CN110510087A - Power station trash rack underwater detecting robot - Google Patents
Power station trash rack underwater detecting robot Download PDFInfo
- Publication number
- CN110510087A CN110510087A CN201910898462.2A CN201910898462A CN110510087A CN 110510087 A CN110510087 A CN 110510087A CN 201910898462 A CN201910898462 A CN 201910898462A CN 110510087 A CN110510087 A CN 110510087A
- Authority
- CN
- China
- Prior art keywords
- frame
- underwater
- trash rack
- trash
- lower level
- 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.)
- Pending
Links
- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 155
- 238000003780 insertion Methods 0.000 claims abstract description 8
- 230000037431 insertion Effects 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 40
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 abstract description 43
- 239000003344 environmental pollutant Substances 0.000 description 7
- 231100000719 pollutant Toxicity 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010248 power generation Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000008450 motivation Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000010348 incorporation Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/78—Television signal recording using magnetic recording
- H04N5/781—Television signal recording using magnetic recording on disks or drums
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention discloses power station trash rack underwater detecting robot, belong to power station trash rack detection field, including reception device waterborne, underwater acquisition device, moves up and down frame group and horizontally moving device；It is described to move up and down before frame group insertion trash rack in the trash guide groove of two sides, and can be moved up and down along trash guide groove；The frame group that moves up and down includes lower level frame；The lower level frame is equipped with horizontally moving device；The horizontally moving device is for driving underwater acquisition device to move left and right along lower level frame；The underwater acquisition device and reception device waterborne electrical connection, for collected trash rack information to be passed to reception device waterborne.Power station trash rack underwater detecting robot of the invention can carry out complete detection to trash rack in the case where personnel are not lauched.
Description
Technical field
The invention belongs to power station trash rack detection fields, relate in particular to power station trash rack and detect machine under water
People.
Background technique
In hydraulic and hydroelectric engineering, especially in power station, first barrier of the trash rack as generating set water inlet,
Its function mainly intercepts water float dirt, prevents floating material from flowing into generating set by water inlet.Trash rack once by
It destroys, floating material enters generating set, will cause immeasurable major accident.So trash rack plays the safe operation of unit
Vital effect.Since water velocity is very fast before trash rack, and various floating pollutants rush at trash rack with water flow, wherein
Being no lack of has a large amount of branch, trunk.The collision to trash rack for a long time of various floating materials, easily causes trash rack weld cracking even
Entire trash rack is destroyed.In order to guarantee operation that trash rack can be safe and reliable, trash rack is regularly detected just
It is essential.And domestic power station trash rack underwater detection waterborne still belongs to blank at present.
When detecting underwater situation in the prior art, generallys use computer, video disk recorder, interchanger, PLC network and receive
The case where being sequentially connected, can detecting underwater camera with underwater camera is transmitted in computer, allows staff to underwater
Situation is had gained some understanding, if the technological incorporation to be fabricated to robot, will significantly facilitate work in power station trash rack detects under water
Make control of the personnel to trash rack situation, trash rack manually cannot be introduced into water in unit generation before solving hydroelectric dam
Under trash rack is carried out the problem such as to detect.
