CN108678139B - Combined type double-drive underwater culvert overhauling device - Google Patents
Combined type double-drive underwater culvert overhauling device Download PDFInfo
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- CN108678139B CN108678139B CN201810473272.1A CN201810473272A CN108678139B CN 108678139 B CN108678139 B CN 108678139B CN 201810473272 A CN201810473272 A CN 201810473272A CN 108678139 B CN108678139 B CN 108678139B
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- main buoyancy
- buoyancy cavity
- electromagnetic valve
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- driving
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 41
- 238000007789 sealing Methods 0.000 claims abstract description 29
- 210000003954 umbilical cord Anatomy 0.000 claims abstract description 27
- 239000011521 glass Substances 0.000 claims description 4
- 239000013307 optical fiber Substances 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/12—Installations enabling inspection personnel to drive along sewer canals
Abstract
The invention discloses a combined double-drive underwater culvert overhauling device, wherein a left rubber wheel set and a right rubber wheel set which are arranged on a driving platform on a main buoyancy cavity are connected with a master chain wheel set and a slave chain wheel set, and a left hydraulic motor and a right hydraulic motor are driven. The left and right hydraulic motors are provided with a high-pressure oil pipe and a low-pressure oil return pipe which are communicated with the oil pump and the station oil tank. The driving platform is provided with a forward spiral propeller, left and right pontoons with air exhaust, water inlet and outlet and compressed air electromagnetic valves are arranged on two sides of the main buoyancy cavity, and the left vertical, left tangential, right vertical and right tangential spiral propellers are arranged on the left and right pontoons. The main buoyancy cavity is also provided with an underwater lens and an electric control unit box with a power supply and air supply umbilical cord; the front sealing cylinder is arranged in front of the main buoyancy cavity, and the rear end is provided with a rear sealing head. The left and right rubber wheel sets can be changed with the bottom bracket with the universal wheels, and the left and right pontoons can be removed. The solenoid valve, the screw propeller and the oil pump station are powered and controlled by an electrical control unit box through cables. The device can be widely applied to the field of underwater culvert overhaul and related fields.
Description
Technical field:
the invention relates to a device for overhauling the surface of an underwater large-scale drainage culvert.
The background technology is as follows:
currently, in the prior art, a scheme and a device for overhauling a large culvert under water have not been found yet, the large culvert is 50 meters or less in water, 500 meters or more in length, and 5 meters to 30 meters in diameter, especially the flow rate of water in the culvert is very fast, and the inspection or overhauling of the large underwater culvert is extremely difficult to complete by divers, which is almost impossible. Not only is it difficult to accomplish such a task using an underwater robot or other underwater crawling device, such a document has not been described and reported so far. The current underwater device which only provides propulsion by the screw propeller does not complete the task of such underwater operation at all, because the screw propeller needs to overcome the forward resistance formed by the flow velocity of water in a culvert, and also needs to overcome the pulling resistance and pulling force of a power supply cable of more than 500 meters under water, for example, a storage battery is used for providing the power consumption of the underwater maintenance device, the volume is huge, the running operation of the underwater device and the underwater operation of other equipment cannot be controlled, and the power supplied by the storage battery cannot support the power required by such a large workload. Therefore, there is an urgent need in the art for an access device that can be advanced against the flow of water in large underwater culverts.
