CN110077562B - Swimming combined underwater monitoring robot - Google Patents
Swimming combined underwater monitoring robot Download PDFInfo
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- CN110077562B CN110077562B CN201910400942.1A CN201910400942A CN110077562B CN 110077562 B CN110077562 B CN 110077562B CN 201910400942 A CN201910400942 A CN 201910400942A CN 110077562 B CN110077562 B CN 110077562B
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- underwater
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- vehicle body
- cavity
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
- G01M3/20—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material
Abstract
The invention discloses a wandering combined underwater monitoring robot. The device comprises a vehicle body module, an ink-jet tracer device module and an electric control module; the vehicle body module comprises a vehicle body frame, a four-wheel drive movable chassis, thrusters and a centrifugal impeller type underwater sucking disc, the electric control module is used for controlling the swimming combined movement of the underwater robot and the ink-jet work of the ink-jet tracing device module, the swimming functions of the underwater robot are realized through eight thrusters, the wall-attaching crawling function of the underwater robot is realized through the centrifugal impeller type sucking disc and the brushless direct current planetary gear motor, and the swimming functions and the wall-attaching crawling function can be freely switched. The underwater robot with the combination of the wandering and the walking is compact in structure and small in size, can realize the capability of six-degree-of-freedom movement underwater, and can reliably adsorb and walk on the wall surface at any angle by virtue of the self-made adsorption device, so that the robot can walk and detect on the wall surface by virtue of the adsorption device when monitoring the surface of a dam, and can realize the capability of crossing an obstacle or quickly retracting by virtue of the propeller.
Description
Technical Field
The invention belongs to the field of dam surface crack detection, and particularly relates to a wandering combined underwater monitoring robot.
Background
After the reservoir dam is used for a period of time, due to the influence of water flow flushing and self weight, the part of the dam body immersed under water is likely to generate cracks to cause leakage, and serious leakage can cause serious influence on the safety of the dam. Periodic detection and treatment of cracks is an indispensable measure.
The traditional leak detection mode is that a diver is immersed in water with a pipeline connected with a pressurizing device, once a dangerous point is found, a valve can be opened, meanwhile, the pressurizing device on the shore is started to drive the tracer into a target point through high pressure, and a water area near the target point can be dyed. If a crack exists, the pressure difference between the inside and the outside of the crack can force the dyed water body to flow into the crack, so that the position of the crack is observed. However, divers are expensive, and the diving depth is only about 50 meters, so that the working depth of 200 meters of the dam cannot be met.
At present, ROV (Remote Operated Vehicle) is often adopted to assist in dam inspection in the advanced technical engineering field, but the inspection process is often accompanied with phenomena such as vehicle body shaking, water disturbance and the like, so that a plurality of inconveniences are brought to underwater observation, the ROV advancing speed is difficult to control, and the ROV can not be immediately stopped and kept in a static state at a place where the ROV is required to stop.
In summary, the existing method for detecting cracks and the use of the underwater ROV detection robot are not suitable for detecting cracks on the surface of the dam.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides a wandering combined underwater robot which is used for detecting cracks of a dam and can conveniently trace and detect underwater.
The technical scheme adopted by the invention is as follows:
the invention comprises a vehicle body module, an ink-jet tracer device module and an electric control module.
The vehicle body module comprises a vehicle body frame, a four-wheel-drive movable chassis, eight propellers with driving electric adjustments and centrifugal impeller type underwater suction cups, wherein the four-wheel-drive movable chassis is arranged at the bottom of the vehicle body frame and comprises a pair of left and right front wheels, a pair of left and right rear wheels and four brushless direct current planetary gear motors with drivers, each front wheel or rear wheel is connected with one brushless direct current planetary gear motor, the centrifugal impeller type suction cups are arranged at the center of the bottom of the four-wheel-drive movable chassis and are connected with a waterproof direct current motor positioned above the four-wheel-drive movable chassis, and the waterproof direct current motor is used for driving the centrifugal impeller type suction cups; two pairs of propellers are arranged on the left side surface and the right side surface of the vehicle body frame, one pair of propellers is positioned close to the front wheel, the other pair of propellers is positioned close to the rear wheel, and each pair of propellers comprises a vertically arranged propeller and a horizontally arranged propeller, wherein an included angle between the horizontally arranged propellers and the side surface of the vehicle body frame is 45 degrees; the top of the vehicle body frame is provided with a solid buoyancy material, and the front end of the vehicle body frame is provided with a pair of underwater illumination lamps.