Summary of the invention
The purpose of the present invention is providing power station trash rack underwater detecting robot in view of the above shortcomings, intend to solve as
The problems such as what can carry out complete detection to trash rack in the case where personnel are not lauched.To achieve the above object, the present invention mentions
For following technical solution:
Power station trash rack underwater detecting robot, including reception device waterborne, underwater acquisition device, move up and down frame group
And horizontally moving device；It is described to move up and down before frame group insertion trash rack in the trash guide groove of two sides, and can be along removing contamination
Machine guide groove moves up and down；The frame group that moves up and down includes lower level frame；The lower level frame is equipped with horizontally moving device；Institute
Horizontally moving device is stated for driving underwater acquisition device to move left and right along lower level frame；The underwater acquisition device and waterborne
Reception device electrical connection, for collected trash rack information to be passed to reception device waterborne.By above structure it is found that up and down
Movable stand group is moved up and down using the trash guide groove track of two sides before existing trash rack, realizes trash rack vertical direction
Scanning covering；Horizontally moving device realizes that trash rack is horizontal for driving underwater acquisition device to move left and right along lower level frame
It is covered to the scanning in direction；The parallel trash rack width direction of lower level frame, and move up and down two sides before frame group insertion trash rack
Trash guide groove in, so lower level frame can support level mobile device to drive underwater acquisition device to complete trash rack lateral
Complete detection；The underwater acquisition device and reception device waterborne electrical connection, underwater acquisition device erect collected trash rack
Reception device waterborne is passed to lateral complete detection information, has power supply in reception device waterborne, is to adopt under water by cable
Acquisition means provide power supply.Staff can be on the coast by the underwater trash rack of reception device complete observation waterborne in this way
No failure avoids personnel from being lauched the existing security risk of detection.When work, moves up and down frame group and be vertically divided into trash rack
Several detection elevations, because underwater acquisition device can scan certain altitude range, it is only necessary to rest on several detections
Elevational point；As soon as move up and down frame group it is vertically movable to detection elevational point when, horizontally moving device drives underwater acquisition
When device is moved to the trash rack width other end from trash rack width one end along lower level frame, laterally detection is completed once, from
And realize under the operating condition of unit booting power generation, personnel, which do not need to be lauched, to carry out complete detection to trash rack.
Further, the horizontally moving device include horizontal box, horizontal drive mechanism, horizontal movable base, stretch out frame,
Underwater acquisition seat and underwater acquisition cabinet；The horizontal box is fixed with lower level frame, and horizontal box is equipped with two long lead to
Notch；Horizontal drive mechanism and horizontal movable base are equipped in the horizontal box；The horizontal drive mechanism is for driving level
Mobile base moves left and right；The horizontal movable base is fixed by stretching out frame with underwater acquisition seat；The stretching frame passes through one long
Through slot mouth；The underwater acquisition seat is for fixing underwater acquisition device；The underwater acquisition cabinet is fixed with underwater acquisition seat, is used
In the underwater acquisition device of protection；Cable is connected on the underwater acquisition device, cable protrudes into level by another long through slot mouth
In cabinet, and finally it is connected to reception device waterborne.By above structure it is found that the horizontal box is fixed with lower level frame, and edge
Lower level frame length direction extend；Horizontal drive mechanism and horizontal movable base are equipped in the horizontal box, due to blocking under water
Dirt before dirty grid is more, and type is uncertain, so horizontal box plays level of protection driving mechanism and horizontal movable base
Effect, prevents horizontal drive mechanism by underwater dirt card resistance or destruction；The horizontal movable base is by stretching out frame and underwater acquisition
Seat is fixed, and the stretching frame passes through one long through slot mouth, and long through slot mouth is also to extend along lower level frame length direction, such water
When flat driving mechanism is used to that horizontal movable base to be driven to move left and right, underwater acquisition seat, which synchronizes, to be moved left and right, so that underwater acquisition fills
It sets and completes trash rack laterally detection；Underwater acquisition cabinet is for protecting underwater acquisition device to impact from water flow and pollutant；Institute
It states and is connected with cable on underwater acquisition device, cable is protruded into horizontal box by another long through slot mouth, and is finally connected to waterborne
Reception device, cable part are placed in underwater acquisition cabinet and horizontal box, also play a protective role to cable.
Further, the horizontal drive mechanism includes left sprocket wheel, right sprocket wheel, chain and driving motor；Outside the chain
It covers on left sprocket wheel and right sprocket wheel；The driving motor is for driving left sprocket wheel or right sprocket wheel to rotate；The horizontal movable base is solid
It is scheduled on chain；Run through two parallel guide rods in the horizontal movable base, makes horizontal movable base left and right under chain-driving
Movement is more stable.By above structure it is found that by chain conveyer, horizontal movable base is driven to move left and right, although chain conveyer is reliable
There is a problem of unstable, will affect the acquisition of underwater detection information, by running through two parallel guiding in horizontal movable base
Bar moves left and right horizontal movable base under chain-driving more stable, and guide rod extends also along lower level frame length direction, and
Both ends are fixed on horizontal box inner wall.