The invention comprises the following steps:
the invention aims to provide a technical scheme for completely satisfying the surface overhaul operation of an underwater large culvert, which is mainly technically characterized in that two driving assembly support plates with shaft holes are symmetrically fixed on a driving platform, the middle left rubber wheel of five left rubber wheels passes through the shaft holes to be connected with a left hydraulic motor through a main driving shaft, the other four symmetrical left rubber wheels are fixed on the outer side of the driving assembly support plates through the shaft holes, driven shafts and bearing group covers, the left hydraulic motor fixed on the inner side central position of the driving assembly support plates passes through an oil pipe hole and a main buoyancy cavity wall to be communicated with an oil tank through a low-pressure oil return pipe, the left hydraulic motor passes through the oil pipe hole and the main buoyancy cavity wall to be communicated with an oil pump station through a high-pressure oil pipe with high-pressure oil pipe electromagnetic valves, the main driving shaft of the left rubber wheels passes through a driving chain wheel group to be connected with driven shafts adjacent to the two sides of symmetry to synchronously rotate in the same direction, and the driven shafts of the left rubber wheels are symmetrically arranged at two ends to be connected with the adjacent driven shafts through driven chain wheel groups to rotate; the middle right rubber wheel of the five right rubber wheels passes through the shaft hole through the main driving shaft to be connected with the right hydraulic motor, the other four symmetrical right rubber wheels are fixed on the outer side of the driving assembly support plate through the shaft hole, the driven shaft and the bearing group cover, the right hydraulic motor fixed on the center position of the inner side of the driving assembly support plate passes through the oil pipe hole and the main buoyancy cavity wall through the low-pressure oil return pipe to be communicated with the oil tank, the right hydraulic motor passes through the oil pipe hole and the main buoyancy cavity wall through the high-pressure oil pipe with the high-pressure oil pipe electromagnetic valve to be communicated with the oil pump station, the main driving shaft of the right rubber wheel is connected with adjacent driven shafts on two sides of symmetry through the driving chain wheel group to synchronously rotate in the same direction, and the driven shafts with the right rubber wheels at two ends are symmetrically connected with the adjacent driven shafts through the driven chain wheel group to rotate; the low-pressure oil return pipe and the high-pressure oil pipe penetrate through the cavity wall of the main buoyancy cavity in a sealing mode, the driving platform is fixed on the main buoyancy cavity through the driving support, four forward spiral propellers are symmetrically fixed below the driving platform, an electric control unit box with a power supply and air supply umbilical cord and an underwater lens with a lens support are arranged in the main buoyancy cavity, the electric control unit box is fixed in the main buoyancy cavity through a control box support plate, the rear end of the main buoyancy cavity is fixedly sealed by a sealing bolt through a main buoyancy cavity flange and a sealing head flange, a rear sealing head with an umbilical cord sealing pipe and a power supply and air supply umbilical cord is arranged on the rear end of the main buoyancy cavity, and a front sealing cylinder with a sealing compression ring for fixing observation glass is arranged on the front end of the main buoyancy cavity; the left pontoon with the air exhaust electromagnetic valve, the water inlet and outlet electromagnetic valve and the compressed air electromagnetic valve is fixed on the left side of the main buoyancy cavity by using an assembly fixing plate, the compressed air electromagnetic valve is communicated with a power supply and air supply umbilical cord by a compressed air pipe which passes through the cavity wall of the main buoyancy cavity in a sealing way through an electric control unit box, two left vertical screw propellers are fixed on the outer side of the left pontoon by using a propeller fixing frame, and two left tangential screw propellers are fixed below the left pontoon by using a propeller fixing frame; the right pontoon with the exhaust electromagnetic valve, the water inlet and outlet electromagnetic valve and the compressed air electromagnetic valve is fixed on the right side of the main buoyancy cavity by using an assembly fixing plate, the compressed air electromagnetic valve is communicated with a power supply and air supply umbilical cord by a compressed air pipe which passes through the cavity wall of the main buoyancy cavity in a sealing way through an electric control unit box, two right vertical screw propellers are fixed on the outer side of the right pontoon by using a propeller fixing frame, and two right tangential screw propellers are fixed below the right pontoon by using a propeller fixing frame; the left pontoon and the right pontoon can be removed, and the left vertical screw propeller, the right vertical screw propeller, the left tangential screw propeller and the right tangential screw propeller are all fixed on the bottom bracket or the main buoyancy cavity through the propeller fixing frame according to the same direction and the opposite position as the original direction; the device can be changed in position with a bottom bracket unit with four universal wheels by a driving wheel group formed by combining a left rubber wheel and a left rubber according to the working condition of the underwater culvert, but the buoyancy of a main buoyancy cavity in the state does not greatly influence the total weight of the device under the water; the device comprises an exhaust electromagnetic valve, a water inlet and outlet electromagnetic valve, a compressed air electromagnetic valve, a high-pressure oil pipe electromagnetic valve, a forward screw propeller, a right vertical screw propeller, a right tangential screw propeller, a left vertical screw propeller and an oil pump station, which are all connected with an electric control unit box through cables, an underwater lens is connected with the electric control unit box through optical fibers, four universal wheels are symmetrically fixed below a bottom bracket, and the bottom bracket is fixed below a main buoyancy cavity through a bottom bracket fixing plate.