The electric control module comprises a control cabin, a power conversion cabin, a pc end and a high-voltage direct-current power supply, wherein the pc end and the high-voltage direct-current power supply are positioned on the shore, the control cabin is connected with the pc end through an umbilical cable, and the control cabin is connected with the power conversion cabin; the control cabin and the power conversion cabin are respectively arranged at two sides of the inner top of the vehicle body frame, control hardware, a depth sensor, a camera module, a temperature sensor and a gesture sensor are arranged in the control cabin, the depth sensor, the camera module, the temperature sensor and the gesture sensor are all connected with the control hardware, the camera module is arranged in a transparent cover arranged at the front end of the control cabin, the camera module comprises a camera and a one-dimensional cradle head, and the camera can rotate up and down by 90 degrees; the depth sensor is positioned at the rear part of the control cabin and extends out of the vehicle body frame, the depth sensor is used for feeding back the water depth where the underwater robot is positioned, and the gesture sensor can transmit the motion gesture of the robot in the three-dimensional space to the control hardware in real time, so that an operator can conveniently operate the underwater robot on the shore to rotate 90 degrees to change the working mode.
The ink jet tracing device module comprises an ink reservoir, an underwater electromagnetic valve and a dilution nozzle, wherein the ink reservoir, the underwater electromagnetic valve and the dilution nozzle are all carried in the vehicle body frame, and the dilution nozzle is arranged at the front end of the vehicle body frame and positioned between two underwater illumination lamps and is used for observing illumination; the ink reservoir, the underwater electromagnetic valve and the dilution nozzle are connected in sequence through the PU pipe, and the underwater electromagnetic valve is connected to the electronic control module; the ink reservoir comprises an end cover, a cavity shell, a bottom plate, a piston, a spring and a spring seat, wherein the end cover is coaxially arranged on the upper end surface of the cavity shell; the center of the end cover is provided with a mounting hole penetrating up and down, the bottom surface of the end cover is provided with an annular boss near the edge, and the outer side surface of the annular boss is in fit and sealing connection with the inner side surface of the cavity shell; the upper end face of the cavity shell is provided with an outer flange, a piston which slides up and down along the inner side face of the cavity shell is arranged in the cavity shell, the lower end face of the cavity shell is provided with an inner flange, an upper step face of the inner flange is used as a shoulder for supporting the piston, the center of the bottom face of the piston is provided with an inner cavity, the center of the bottom face of the inner cavity of the piston is provided with a threaded counter bore, and the outer peripheral face of the piston is in sealing connection with the inner side face of the cavity shell through two Gellan rings; the cavity enclosed by the upper surface of the piston, the inner side surface of the cavity shell and the top surface of the end cover is filled with a tracer; the periphery of the lower end face of the bottom plate is provided with a flange plate, a plurality of through holes are formed in the flange plate, small holes are formed in the center of the bottom plate, four round holes with the same size and structure are uniformly distributed in the periphery of the small holes, two arc-shaped blocks which are symmetrically arranged are arranged on two sides of the inner wall of each round hole, and an arc-shaped groove is formed in the upper end face of each arc-shaped block; a spring seat is arranged in each round hole, the spring seat is of a hollow structure with an outer flange at the bottom, an annular convex block is arranged on the bottom surface of the outer flange, two symmetrical arc-shaped convex lugs are arranged on the outer peripheral surface of the outer flange, and the arc-shaped convex lugs are just embedded in arc-shaped grooves of the round holes; the spring seat is used for supporting and fixing the spring, one end of the spring is fixed to the bottom of the spring seat, the other end of the spring is propped against the bottom surface of the piston, and when the cavity is filled with the tracer, the spring is in a compressed state.
The dilution nozzle comprises a nozzle, an upper cover, a middle cover, a propeller and a lower cover, wherein the upper cover, the middle cover and the lower cover are hollow sleeve structures, the nozzle is connected to the upper end surface of the upper cover through bolts, and the upper cover is coaxially and fixedly connected with the lower cover through the middle cover; the spray head is of a horn mouth structure, a small mouth at the upper end of the spray head is used as a spray nozzle, an annular boss is arranged at the position, close to the edge, of the lower end face of the spray head, and the outer side face of the annular boss is in fit and sealing connection with the inner side face of the upper cover; one side hole is formed in both sides of the upper cover, and a round hole for water to enter is formed in the bottom of the lower cover; the propeller machine body is arranged in a cavity surrounded by the upper cover and the middle cover, the propeller machine body is arranged on the inner side surface of the middle cover through three fixing screws which penetrate through the side wall of the middle cover and are radially arranged, a propeller shaft of the propeller machine faces downwards, a paddle arranged on the propeller shaft is arranged in the cavity of the lower cover, and a propeller motor wire connected with the propeller machine penetrates through a side hole formed in one side of the upper cover and is connected with the electric control equipment; one end of the PU pipe is connected with the mounting hole in the center of the end cover, and the other end of the PU pipe extends into a side hole formed in the other side of the upper cover of the dilution nozzle through an underwater electromagnetic valve.