Further, guide rod has been also extended through on the underwater acquisition seat, has been driven for horizontal movable base by stretching out frame
Underwater acquisition seat moves left and right more stable.By above structure it is found that having also extended through guide rod on acquisition seat under water, seat is acquired under water
Transverse shifting is more stable, thus more stable when underwater acquisition device transverse direction detection information.
Further, the frame group that moves up and down further includes upper level frame, left standing frame and right standing frame；The lower level frame and
Upper level frame is parallel, and lower level frame and upper level frame both ends are separately fixed on left standing frame and right standing frame；The left standing frame and
Right standing frame is parallel.By above structure it is found that upper level frame, left standing frame, right standing frame, lower level frame constitute approximate rectangular frame
Frame, moving up and down frame group in this way can smoothly be inserted into the trash guide groove of two sides before trash rack, be rushed without worrying by water flow
It turns over, lower level frame and upper level frame are parallel to trash rack width direction.
Further, the upper and lower position of the left standing frame and right standing frame is equipped with positive way roller；The positive way roller is used for
Cooperate the two sidewalls of trash guide groove.By above structure it is found that the upper and lower position of left standing frame and right standing frame is equipped with positive way roller,
It moves up and down four angles of frame group and is nearby designed with positive way roller, make to move up and down the stable support before and after by positive way roller of frame group,
Water flow pressure effect under, move up and down frame group steadily moved along trash guide groove it is unaffected.
Further, the side at the lower level frame and upper level frame both ends is equipped with limit wheel seat；The limit wheel seat
It is equipped with lateral Displacement idler wheel；The lateral Displacement idler wheel is equipped on the wall of trash guide groove, is moved down on limiting
Moving frame group moves left and right.By above structure it is found that lateral Displacement idler wheel is equipped on the wall of trash guide groove, four limits
Idler wheel is more stable, limitation move up and down frame group it is down or up during lateral vibration.
Further, counterweight is equipped on the lower level frame and upper level frame；The lower level frame is equipped with barricade；Institute
Barricade is stated for level of protection mobile device and underwater acquisition device.By above structure it is found that barricade is mobile for level of protection
Device and underwater acquisition device are impacted from water flow and pollutant；Due to before underwater trash rack there are various dirts or even branch,
Trunk class is inserted on trash rack, if robot self weight is lighter, just can not be declined and be worked；So the purpose of counterweight is exactly to increase
Robot self weight, such robot can just overcome underwater dirt and hydraulic pressure etc. smoothly to drop to assigned work elevation.Under and
It is equipped with counterweight on level frame and upper level frame, frame group is moved up and down and is not easy to be shaken by water impact, guarantee that detection information is adopted
Equipment even running when collection.
Further, the underwater acquisition device is underwater camera；The reception device waterborne include computer, power supply,
Video disk recorder, interchanger and PLC network receive；The computer, video disk recorder, interchanger, PLC network are received and are taken the photograph under water
As head is sequentially connected；The power supply is for powering.By above structure it is found that underwater acquisition device can pass through underwater camera reality
Function is now acquired, it is real that reception device waterborne can receive combination by computer, power supply, video disk recorder, interchanger and PLC network
Existing receive capabilities waterborne.
Further, the frame group that moves up and down is equipped with lifting lug；The lifting lug moves up and down frame group for loop wheel machine lifting.
It, will by loop wheel machine by above structure it is found that moving up and down the power that frame group moves up and down can be carried out using loop wheel machine lifting method
It moves up and down frame group to be inserted into before trash rack in the trash guide groove of two sides, be realized by the lifting of lifting appliance wirerope
The height and position of lower movable stand group is adjusted.
The beneficial effects of the present invention are:
The invention discloses power station trash rack underwater detecting robot, including reception device waterborne, underwater acquisition device,
Move up and down frame group and horizontally moving device；It is described to move up and down before frame group insertion trash rack in the trash guide groove of two sides,
And it can be moved up and down along trash guide groove；The frame group that moves up and down includes lower level frame；The lower level frame is equipped with water
Flat mobile device；The horizontally moving device is for driving underwater acquisition device to move left and right along lower level frame；It is described underwater
Acquisition device and reception device waterborne electrical connection, for collected trash rack information to be passed to reception device waterborne.This hair
Bright power station trash rack underwater detecting robot can carry out complete detection to trash rack in the case where personnel are not lauched,
And it will not be influenced by floating pollutant and bourn acting force in underwater detection process.