The left pontoon and the right pontoon are connected and fixed by the assembling and fixing plate, the left pontoon and the right pontoon can be arranged in the culvert according to the condition to improve the buoyancy, and the left pontoon and the right pontoon can be removed to cancel the buoyancy. The left and right groups of rubber wheels can be assembled or disassembled according to the water flow rate condition of the underwater culvert to be inspected. The power supply and air supply umbilical cord supplies power to all electric equipment, compressed air is also supplied to the compressed air equipment, meanwhile, an operation instruction is supplied to the electric control unit box, and the other end of the power supply and air supply umbilical cord is communicated with a control base station on the ground and an air compressor. The universal wheel can move along the direction of the resultant force and can adjust the movement direction under the action of the resultant force at any time.
The technical effects achieved by the technical scheme provided by the invention are realized as follows: under normal conditions, when the left pontoon and the right pontoon are filled with water, the buoyancy generated by the main buoyancy cavity after the main buoyancy cavity is launched is close to or equal to the total weight of the device during design and manufacture, so the buoyancy generated by the device after the device is completely launched into water counteracts the total weight of the device, and the device can be regarded as zero buoyancy in water. In this state, the operator starts four front-time screw propellers through the power and air supply umbilical cord to push the device to the edge of the underwater culvert opening. When the water enters the underwater culvert opening, the air compressor charges the compressed air into the left pontoon and the right pontoon through the power supply and air supply umbilical cord and the compressed air pipe, and simultaneously opens the water inlet and drainage electromagnetic valve under the left pontoon and the right pontoon to drain the water in the left pontoon and the right pontoon, and immediately closes the water inlet and drainage electromagnetic valve and the compressed air electromagnetic valve when the water in the left pontoon and the right pontoon is completely drained, at the moment, the left pontoon and the right pontoon generate 2-3 tons of buoyancy, the left rubber wheel set and the right rubber wheel set are in contact with the upper surface of the underwater culvert, and the left rubber wheel set and the right rubber wheel set form 2-3 tons of positive pressure on the upper surface of the underwater culvert under the action of the buoyancy, the positive pressure multiplied by the friction coefficient of the rubber wheel and the concrete is the propelling force of the device, and the propelling force which overcomes the water flow resistance and can be forwards is realized by synchronously rotating the left rubber wheel set and the right rubber wheel set driven by the driving chain wheel set and the driving chain wheel set. The technical effect of countercurrent advancing is realized by using a left hydraulic motor and a right hydraulic motor with large rotation moment to a left rubber wheel set and a right rubber wheel set with large driving friction force. The device can generate huge propelling force to carry the umbilical cord reverse water flow of power supply and air supply of more than 500 meters into the underwater culvert so as to complete the underwater maintenance operation task. As shown in fig. 5. Under the condition that the flow rate of water in the underwater culvert is very low or basically approaches to a static state, the left rubber wheel set and the right rubber wheel set can be detached through driving the assembly support plate, meanwhile, the left pontoon and the right pontoon are detached, the left pontoon and the right pontoon do not need to provide 2-3 tons of buoyancy under the condition that the flow rate is very low to form positive pressure, the left vertical screw propeller, the right vertical screw propeller, the left tangential screw propeller and the right tangential screw propeller can be fixed on the corresponding positions of the bottom support or the main buoyancy cavity according to the original relative positions and the same direction through the propeller fixing frame, and at the moment, the buoyancy generated by the main buoyancy cavity is close to the weight of the device under water and only the four forward screw propellers are used for propelling the device. The left tangential spiral propeller and the right tangential spiral propeller can enable the device to move reversely and clockwise on the arc surface of the underwater culvert, the left vertical