The tracer flows into the cavity of the dilution nozzle through the PU pipe, the propeller rotates to drive water flow in the cavity to stir, so that the tracer with higher concentration flowing into the cavity is mixed and diluted into the tracer with lower concentration, and finally the tracer is discharged from the nozzle of the spray head.
The swimming functions of the underwater robot are realized through the eight propellers, the wall-attaching crawling function of the underwater robot is realized through the centrifugal impeller type sucking disc and the brushless direct current planetary gear motor, the swimming functions and the wall-attaching crawling function can be freely switched, and when the swimming functions are switched to the wall-attaching crawling function, the underwater robot needs to turn over 90 degrees in water, so that the centrifugal impeller type sucking disc at the bottom of the four-wheel drive mobile chassis is in contact with the adsorption wall surface; the four brushless direct current planetary gear motors realize forward and backward straight movement of the underwater robot by controlling forward and backward wheel same-direction rotation movement, and realize in-situ turning of the underwater robot by controlling forward and backward wheel differential rotation, wherein the same-direction rotation is to control the forward and backward wheels to move in the same direction; the differential rotation is to control the left front and rear wheels to move in the same direction and the right front and rear wheels to move in opposite directions, so that the underwater robot turns in situ; the eight propellers control the robot to realize a six-degree-of-freedom swimming function, the four propellers vertically arranged realize floating, submerging and rolling of the robot, and the four propellers horizontally arranged realize advancing, retreating and turning of the robot.
Every the mounting means of spring holder and bottom plate be dislocation installation, under the condition that the arc lug of spring holder bottom both sides aligns from top to bottom with the position of the not installation arc piece of bottom plate round hole, exert ascending effort to the spring holder bottom and make the spring holder cartridge get into the bottom plate round hole, the piston bottom surface is resisted upwards to the spring upper end, then rotate 90 degrees with the spring holder and make the arc lug of spring holder coincide from top to bottom with the arc groove on the bottom plate and align in order to realize circumference spacing, rely on the spring to the spring holder decurrent pressure drive the spring holder whereabouts and make the arc lug of spring holder inlay the arc inslot of bottom plate for the spring holder can't rotate in the round hole.
The suction force of the centrifugal impeller type suction cup is adjusted according to the distance between the bottom end of the centrifugal impeller type suction cup and the suction wall surface.
The power conversion cabin is internally provided with a DC-DC conversion module, high-voltage power in a high-voltage direct-current power supply is transmitted to the power conversion cabin through the control cabin, the power conversion cabin converts 200 v-400 v of high-voltage power into 24v, 48v and 5v of low-voltage power respectively, 24v of low-voltage power supply is output to eight propellers, four brushless direct-current planetary gear motors and an inkjet tracer device module, 48v of low-voltage power supply is output to the waterproof direct-current motor, and 5v of low-voltage power supply is output to the control cabin.
The motor driving shaft of each brushless direct current planetary gear motor is dynamically sealed through an O-shaped sealing ring, and the robot is an underwater monitoring robot, so that the brushless direct current planetary gear motor needs a lower rotating speed, and the rotating speed is only 0-100 r/min.
The illumination direction of the underwater illuminating lamp, the camera direction of the camera module and the direction of the nozzle of the dilution nozzle face the same side so as to facilitate illumination observation, and meanwhile, the optimal tracing observation angle is achieved by adjusting the installation inclination angle of the dilution nozzle.
The data information in the control cabin is transmitted to the pc end of the upper computer through a power carrier, and the pc end displays the temperature of the control cabin, the depth of the robot, the posture of the robot and video signals according to the read data information; the pc end transmits the control signal to control hardware of the control cabin through a power carrier, so that the movement of the robot is realized.
The invention has the beneficial effects that:
the underwater robot with the combination of the wandering and the walking is compact in structure and small in size, can realize the capability of six-degree-of-freedom movement underwater, and can reliably adsorb and walk on the wall surface at any angle by virtue of the self-made adsorption device, so that the robot can walk and detect on the wall surface by virtue of the adsorption device when monitoring the surface of a dam, and can realize the capability of crossing an obstacle or quickly retracting by virtue of the propeller.