Detailed description of the invention
Fig. 1 is underwater detecting robot schematic elevation view of the present invention；
Fig. 2 is the side schematic view splitted in Fig. 1 along B-B；
Fig. 3 is the partial enlargement diagram in Fig. 2；
Fig. 4 is the schematic diagram splitted along C-C in Fig. 2；
Fig. 5 is the schematic top plan view splitted in Fig. 1 along A-A；
Fig. 6 is the partial enlargement diagram in Fig. 5；
In attached drawing: 1- reception device waterborne, the underwater acquisition device of 2-, 3- move up and down frame group, 4- horizontally moving device, 5-
The upper level frame of level frame, 32-, 33- left standing frame, 34- right standing frame, the positive way roller of 35-, 36- position-limited wheel under trash guide groove, 31-
Seat, 37- lateral Displacement idler wheel, 38- barricade, 39- lifting lug, 41- horizontal box, 42- horizontal drive mechanism, 43- horizontal movable base,
44- stretches out frame, 45- acquires seat, 46- under water and acquires cabinet, 47- long through slot mouth, the left sprocket wheel of 61-, the right sprocket wheel of 62-, 63- chain under water
Item, 64- driving motor, 65- guide rod.
Specific embodiment
With reference to the accompanying drawing with specific embodiment, the present invention is described in more detail, but the present invention is not limited to
Following embodiment.
Embodiment one:
See attached drawing 1~6.Power station trash rack underwater detecting robot, including reception device waterborne 1, underwater acquisition device
2, frame group 3 and horizontally moving device 4 are moved up and down；The trash for moving up and down two sides before the insertion trash rack of frame group 3 is led
In slot 5, and it can be moved up and down along trash guide groove 5；The frame group 3 that moves up and down includes lower level frame 31；The lower level
Frame 31 is equipped with horizontally moving device 4；The horizontally moving device 4 is for driving underwater acquisition device 2 along lower level frame 31
It moves left and right；The underwater acquisition device 2 and reception device waterborne 1 are electrically connected, for transmitting collected trash rack information
To reception device 1 waterborne.By above structure it is found that moving up and down frame group 3 using the trash of two sides before existing trash rack
5 track of guide groove, moves up and down, and realizes the scanning covering of trash rack vertical direction；Horizontally moving device 4 is for driving underwater acquisition
Device 2 is moved left and right along lower level frame 31, realizes the scanning covering of trash rack transverse direction；The parallel trash rack of lower level frame 31
Width direction, and move up and down frame group 3 and be inserted into before trash rack in the trash guide groove 5 of two sides, so lower level frame 31 can
Support level mobile device 4 drives underwater acquisition device 2 to complete trash rack laterally complete detection；2 He of underwater acquisition device
Reception device 1 waterborne is electrically connected, and underwater acquisition device 2 vertically passes to collected trash rack with lateral complete detection information
Reception device 1 waterborne has power supply in reception device 1 waterborne, is that underwater acquisition device 2 provides power supply by cable.It works in this way
Whether personnel can be broken down by the underwater trash rack of 1 complete observation of reception device waterborne on the coast, be avoided under personnel
Water detects existing security risk.When work, moves up and down frame group 3 and trash rack is vertically divided into several detection elevations, because
Underwater acquisition device 2 can scan certain altitude range, it is only necessary to rest on several detection elevational points；It moves up and down
As soon as frame group 3 it is vertically movable to detection elevational point when, horizontally moving device 4 drives underwater acquisition device 2 along lower level frame
31 when being moved to the trash rack width other end from trash rack width one end, and it is primary to complete laterally detection, opens to realize in unit
Under the operating condition of machine power generation, personnel, which do not need to be lauched, to carry out complete detection to trash rack.