spiral propeller and the right vertical spiral propeller provide positive pressure on the upper half circumferential surface of the culvert for enabling four universal wheels to better contact with the surface of the underwater culvert, and especially the device provides stability when the device moves on the upper half circumferential surface of the underwater culvert, eliminates the phenomenon that the device floats in any position in water, affects the operation quality, and the four universal wheels provide reliable technical guarantee for the stability of the device under water. The high-pressure oil pipe, the low-pressure oil return pipe, the power lines and the control lines of all spiral propellers, the power lines of all electromagnetic valves and the compressed air pipe are connected with the internal oil pump station, the oil tank and the electric control unit box in a sealing mode by penetrating through the cavity wall of the main buoyancy cavity, the umbilical cord sealing pipe better improves the tightness of the power supply and air supply umbilical cord, and meanwhile improves the reliability of the power supply and air supply umbilical cord pulled under water by more than 500 meters. Under the condition of medium speed of water flow in the culvert, the driving wheel group formed by the left rubber wheel and the driving wheel group formed by the right rubber wheel can be changed with the mobile unit with four universal wheel bottom brackets, under the condition, the smaller and better the buoyancy generated by the main buoyancy cavity is, even if a certain buoyancy is generated, the whole weight of the device under water, namely the gravity under water, can not be influenced excessively, if the gravity is influenced, a counterweight can be added on the device, and the buoyancy generated by the main buoyancy cavity is counteracted by the weight of the counterweight; for this purpose, the left and right pontoons are removed, and if not, the left and right pontoons are filled with water. The defect points on the surface of the underwater culvert, which are observed by the underwater lens, are transmitted to a base station computer on the ground through an optical fiber, an electric control unit box and a power supply and air supply umbilical cord. Besides the front surface of the device can be provided with the underwater lens, the device can also be provided with other various underwater maintenance equipment.
The technical scheme of the invention has ingenious and reasonable structure, improves the propelling force, can completely overcome the resistance of the water velocity in the culvert to the underwater advancing of the device, and more skillfully uses the buoyancy force to become the positive pressure required by the advancing of the left and right rubber wheel sets, thereby improving the friction force required by overcoming the water resistance during the advancing. Compared with the prior art, the technical scheme of the device has novelty, creativity and practicability, so that the device can be widely applied to the field of overhauling underwater large culverts and other related fields.
Description of the drawings:
FIG. 1 is a front view of a combined double-drive underwater culvert overhaul device
FIG. 2 is a right side view of the combined type double-drive underwater culvert overhaul device
FIG. 3 is a top view of the combined type double-drive underwater culvert overhaul device
FIG. 4A-a view of a combined type double-drive underwater culvert overhaul device
FIG. 5A view of the motion posture of the combined type double-drive underwater culvert overhaul device
Wherein:
1. left rubber wheel 2, driven sprocket set 3 and driving sprocket set
4. Drive assembly support plate 5, left hydraulic motor 6 and high-pressure oil pipe
7. Drive bracket 8, right hydraulic motor 9, shaft hole
10. Main driving shaft 11, right rubber wheel 12 and driving platform
13. Advancing screw propeller 14, exhaust electromagnetic valve 15, right pontoon
16. Right vertical screw propeller 17, propeller fixing frame 18, right tangential screw propeller
19. Water inlet and outlet electromagnetic valve 20, bottom bracket 21 and universal wheel
22. High-pressure oil pipe electromagnetic valve 23, compressed air electromagnetic valve 24 and assembling fixing plate
25. Compressed air pipe 26, main buoyancy cavity 27 and bottom bracket fixing plate
28. Control box support plate 29, electric control unit box 30, and oil pump station
31. Oil tank 32, low-pressure oil return pipe 33 and left tangential screw propeller
34. Left vertical screw propeller 35, left pontoon 36, and end socket flange
37. Closing bolt 38, rear sealing head 39 and umbilical cord sealing tube
40. Power supply and air supply umbilical cord 41, main float cavity flange 42 and front sealing cylinder
