Underwater robot used for submarine pipeline magnetic memory detection

Abstract

The invention provides an underwater robot used for submarine pipeline magnetic memory detection. The robot is mainly used for solving the problem that a conventional ROV cannot detect the bottom of the submarine pipeline particularly the bottom of the pipeline lying on the sea bed. The robot is characterized by comprising an ROV body, a spraying gun sand removal mechanism, a pipe attaching crawling clamping mechanism, a variable diameter sensor detection mechanism and a sediment leveling mechanism; the ROV body serves as a carrier to provide supporting and power for other devices, the spraying gun sand removal mechanism is used for cleaning sediment on a pipeline and the bottom, the pipe attaching crawling clamping mechanism is used for clamping pipelines with different diameters and achieving secondary cleaning, and it is ensured that universal rollers on a clamping jaw are tightly attached to the pipeline for crawling and cannot slip; the variable diameter sensor detection mechanismis used for achieving locking holding detection of a sensor for the pipelines of the different diameters. The robot can achieve full-cycle comprehensive non-dead-corner detection of submarine pipelines under the complex conditions of the deep water area, the sediment coverage and the like.

Description

technical field [0001] The invention relates to a magnetic memory detection device for underwater pipelines, in particular to an underwater robot capable of performing omnidirectional magnetic memory detection on submarine pipelines. Background technique [0002] With the development of my country's offshore oil and natural gas undertakings, more and more oil pipelines will be laid in deeper waters such as the East my country Sea and the South China Sea, and oil pipelines are the lifeline of offshore oil transportation. Therefore, it is extremely important to conduct timely and accurate detection and evaluation of submarine pipelines. The existing ROV is difficult to detect the submarine pipeline, especially the bottom of the pipeline lying on the seabed, and it is impossible to detect the entire circumference of the submarine pipeline without dead ends. Metal magnetic memory detection technology is known as one of the most promising green non-destructive testing technologie...

AI Technical Summary

Problems solved by technology

The existing ROV is difficult to detect the bottom of the submarine pipeline, especially the bottom of the pipeline lying on the seabed, and it is impossible to detect the whole circumference of the submarine pipeline without dead ends.

Metal magnetic memory testing technology is known as one of the most promising green non-destructive testing technologies in the 21st century. By detecting the magnetic field distribution on the surface of components, it can not only detect macroscopic defects in pipelines, but also quickly and conveniently detect abnormal stress concentrations and early hidden defects. However, conventional nondestructive testing cannot solve the problem of early diagnosis of metals before they are on the verge of damage. Therefore, magnetic memory testing technology provides strong technical support for oil and gas pipeline failure and life assessment. At the same time, magnetic memory testing does not require artificial magnetization devices. Non-contact detection, so easy to operate, great development potential and unique advantages in the field of submarine pipeline detection

However, due to the relatively short time for the generation and development of magnetic memory, it needs to be further improved in many aspects, especially in the field of detection and evaluation of submarine oil pipelines, which is still in its infancy. Combined with ROV technology, it forms a convenient, fast, compact, reliable performance, all-round and full-circle submarine pipeline inspection device

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