Embodiment two:
See attached drawing 1~6.Power station trash rack underwater detecting robot, including reception device waterborne 1, underwater acquisition device
2, frame group 3 and horizontally moving device 4 are moved up and down；The trash for moving up and down two sides before the insertion trash rack of frame group 3 is led
In slot 5, and it can be moved up and down along trash guide groove 5；The frame group 3 that moves up and down includes lower level frame 31；The lower level
Frame 31 is equipped with horizontally moving device 4；The horizontally moving device 4 is for driving underwater acquisition device 2 along lower level frame 31
It moves left and right；The underwater acquisition device 2 and reception device waterborne 1 are electrically connected, for transmitting collected trash rack information
To reception device 1 waterborne.By above structure it is found that moving up and down frame group 3 using the trash of two sides before existing trash rack
5 track of guide groove, moves up and down, and realizes the scanning covering of trash rack vertical direction；Horizontally moving device 4 is for driving underwater acquisition
Device 2 is moved left and right along lower level frame 31, realizes the scanning covering of trash rack transverse direction；The parallel trash rack of lower level frame 31
Width direction, and move up and down frame group 3 and be inserted into before trash rack in the trash guide groove 5 of two sides, so lower level frame 31 can
Support level mobile device 4 drives underwater acquisition device 2 to complete trash rack laterally complete detection；2 He of underwater acquisition device
Reception device 1 waterborne is electrically connected, and underwater acquisition device 2 vertically passes to collected trash rack with lateral complete detection information
Reception device 1 waterborne has power supply in reception device 1 waterborne, is that underwater acquisition device 2 provides power supply by cable.It works in this way
Whether personnel can be broken down by the underwater trash rack of 1 complete observation of reception device waterborne on the coast, be avoided under personnel
Water detects existing security risk.When work, moves up and down frame group 3 and trash rack is vertically divided into several detection elevations, because
Underwater acquisition device 2 can scan certain altitude range, it is only necessary to rest on several detection elevational points；It moves up and down
As soon as frame group 3 it is vertically movable to detection elevational point when, horizontally moving device 4 drives underwater acquisition device 2 along lower level frame
31 when being moved to the trash rack width other end from trash rack width one end, and it is primary to complete laterally detection, opens to realize in unit
Under the operating condition of machine power generation, personnel, which do not need to be lauched, to carry out complete detection to trash rack.
The horizontally moving device 4 include horizontal box 41, horizontal drive mechanism 42, horizontal movable base 43, stretch out frame 44,
Underwater acquisition seat 45 and underwater acquisition cabinet 46；The horizontal box 41 and lower level frame 31 are fixed, and set on horizontal box 41
There is two long through slot mouth 47；Horizontal drive mechanism 42 and horizontal movable base 43 are equipped in the horizontal box 41；The horizontal drive
Motivation structure 42 is for driving horizontal movable base 43 to move left and right；The horizontal movable base 43 is by stretching out frame 44 and underwater acquisition seat
45 is fixed；The stretching frame 44 passes through one long through slot mouth 47；The underwater acquisition seat 45 is for fixing underwater acquisition device 2；
The underwater acquisition cabinet 46 and underwater acquisition seat 45 are fixed, for protecting underwater acquisition device 2；The underwater acquisition device 2
On be connected with cable, cable is protruded into horizontal box 41 by another long through slot mouth 47, and is finally connected to reception device 1 waterborne.
By above structure it is found that the horizontal box 41 and lower level frame 31 are fixed, and extend along lower 31 length direction of level frame；Institute
It states and is equipped with horizontal drive mechanism 42 and horizontal movable base 43 in horizontal box 41, since the dirt before underwater trash rack is more, and
Type is uncertain, so horizontal box 41 plays the role of level of protection driving mechanism 42 and horizontal movable base 43, prevents level
Driving mechanism 42 is by underwater dirt card resistance or destruction；The horizontal movable base 43 is solid by stretching out frame 44 and underwater acquisition seat 45
Fixed, the stretching frame 44 passes through one long through slot mouth 47, and long through slot mouth 47 is also to extend along lower 31 length direction of level frame, this
When sample horizontal drive mechanism 42 is used to that horizontal movable base 43 to be driven to move left and right, underwater acquisition seat 45, which synchronizes, to be moved left and right, so that
Underwater acquisition device 2 is completed trash rack and is laterally detected；Underwater acquisition cabinet 46 for protecting underwater acquisition device 2 from water flow and
Pollutant impact；Cable is connected on the underwater acquisition device 2, cable protrudes into horizontal box 41 by another long through slot mouth 47
It is interior, and it is finally connected to reception device 1 waterborne, cable part is placed in underwater acquisition cabinet 46 and horizontal box 41, also to cable
It plays a protective role.