43. Underwater lens 44, sealing compression ring 45 and observation glass
46. Driven shaft 47, bearing set cover 48, oil pipe hole
49. Optical fiber 50, lens bracket 51 and underwater culvert
The specific embodiment is as follows:
after the main driving shaft 10 fixed on the left hydraulic motor 5 at the inner side of the driving assembly support plate 4 passes through the shaft hole 9, two groups of driving chain wheel groups 3 are fixed, and then the left rubber wheel 1 is installed. Four driven shafts 46 are symmetrically arranged on the main driving shaft 10 of the left hydraulic motor 5 through a shaft hole 9 and a bearing group cover 47, after two groups of driving chain wheel groups 3 on the main driving shaft 10 are connected and rotated with two adjacent driven shafts 46, left rubber wheels 1 are respectively arranged at the end parts of the two adjacent driven shafts 46, the driven shafts 46 at the two ends are respectively connected and rotated with the adjacent driven shafts 46 through the driven chain wheel groups 2, and the left rubber wheels 1 are respectively arranged at the two driven shafts 46 at the two ends. The left hydraulic motor 5 is communicated with the oil pump station 30 in a sealed manner through the cavity wall of the main buoyancy cavity 26 through the oil pipe hole 48 by the high-pressure oil pipe 6 with the high-pressure oil pipe electromagnetic valve 22, and the left hydraulic motor 5 is communicated with the oil tank 31 in a sealed manner through the cavity wall of the main buoyancy cavity 26 through the oil pipe hole 48 by the low-pressure oil return pipe 32. After a main driving shaft 10 fixed on the right hydraulic motor 8 at the inner side of the driving assembly support plate 4 passes through the shaft hole 9, two groups of driving chain wheel groups 3 are fixed, and a right rubber wheel 11 is installed. Four driven shafts 46 are symmetrically arranged on a main driving shaft 10 on a right hydraulic motor 8 through a shaft hole 9 and a bearing group cover 47, after two groups of driving chain wheel groups 3 on the main driving shaft 10 are connected and rotated with two adjacent driven shafts 46, right rubber wheels 11 are respectively arranged at the end parts of the two adjacent driven shafts 46, the driven shafts 46 at two ends are respectively connected and rotated with the adjacent driven shafts 46 through the driven chain wheel groups 2, and the right rubber wheels 11 are respectively arranged at the two driven shafts 46. The right hydraulic motor 8 is connected in a sealed manner to the oil pump station 30 through the high pressure oil line 6 with the high pressure oil line solenoid valve 22 through the oil line aperture 48, through the wall of the main buoyancy chamber 26, and the right hydraulic motor 8 is connected in a sealed manner to the oil tank 32 through the low pressure return line 32 through the oil line aperture 48. The two driving assembly support plates 4 are symmetrically fixed on the driving platform 12, the driving platform 12 is fixed on the main buoyancy cavity 26 through the driving support 7, and 4 advancing screw propellers 13 are symmetrically fixed below the driving platform 12. A left pontoon 35 with an exhaust solenoid valve 14, a water inlet and outlet solenoid valve 19 and a compressed air solenoid valve 23 is fixed on the left side of the main buoyancy chamber 26 by an assembling fixing plate 24, the compressed air solenoid valve 23 enters the electric control unit box 29 through a compressed air pipe 25 which passes through the chamber wall of the main buoyancy chamber 26 in a sealing manner and is connected with a power supply and air supply umbilical cord 40, two left vertical screw propellers 34 are fixed on the left side of the left pontoon 35 by a propeller fixing frame 17, and two left tangential screw propellers 33 are fixed below the left pontoon 35 by the propeller fixing frame 17; the right pontoon 15 with the exhaust solenoid valve 14, the water inlet and outlet solenoid valve 19 and the compressed air solenoid valve 23 is fixed on the right side of the main buoyancy chamber 26 by using an assembly fixing plate 24, the compressed air solenoid valve 23 passes through a compressed air pipe 25 behind the chamber wall of the main buoyancy chamber 26 in a sealing manner, enters an electric control unit box 29 to be connected with a power supply and air supply umbilical cord 40, two right vertical screw propellers 16 are fixed on the right side of the right pontoon 15 by a propeller fixing frame 17, and two right tangential screw propellers 18 are fixed below the right pontoon 15 by the propeller fixing frame 17. The bottom bracket 20 is fixed below the main buoyancy chamber 26 by four bottom bracket fixing plates 27, and four universal wheels 21 are symmetrically installed below