载检测设备对管道进行检测,在沿着管道轴向检测的基础上可以进行横向旋转式检测。同时,本种水下机器人采用柔性机械手结构可以自动贴附管道壁,适用于大多数直径的管道。


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    Title :

    Submarine pipeline detection type underwater robot


    Additional title:

    一种海底管道检测型水下机器人


    Contributors:
    REN FUSHEN (author) / HU QING (author) / FAN YUKUN (author) / FANG TIANCHENG (author) / WANG BAOJIN (author) / LIANG BIN (author)

    Publication date :

    2020-04-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B25J Manipulatoren , MANIPULATORS / F17D Rohrleitungssysteme , PIPE-LINE SYSTEMS



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