Embodiment three:
See attached drawing 1~6.Power station trash rack underwater detecting robot, including reception device waterborne 1, underwater acquisition device
2, frame group 3 and horizontally moving device 4 are moved up and down；The trash for moving up and down two sides before the insertion trash rack of frame group 3 is led
In slot 5, and it can be moved up and down along trash guide groove 5；The frame group 3 that moves up and down includes lower level frame 31；The lower level
Frame 31 is equipped with horizontally moving device 4；The horizontally moving device 4 is for driving underwater acquisition device 2 along lower level frame 31
It moves left and right；The underwater acquisition device 2 and reception device waterborne 1 are electrically connected, for transmitting collected trash rack information
To reception device 1 waterborne.By above structure it is found that moving up and down frame group 3 using the trash of two sides before existing trash rack
5 track of guide groove, moves up and down, and realizes the scanning covering of trash rack vertical direction；Horizontally moving device 4 is for driving underwater acquisition
Device 2 is moved left and right along lower level frame 31, realizes the scanning covering of trash rack transverse direction；The parallel trash rack of lower level frame 31
Width direction, and move up and down frame group 3 and be inserted into before trash rack in the trash guide groove 5 of two sides, so lower level frame 31 can
Support level mobile device 4 drives underwater acquisition device 2 to complete trash rack laterally complete detection；2 He of underwater acquisition device
Reception device 1 waterborne is electrically connected, and underwater acquisition device 2 vertically passes to collected trash rack with lateral complete detection information
Reception device 1 waterborne has power supply in reception device 1 waterborne, is that underwater acquisition device 2 provides power supply by cable.It works in this way
Whether personnel can be broken down by the underwater trash rack of 1 complete observation of reception device waterborne on the coast, be avoided under personnel
Water detects existing security risk.When work, moves up and down frame group 3 and trash rack is vertically divided into several detection elevations, because
Underwater acquisition device 2 can scan certain altitude range, it is only necessary to rest on several detection elevational points；It moves up and down
As soon as frame group 3 it is vertically movable to detection elevational point when, horizontally moving device 4 drives underwater acquisition device 2 along lower level frame
31 when being moved to the trash rack width other end from trash rack width one end, and it is primary to complete laterally detection, opens to realize in unit
Under the operating condition of machine power generation, personnel, which do not need to be lauched, to carry out complete detection to trash rack.
The horizontally moving device 4 include horizontal box 41, horizontal drive mechanism 42, horizontal movable base 43, stretch out frame 44,
Underwater acquisition seat 45 and underwater acquisition cabinet 46；The horizontal box 41 and lower level frame 31 are fixed, and set on horizontal box 41
There is two long through slot mouth 47；Horizontal drive mechanism 42 and horizontal movable base 43 are equipped in the horizontal box 41；The horizontal drive
Motivation structure 42 is for driving horizontal movable base 43 to move left and right；The horizontal movable base 43 is by stretching out frame 44 and underwater acquisition seat
45 is fixed；The stretching frame 44 passes through one long through slot mouth 47；The underwater acquisition seat 45 is for fixing underwater acquisition device 2；
The underwater acquisition cabinet 46 and underwater acquisition seat 45 are fixed, for protecting underwater acquisition device 2；The underwater acquisition device 2
On be connected with cable, cable is protruded into horizontal box 41 by another long through slot mouth 47, and is finally connected to reception device 1 waterborne.