the bottom bracket 20. An oil pump station 30 with an oil tank 31, an underwater lens 43 with a lens bracket 50 and an electric control unit box 29 with a power supply and air supply umbilical cord 40 are arranged in the main buoyancy cavity 26, and the electric control unit box 29 is fixed in the main buoyancy cavity 26 by a control box support plate 28. The front seal cartridge 42 is secured to the main buoyancy chamber flange 41 of the main buoyancy chamber 26 at the front end of the main buoyancy chamber 26 by means of the closure flange 36 by means of the snap bolts 37. The sight glass 45 is secured in front of the front seal cartridge 42 by a seal collar 44 and a clamp bolt 37. The power supply and air supply umbilical cord 40 is communicated with the electric control unit box 29 through the rear end socket 38 by an umbilical cord sealing tube 39 fixed on the rear end socket 38, and the rear end socket 38 is fixed on a main floating cavity flange 41 at the rear end of the main floating cavity 26 by a fastening bolt 37 through a socket flange 36. The power supply and air supply umbilical 40 is communicated with a ground base station and an air compressor, and the forward screw propeller 13, the right vertical screw propeller 16, the left vertical screw propeller 34, the right tangential screw propeller 18, the left tangential screw propeller 33, the high-pressure oil pipe electromagnetic valve 22, the exhaust electromagnetic valve 14, the water inlet and drainage electromagnetic valve 19, the compressed air electromagnetic valve 23 and the oil pump station 30 are all connected with the electric control unit box 29 through cables, and are powered and controlled by the electric control unit box 29. And (5) finishing implementation.
Claims (1)
1. The combined type double-drive underwater culvert overhauling device is characterized in that two driving assembly support plates with shaft holes are symmetrically fixed on a driving platform, a middle left rubber wheel of five left rubber wheels passes through the shaft holes through a main driving shaft to be connected with a left hydraulic motor, the other four symmetrical left rubber wheels are fixed on the outer side of the driving assembly support plates through the shaft holes, a driven shaft and a bearing group cover, the left hydraulic motor fixed on the inner side central position of the driving assembly support plates passes through an oil pipe hole and a main buoyancy cavity wall to be communicated with an oil tank through a low-pressure oil return pipe, the left hydraulic motor passes through the oil pipe hole and the main buoyancy cavity wall to be communicated with an oil pump station through a high-pressure oil pipe with a high-pressure oil pipe electromagnetic valve, the main driving shaft of the left rubber wheel is connected with adjacent driven shafts on two sides of the symmetry to synchronously rotate in the same direction through a driving chain wheel group, and the driven shafts with the left rubber wheels at two ends are symmetrically connected with the adjacent driven shafts through driven chain wheel groups to rotate; the middle right rubber wheel of the five right rubber wheels passes through the shaft hole through the main driving shaft to be connected with the right hydraulic motor, the other four symmetrical right rubber wheels are fixed on the outer side of the driving assembly support plate through the shaft hole, the driven shaft and the bearing group cover, the right hydraulic motor fixed on the center position of the inner side of the driving assembly support plate passes through the oil pipe hole and the main buoyancy cavity wall through the low-pressure oil return pipe to be communicated with the oil tank, the right hydraulic motor passes through the oil pipe hole and the main buoyancy cavity wall through the high-pressure oil pipe with the high-pressure oil pipe electromagnetic valve to be communicated with the oil pump station, the main driving shaft of the right rubber wheel is connected with adjacent driven shafts on two sides of symmetry through the driving chain wheel group to synchronously rotate in the same direction, and the driven shafts with the right rubber wheels at two ends are symmetrically connected with the adjacent driven shafts through the driven chain wheel group to rotate; the low-pressure oil return pipe and the high-pressure oil pipe penetrate through the cavity wall of the main buoyancy cavity in a sealing mode, the driving platform is fixed on the main buoyancy cavity through the driving support, four forward spiral propellers are symmetrically fixed below the driving platform, an electric control unit box with a power supply and air supply umbilical cord and an underwater lens with a lens support are arranged in the main buoyancy cavity, the electric control