The invention has the deepwater operation capability and can resist the external water pressure of 2.5 MPa; the pressure-resistant depth can reach 250 meters, and the device can continuously operate in a deepwater environment.
The underwater robot combined with the wandering is an underwater working platform, can carry various operation peripheral equipment and enrich the operation functions. The invention can be firmly combined with the wall surface by means of the sucking disc, and the stability of the invention is far better than that of a floating underwater robot when underwater operations (such as drilling and cutting) are carried out in the state.
Drawings
Fig. 1 is a schematic three-dimensional structure of the present invention.
Fig. 2 is a schematic view of the overall front view structure of the walk-in combined underwater robot according to the present invention.
Fig. 3 is a schematic view of the overall top view structure of the walk-in combined underwater robot of the present invention.
Fig. 4 is a schematic view of the overall bottom view structure of the walk-in combined underwater robot of the present invention.
Fig. 5 is a diagram showing the connection of the ink jet tracer module of the invention.
FIG. 6 is a schematic view of an ink reservoir according to the present invention.
Fig. 7 is a schematic view of the structure of the dilution nozzle of the invention.
Fig. 8 is a schematic view of a spring seat according to the present invention.
Fig. 9 is a schematic structural view of the base plate of the present invention.
In the figure: 1. an ink reservoir; 2. an underwater electromagnetic valve; 3. a dilution nozzle; 4. an end cap; 5. an O-shaped sealing ring; 6. a cavity shell; 7. copper columns; 8. a bottom plate; 9. a piston; 10. a Gelai circle; 11. a spring; 12. a spring seat; 13. a tracer; 14. a spray head; 15. a rubber seal ring; 16. an upper cover; 17. a PU pipe; 18. propeller wire; 19. a fixing screw; 20. a middle cover; 21. a propeller; 22. a lower cover; 101. a solid buoyancy material; 102. a power conversion cabin; 103. a control cabin; 104. an underwater illumination lamp; 106. centrifugal impeller type suction disc; 107. waterproof brushless DC planetary gear motor; 108. a depth sensor; 110. a waterproof electromagnetic valve; 111. a propeller; 112. and a vehicle body frame.
Detailed Description
The technical scheme of the invention is further specifically described below with reference to the accompanying drawings and examples.
As shown in fig. 1 and 3, the present invention includes a vehicle body module, an inkjet tracer device module, and an electronic control module; the vehicle body module comprises a vehicle body frame 112, a four-wheel drive mobile chassis, eight propellers 111 with driving electric adjustment and a centrifugal impeller type underwater suction cup 106, wherein the vehicle body frame 112 is an open frame, the size of the open frame is 520 x 500 x 450mm, and the weight of the robot is reduced as far as possible by building an aluminum profile; two pairs of propellers 111 are arranged on the left side and the right side of the vehicle body frame 112, one pair of propellers 111 is positioned close to a front wheel, the other pair of propellers 111 is positioned close to a rear wheel, each pair of propellers 111 comprises a vertically arranged propeller 111 and a horizontally arranged propeller 111, and an included angle between the horizontally arranged propellers 111 and the side of the vehicle body frame 112 is 45 degrees; the solid buoyancy material 101 is installed on top of the body frame 112, and a pair of underwater illumination lamps 104 are installed on the front end of the body frame 112, and the illumination lamps 104 are installed so that the illumination light covers the visual field of the camera as much as possible and completely covers the operation range of the dilution nozzle 3.
As shown in fig. 2, the electric control module comprises a control cabin 103, a power conversion cabin 102, a pc end positioned on the shore and a high-voltage direct-current power supply, wherein the control cabin 103 is connected with the pc end through a zero-buoyancy cable, and the control cabin 103 is connected with the power conversion cabin 102; the control cabin 103 and the power conversion cabin 102 are respectively arranged at two sides of the inner top of the vehicle body frame 112, control hardware, a depth sensor, a camera module, a temperature sensor and a gesture sensor are arranged in the control cabin 103, the depth sensor, the camera module, the temperature sensor and the gesture sensor are all connected with the control hardware, the camera module is arranged in a transparent cover arranged at the front end of the control cabin, the camera module comprises a camera and a one-dimensional cradle head, and the camera can rotate up and down by 90 degrees; the depth sensor 8 is positioned at the rear part of the control cabin and extends out of the vehicle body frame 112, the depth sensor 8 is used for feeding back the water depth where the underwater robot is positioned, and the gesture sensor can transmit the motion gesture of the robot in the three-dimensional space to the control hardware in real time, so that an operator can conveniently operate the underwater robot on the shore to rotate 90 degrees to change the working mode.