By above structure it is found that the horizontal box 41 and lower level frame 31 are fixed, and extend along lower 31 length direction of level frame；Institute
It states and is equipped with horizontal drive mechanism 42 and horizontal movable base 43 in horizontal box 41, since the dirt before underwater trash rack is more, and
Type is uncertain, so horizontal box 41 plays the role of level of protection driving mechanism 42 and horizontal movable base 43, prevents level
Driving mechanism 42 is by underwater dirt card resistance or destruction；The horizontal movable base 43 is solid by stretching out frame 44 and underwater acquisition seat 45
Fixed, the stretching frame 44 passes through one long through slot mouth 47, and long through slot mouth 47 is also to extend along lower 31 length direction of level frame, this
When sample horizontal drive mechanism 42 is used to that horizontal movable base 43 to be driven to move left and right, underwater acquisition seat 45, which synchronizes, to be moved left and right, so that
Underwater acquisition device 2 is completed trash rack and is laterally detected；Underwater acquisition cabinet 46 for protecting underwater acquisition device 2 from water flow and
Pollutant impact；Cable is connected on the underwater acquisition device 2, cable protrudes into horizontal box 41 by another long through slot mouth 47
It is interior, and it is finally connected to reception device 1 waterborne, cable part is placed in underwater acquisition cabinet 46 and horizontal box 41, also to cable
It plays a protective role.
The horizontal drive mechanism 42 includes left sprocket wheel 61, right sprocket wheel 62, chain 63 and driving motor 64；The chain 63
Housing is on left sprocket wheel 61 and right sprocket wheel 62；The driving motor 64 is for driving left sprocket wheel 61 or right sprocket wheel 62 to rotate；It is described
Horizontal movable base 43 is fixed on chain 63；Run through two parallel guide rods 65 in the horizontal movable base 43, makes horizontal shifting
Dynamic seat 43 moves left and right more stable under the drive of chain 63.By above structure it is found that by chain conveyer, horizontal movable base 43 is driven
It moves left and right, although chain conveyer reliably there is a problem of unstable, will affect the acquisition of underwater detection information, pass through horizontal move
Run through two parallel guide rods 65 on dynamic seat 43, moves left and right horizontal movable base 43 under the drive of chain 63 more stable, lead
Extend to bar 65 also along lower 31 length direction of level frame, and both ends are fixed on 41 inner wall of horizontal box.
Guide rod 65 has been also extended through on the underwater acquisition seat 45, has driven water by stretching out frame 44 for horizontal movable base 43
Lower acquisition seat 45 moves left and right more stable.By above structure it is found that having also extended through guide rod 65 on acquisition seat 45 under water, adopt under water
It is more stable to collect 45 transverse shifting of seat, thus more stable when underwater 2 lateral detection information of acquisition device.
The frame group 3 that moves up and down further includes upper level frame 32, left standing frame 33 and right standing frame 34；31 He of lower level frame
Upper level frame 32 is parallel, and lower level frame 31 and 32 both ends of upper level frame are separately fixed on left standing frame 33 and right standing frame 34；Institute
It states left standing frame 33 and right standing frame 34 is parallel.By above structure it is found that upper level frame 32, left standing frame 33, right standing frame 34, lower level
Frame 31 constitutes approximate rectangular frame, moves up and down the trash that frame group 3 can smoothly be inserted into two sides before trash rack in this way
In guide groove 5, turned over without worrying by water flow punching, lower level frame 31 and upper level frame 32 are parallel to trash rack width direction.
The upper and lower position of the left standing frame 33 and right standing frame 34 is equipped with positive way roller 35；The positive way roller 35 is for matching
Close the two sidewalls of trash guide groove 5.By above structure it is found that the upper and lower position of left standing frame 33 and right standing frame 34 is equipped with positive rolling
Wheel 35 moves up and down 3 four angles of frame group and is nearby designed with positive way roller 35, make to move up and down the stabilization of frame group 3 by positive way roller
35 front and back support, water flow pressure effect under, move up and down frame group 3 steadily moved along trash guide groove 5 it is unaffected.
The side at 32 both ends of the lower level frame 31 and upper level frame is equipped with limit wheel seat 36；On the limit wheel seat 36
Equipped with lateral Displacement idler wheel 37；The lateral Displacement idler wheel 37 is equipped on the wall of trash guide groove 5, for limiting up and down
Movable stand group 3 moves left and right.By above structure it is found that lateral Displacement idler wheel 37 is equipped on the wall of trash guide groove 5, four
A limited roller 37 is more stable, limitation move up and down frame group 3 it is down or up during lateral vibration.