unit box is fixed in the main buoyancy cavity through a control box support plate, the rear end of the main buoyancy cavity is fixedly sealed by a sealing bolt through a main buoyancy cavity flange and a sealing head flange, a rear sealing head with an umbilical cord sealing pipe and a power supply and air supply umbilical cord is arranged on the rear end of the main buoyancy cavity, and a front sealing cylinder with a sealing compression ring for fixing observation glass is arranged on the front end of the main buoyancy cavity; the left pontoon with the air exhaust electromagnetic valve, the water inlet and outlet electromagnetic valve and the compressed air electromagnetic valve is fixed on the left side of the main buoyancy cavity by using an assembly fixing plate, the compressed air electromagnetic valve is communicated with a power supply and air supply umbilical cord by a compressed air pipe which passes through the cavity wall of the main buoyancy cavity in a sealing way through an electric control unit box, two left vertical screw propellers are fixed on the outer side of the left pontoon by using a propeller fixing frame, and two left tangential screw propellers are fixed below the left pontoon by using a propeller fixing frame; the right pontoon with the exhaust electromagnetic valve, the water inlet and outlet electromagnetic valve and the compressed air electromagnetic valve is fixed on the right side of the main buoyancy cavity by using an assembly fixing plate, the compressed air electromagnetic valve is communicated with a power supply and air supply umbilical cord by a compressed air pipe which passes through the cavity wall of the main buoyancy cavity in a sealing way through an electric control unit box, two right vertical screw propellers are fixed on the outer side of the right pontoon by using a propeller fixing frame, and two right tangential screw propellers are fixed below the right pontoon by using a propeller fixing frame; the left pontoon and the right pontoon can be removed, and the left vertical screw propeller, the right vertical screw propeller, the left tangential screw propeller and the right tangential screw propeller are all fixed on the bottom bracket or the main buoyancy cavity through the propeller fixing frame according to the same direction and the opposite position as the original direction; the device can be changed in position with a bottom bracket unit with four universal wheels by a driving wheel group formed by combining a left rubber wheel and a left rubber according to the working condition of the underwater culvert, but the buoyancy of a main buoyancy cavity in the state does not greatly influence the total weight of the device under the water; the device comprises an exhaust electromagnetic valve, a water inlet and outlet electromagnetic valve, a compressed air electromagnetic valve, a high-pressure oil pipe electromagnetic valve, a forward screw propeller, a right vertical screw propeller, a right tangential screw propeller, a left vertical screw propeller and an oil pump station, which are all connected with an electric control unit box through cables, an underwater lens is connected with the electric control unit box through optical fibers, four universal wheels are symmetrically fixed below a bottom bracket, and the bottom bracket is fixed below a main buoyancy cavity through a bottom bracket fixing plate.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810052588 | 2018-01-12 | ||
| CN2018100525883 | 2018-01-12 |
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| Publication Number | Publication Date |
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| CN108678139A CN108678139A (en) | 2018-10-19 |
| CN108678139B true CN108678139B (en) | 2024-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810473272.1A Active CN108678139B (en) | 2018-01-12 | 2018-05-09 | Combined type double-drive underwater culvert overhauling device |
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| CN (1) | CN108678139B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109292056B (en) * | 2018-11-08 | 2021-04-06 | 天津深之蓝海洋设备科技有限公司 | Cable-controlled underwater robot retraction and extension control method |
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| CN103363246A (en) * | 2012-03-31 | 2013-10-23 | 哈尔滨盛迪电力设备有限公司 | Combined-type examining walking device inside large-scale pipeline |
| CN202899197U (en) * | 2012-09-26 | 2013-04-24 | 陈明金 | Remote controlled submersible sucking type underwater cleanout vehicle |
| CN208430620U (en) * | 2018-01-12 | 2019-01-25 | 哈尔滨盛迪电力设备有限公司 | Culvert apparatus for examination and repair under the double expelling waters of combined type |
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| CN108678139A (en) | 2018-10-19 |
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