As shown in fig. 4, the four-wheel-drive mobile chassis is mounted at the bottom of the vehicle body frame 112, and comprises a pair of left and right front wheels, a pair of left and right rear wheels and four brushless direct current planetary gear motors 107 with drivers, each front wheel or rear wheel is connected with one brushless direct current planetary gear motor 107, the center of the bottom of the four-wheel-drive mobile chassis is provided with a centrifugal impeller type suction cup 106, the centrifugal impeller type suction cup 106 is connected with a waterproof direct current motor positioned above the four-wheel-drive mobile chassis, and the waterproof direct current motor is used for driving the centrifugal impeller type suction cup 106.
As shown in fig. 5, the ink-jet tracing device module comprises an ink reservoir 1, an underwater electromagnetic valve 2 and a dilution nozzle 3, wherein the ink reservoir 1, the underwater electromagnetic valve 2 and the dilution nozzle 3 are sequentially connected through a PU pipe 17, one end of the PU pipe 17 is connected with a mounting hole in the center of the end cover 4, and the other end of the PU pipe 17 extends into a side hole formed in the other side of the upper cover 16 of the dilution nozzle 3 through the underwater electromagnetic valve 2.
As shown in fig. 6, the ink reservoir 1 comprises an end cover 4, a cavity shell 6, a bottom plate 8, a piston 9, a spring 11 and a spring seat 12, wherein the end cover 4 is coaxially arranged on the upper end surface of the cavity shell 6, the bottom plate 8 is coaxially arranged below the cavity shell 6, and the bottom plate 8 is connected with the cavity shell 6 through a plurality of copper columns 7; the center of the end cover 4 is provided with a mounting hole penetrating up and down, an annular boss is arranged at the bottom surface of the end cover 4 near the edge, the outer side surface of the annular boss is in fit and sealing connection with the inner side surface of the cavity shell 6, an O-shaped sealing ring 5 is arranged between the outer side surface of the annular boss of the end cover 4 and the inner side surface of the cavity shell 6, and an O-shaped sealing ring 5 is arranged between the edge of the end cover 4 and the flange of the cavity shell 6; an outer flange is arranged on the upper end surface of the cavity shell 6, a piston 9 sliding up and down along the inner side surface of the cavity shell 6 is arranged in the cavity shell 6, an inner flange is arranged on the lower end surface of the cavity shell 6, an upper step surface of the inner flange is used as a shoulder for supporting the piston 9, the piston 9 is prevented from falling out of the cavity, an inner cavity is arranged in the center of the bottom surface of the piston 9, a threaded counter bore is arranged in the center of the bottom surface of the inner cavity of the piston 9 and used for manually sliding the piston 9, and the outer peripheral surface of the piston 9 is in sealing connection with the inner side surface of the cavity shell 6 through two Gellan rings 10; the cavity enclosed by the upper surface of the piston 9, the inner side surface of the cavity shell 6 and the top surface of the end cover 4 is filled with a tracer 13.
As shown in fig. 7, the dilution nozzle 3 comprises a spray head 14, an upper cover 16, a middle cover 20, a propeller 21 and a lower cover 22, wherein the upper cover 16, the middle cover 20 and the lower cover 22 are hollow sleeve structures, the spray head 14 is connected to the upper end surface of the upper cover 16 through bolts, and the upper cover 16 is fixedly connected with the lower cover 22 coaxially through the middle cover 20; the spray head 14 is of a horn mouth structure, a small mouth at the upper end of the spray head 14 is used as a spray nozzle, an annular boss is arranged at the position, close to the edge, of the lower end face of the spray head 14, and the outer side face of the annular boss is in fit and sealing connection with the inner side face of the upper cover 16; two sides of the upper cover 16 are provided with a side hole, and the bottom of the lower cover 22 is provided with a round hole for water to enter; the body of the propeller machine 21 is positioned in a cavity surrounded by the upper cover 16 and the middle cover 20, the body of the propeller machine 21 is arranged on the inner side surface of the middle cover 20 through three fixing screws 19 which penetrate through the side wall of the middle cover 20 and are radially arranged, the propeller shaft of the propeller machine 21 faces downwards, paddles arranged on the propeller shaft are positioned in the cavity of the lower cover 22, and a propeller motor wire connected with the propeller machine 21 penetrates through a side hole formed in one side of the upper cover 16 and is connected with an electric control device. The round hole size at the bottom of the lower cover 22 is similar to the size of the through hole of the nozzle, so that the propeller 21 is prevented from rotating rapidly to cause large-scale vortex influence on external water flow, and interference on the overall control of the robot is avoided. A rubber sealing ring 15 is arranged between the outer side surface of the annular boss of the spray head 14 and the inner side surface of the upper cover 16, and the rubber sealing ring 15 is arranged on the contact surface of the upper cover 16 and the middle cover 20 and the contact surface of the upper cover 16 and the middle cover 20.
As shown in fig. 8, the spring seat 12 is a hollow structure with a flange at the bottom, an annular bump is arranged on the bottom surface of the flange, two symmetrical arc-shaped flanges are arranged on the outer peripheral surface of the flange, and the arc-shaped flanges are just embedded in the arc-shaped grooves of the round holes.
As shown in fig. 9, a flange is arranged on the peripheral side of the lower end surface of the bottom plate 8, a plurality of through holes are formed in the flange, small holes are formed in the center of the bottom plate 8, four round holes with the same size and structure are uniformly distributed in the periphery of the small holes, two symmetrically arranged arc-shaped blocks are arranged on two sides of the inner wall of each round hole, and an arc-shaped groove is formed in the upper end surface of each arc-shaped block;
specific examples:
when a worker on the shore finds a dam dangerous point, the underwater electromagnetic valve 2 is opened by the electric control device, the underwater electromagnetic valve 2 is immediately closed after 1s, a small amount of high-concentration tracer 13 flows into the dilution nozzle 3, the propeller 21 is opened to rotate, a small amount of high-concentration tracer 13 and water are fully stirred, a large amount of diluted tracer 13 is discharged from the spray head 14, and the propeller 21 is closed. The data information in the control cabin 103 is transmitted to the pc end of the upper computer through a power carrier, and the upper computer displays the temperature of the control cabin 103, the depth of the robot, the posture of the robot and video signals according to the read data information; the upper computer transmits control signals to control hardware of the control cabin 103 through power carriers, and the swimming function and the wall-attached crawling function of the robot are realized.
Claims (6)
1. The wandering combined underwater monitoring robot is characterized by comprising a vehicle body module, an inkjet tracer device module and an electronic control module;
the vehicle body module comprises a vehicle body frame (112), a four-wheel-drive movable chassis, eight propellers (111) and a centrifugal impeller type sucking disc (106), wherein the four-wheel-drive movable chassis is arranged at the bottom of the vehicle body frame (112) and comprises a pair of left and right front wheels, a pair of left and right rear wheels and four brushless direct current planetary gear motors (107) with drivers, each front wheel or rear wheel is connected with one brushless direct current planetary gear motor (107), the centrifugal impeller type sucking disc (106) is arranged at the center of the bottom of the four-wheel-drive movable chassis, and the centrifugal impeller type sucking disc (106) is connected with the waterproof direct current motor above the four-wheel-drive movable chassis; two pairs of propellers (111) are arranged on the left side surface and the right side surface of the vehicle body frame (112), wherein one pair of propellers (111) is positioned close to a front wheel, the other pair of propellers (111) is positioned close to a rear wheel, and each pair of propellers (111) comprises one vertically arranged propeller (111) and one horizontally arranged propeller (111); the top of the vehicle body frame (112) is provided with a solid buoyancy material (101), and the front end of the vehicle body frame (112) is provided with a pair of underwater illumination lamps (104);
the electric control module comprises a control cabin (103), a power conversion cabin (102), a pc end positioned on the shore and a high-voltage direct-current power supply, wherein the control cabin (103) is connected with the pc end through an umbilical cable, and the control cabin (103) is connected with the power conversion cabin (102); the control cabin (103) and the power conversion cabin (102) are respectively arranged at two sides of the inner top of the vehicle body frame (112), control hardware, a depth sensor, a camera module, a temperature sensor and an attitude sensor are arranged in the control cabin (103), the depth sensor, the camera module, the temperature sensor and the attitude sensor are all connected with the control hardware, and the camera module is arranged in a transparent cover arranged at the front end of the control cabin; the depth sensor (108) is positioned at the rear part of the control cabin and extends out of the vehicle body frame (112);
the ink jet tracing device module comprises an ink reservoir (1), an underwater electromagnetic valve (2) and a dilution nozzle (3), wherein the ink reservoir (1), the underwater electromagnetic valve (2) and the dilution nozzle (3) are all carried in a vehicle body frame (112), and the dilution nozzle (3) is arranged at the front end of the vehicle body frame (112) and positioned between two underwater illuminating lamps (104); the ink reservoir (1), the underwater electromagnetic valve (2) and the dilution nozzle (3) are connected in sequence through the PU pipe (17), and the underwater electromagnetic valve (2) is connected to the electronic control module; the ink storage device (1) comprises an end cover (4), a cavity shell (6), a bottom plate (8), a piston (9), a spring (11) and a spring seat (12), wherein the end cover (4) is coaxially arranged on the upper end face of the cavity shell (6), the bottom plate (8) is coaxially arranged below the cavity shell (6), and the bottom plate (8) is connected with the cavity shell (6) through a plurality of copper columns (7); the center of the end cover (4) is provided with a mounting hole penetrating up and down, an annular boss is arranged at the bottom surface of the end cover (4) close to the edge, and the outer side surface of the annular boss is bonded and hermetically connected with the inner side surface of the cavity shell (6); an outer flange is arranged on the upper end face of the cavity shell (6), a piston (9) sliding up and down along the inner side face of the cavity shell (6) is arranged in the cavity shell (6), an inner flange is arranged on the lower end face of the cavity shell (6), an upper step face of the inner flange serves as a shoulder for supporting the piston (9), an inner cavity is formed in the center of the bottom face of the piston (9), a threaded counter bore is formed in the center of the bottom face of the inner cavity of the piston (9), and the outer peripheral face of the piston (9) is in sealing connection with the inner side face of the cavity shell (6) through two Gelai rings (10); the tracer (13) is arranged in a cavity surrounded by the upper surface of the piston (9), the inner side surface of the cavity shell (6) and the top surface of the end cover (4); the periphery of the lower end face of the bottom plate (8) is provided with a flange plate, a plurality of through holes are formed in the flange plate, small holes are formed in the center of the bottom plate (8), four round holes with the same size and structure are tightly and uniformly distributed in the periphery of the small holes, two arc-shaped blocks which are symmetrically arranged are arranged on two sides of the inner wall of each round hole, and an arc-shaped groove is formed in the upper end face of each arc-shaped block; a spring seat (12) is arranged in each round hole, the spring seat (12) is of a hollow structure with an outer flange at the bottom, an annular convex block is arranged on the bottom surface of the outer flange, two symmetrical arc-shaped convex lugs are arranged on the outer peripheral surface of the outer flange, and the arc-shaped convex lugs are just embedded in arc-shaped grooves of the round holes; the spring seat (12) is used for supporting and fixing the spring (11), one end of the spring (11) is fixed to the bottom of the spring seat (12), the other end of the spring is propped against the bottom surface of the piston, and when the cavity is filled with the tracer (13), the spring (11) is in a compressed state;
the dilution nozzle (3) comprises a spray head (14), an upper cover (16), a middle cover (20), a propeller (21) and a lower cover (22), wherein the upper cover (16), the middle cover (20) and the lower cover (22) are of hollow sleeve structures, the spray head (14) is connected to the upper end surface of the upper cover (16) through bolts, and the upper cover (16) is fixedly connected with the lower cover (22) through the middle cover (20) in a coaxial manner; the spray head (14) is of a bell mouth structure, a small mouth at the upper end of the spray head (14) is used as a spray nozzle, an annular boss is arranged at the position, close to the edge, of the lower end face of the spray head (14), and the outer side face of the annular boss is in fit and sealing connection with the inner side face of the upper cover (16); two sides of the upper cover (16) are provided with a side hole, and the bottom of the lower cover (22) is provided with a round hole for water to enter; the propeller machine (21) body is positioned in a cavity surrounded by the upper cover (16) and the middle cover (20), the propeller machine (21) body is arranged on the inner side surface of the middle cover (20) through three fixing screws (19) which penetrate through the side wall of the middle cover (20) and are radially arranged, the propeller shaft of the propeller machine (21) faces downwards, a blade arranged on the propeller shaft is positioned in the cavity of the lower cover (22), and a propeller motor wire connected with the propeller machine (21) penetrates through a side hole formed in one side of the upper cover (16) and is connected with an electric control device; one end of the PU pipe (17) is connected with a mounting hole in the center of the end cover (4), and the other end of the PU pipe (17) extends into a side hole arranged on the other side of the upper cover (16) of the dilution nozzle (3) through the underwater electromagnetic valve (2);
the tracer (13) flows into the cavity of the dilution nozzle (3) through the PU pipe (17), the propeller (21) rotates to drive the water flow in the cavity to stir, so that the tracer (13) with higher concentration flowing into the cavity is mixed and diluted into the tracer (13) with lower concentration, and finally the tracer (13) is discharged from the nozzle of the spray head (14);
the swimming function of the underwater robot is realized through the eight propellers (111), the wall-attached crawling function of the underwater robot is realized through the centrifugal impeller type sucker (106) and the brushless direct current planetary gear motor (107), and the swimming function and the wall-attached crawling function can be freely switched; the four brushless direct current planetary gear motors (107) realize forward and backward straight running of the underwater robot by controlling the forward and backward wheels to rotate in the same direction, and realize in-situ turning of the underwater robot by controlling the forward and backward wheel differential rotation; eight propellers (111) control the robot to realize a six-degree-of-freedom swimming function, four propellers (111) arranged vertically realize floating, submerging and rolling of the robot, and four propellers (111) arranged horizontally realize advancing, retreating and turning of the robot;
the data information in the control cabin (103) is transmitted to a pc end through a power carrier, and the pc end displays the temperature of the control cabin (103), the depth of the robot, the posture of the robot and video signals according to the read data information; the pc end transmits a control signal to control hardware of the control cabin (103) through a power carrier, so that the movement of the robot is realized.
2. A wandering combined underwater monitoring robot as set forth in claim 1 wherein: every spring holder (12) and bottom plate (8) mounting means be dislocation installation, under the condition that the arc lug of spring holder (12) bottom both sides aligns from top to bottom with the position of bottom plate (8) round hole not installing the arc piece, apply ascending effort to spring holder (12) bottom and make spring holder (12) cartridge get into bottom plate (8) round hole, spring (11) upper end upwards withstands piston (9) bottom surface, then with spring holder (12) rotatory 90 degrees makes the arc lug of spring holder (12) coincide from top to bottom with the arc groove on bottom plate (8) and aligns in order to realize circumference spacing, rely on spring (11) to spring holder (12) decurrent pressure drive spring holder (12) whereabouts and make the arc lug of spring holder (12) inlay the arc inslot of bottom plate (8) for spring holder (12) can't rotate in the round hole.
3. The wandering combined underwater monitoring robot of claim 1, wherein the suction force of the centrifugal impeller suction cup is adjusted according to the distance between the bottom end of the centrifugal impeller suction cup and the suction wall surface.
4. The wandering combined underwater monitoring robot according to claim 1, wherein a DC-DC conversion module is arranged in the power conversion cabin (102), high-voltage power in a high-voltage direct-current power supply is transmitted to the power conversion cabin (102) through the control cabin (103), the power conversion cabin (102) converts 200 v-400 v of high-voltage power into 24v low-voltage power, 48v low-voltage power and 5v low-voltage power respectively, the 24v low-voltage power is output to eight propellers (111), four brushless direct-current planetary speed reducing motors (107) and an inkjet tracer device module, the 48v low-voltage power is output to the waterproof direct-current motor, and the 5v low-voltage power is output to the control cabin (103).
5. The wandering combined underwater monitoring robot according to claim 1, wherein the motor driving shaft of each brushless direct current planetary gear motor (107) is dynamically sealed through an O-shaped sealing ring, and the rotating speed is 0-100 r/min.
6. A wandering combined underwater monitoring robot according to claim 1, characterized in that the illumination direction of the underwater illumination lamp (104), the camera direction of the camera module, the direction of the spray head (14) of the dilution nozzle (3) are all directed to the same side for illumination observation.
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| CN111186501B (en) * | 2020-01-08 | 2020-12-29 | 华育昌(肇庆)智能科技研究有限公司 | Seabed operation robot |
| CN111521619B (en) * | 2020-04-20 | 2023-06-13 | 中国船舶科学研究中心 | Dam crack detection robot based on ROV and application method thereof |
| CN112478010B (en) * | 2020-10-30 | 2022-07-05 | 浙江大学 | Underwater cruising and wall-climbing dual-mode robot |
| CN112985705B (en) * | 2021-01-25 | 2023-04-14 | 湖南省水利投地方电力有限公司 | Underwater leakage tracing detection equipment and detection method carried on ROV |
| CN113501112A (en) * | 2021-07-09 | 2021-10-15 | 江苏科技大学 | Muddy water imaging unmanned remote control submersible and design method thereof |
| CN115649396A (en) * | 2022-11-03 | 2023-01-31 | 江苏科技大学 | Anticollision multi-azimuth control's high degree of freedom underwater robot |
| CN116022313B (en) * | 2023-03-29 | 2023-06-30 | 无锡学院 | Multi-sensing robot for underwater detection and use method |
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