Counterweight is equipped on the lower level frame 31 and upper level frame 32；The lower level frame 31 is equipped with barricade 38；Institute
Barricade 38 is stated for level of protection mobile device 4 and underwater acquisition device 2.By above structure it is found that barricade 38 is for protecting water
Flat mobile device 4 and underwater acquisition device 2 are impacted from water flow and pollutant；Due to before underwater trash rack there are various dirts,
Even branch, trunk class are inserted on trash rack, if robot self weight is lighter, just can not be declined and be worked；So the mesh of counterweight
Be exactly to increase robot self weight, such robot can just overcome underwater dirt and hydraulic pressure etc. smoothly to drop to assigned work height
Journey.And it is equipped with counterweight on lower level frame 31 and upper level frame 32, it moves up and down frame group 3 and is not easy to be shaken by water impact,
Guarantee equipment even running when detection information acquisition.
The underwater acquisition device 2 is underwater camera；The reception device waterborne 1 includes computer, power supply, magnetic-disc recording
Machine, interchanger and PLC network receive；The computer, video disk recorder, interchanger, PLC network reception and underwater camera are successively
Connection；The power supply is for powering.By above structure it is found that underwater acquisition device 2 can realize acquisition by underwater camera
Function, reception device 1 waterborne can receive combination by computer, power supply, video disk recorder, interchanger and PLC network and realize water
Upper receive capabilities.
The frame group 3 that moves up and down is equipped with lifting lug 39；The lifting lug 39 moves up and down frame group 3 for loop wheel machine lifting.By
Above structure can use loop wheel machine lifting method to carry out it is found that moving up and down the power that frame group 3 moves up and down, will be upper by loop wheel machine
Lower movable stand group 3 is inserted into before trash rack in the trash guide groove 5 of two sides, is realized by the lifting of lifting appliance wirerope
The height and position of lower movable stand group 3 is adjusted.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (10)
1. power station trash rack underwater detecting robot, which is characterized in that including reception device waterborne (1), underwater acquisition device
(2), frame group (3) and horizontally moving device (4) are moved up and down；It is described to move up and down two sides before frame group (3) insertion trash rack
In trash guide groove (5), and it can be moved up and down along trash guide groove (5)；The frame group (3) that moves up and down includes lower level frame
(31)；The lower level frame (31) is equipped with horizontally moving device (4)；The horizontally moving device (4) is adopted under water for driving
Acquisition means (2) are moved left and right along lower level frame (31)；The underwater acquisition device (2) and reception device waterborne (1) electrical connection,
For collected trash rack information to be passed to reception device waterborne (1).
2. trash rack underwater detecting robot in power station according to claim 1, it is characterised in that: described to move horizontally dress
(4) are set to include horizontal box (41), horizontal drive mechanism (42), horizontal movable base (43), stretch out frame (44), acquire seat under water
(45) and under water cabinet (46) are acquired；The horizontal box (41) and lower level frame (31) are fixed, and set on horizontal box (41)
There is two long through slot mouth (47)；Horizontal drive mechanism (42) and horizontal movable base (43) are equipped in the horizontal box (41)；Institute
Horizontal drive mechanism (42) are stated for driving horizontal movable base (43) to move left and right；The horizontal movable base (43) is by stretching out frame
(44) fixed with underwater acquisition seat (45)；The stretching frame (44) passes through one long through slot mouth (47)；The underwater acquisition seat
(45) for fixing underwater acquisition device (2)；The underwater acquisition cabinet (46) and underwater acquisition seat (45) are fixed, for protecting
Underwater acquisition device (2)；Cable is connected on the underwater acquisition device (2), cable is protruded by another long through slot mouth (47)
In horizontal box (41), and finally it is connected to reception device waterborne (1).
3. trash rack underwater detecting robot in power station according to claim 2, it is characterised in that: the horizontal drive machine
Structure (42) includes left sprocket wheel (61), right sprocket wheel (62), chain (63) and driving motor (64)；Chain (63) housing is in left chain
It takes turns on (61) and right sprocket wheel (62)；The driving motor (64) is for driving left sprocket wheel (61) or right sprocket wheel (62) to rotate；It is described
Horizontal movable base (43) is fixed on chain (63)；Run through two parallel guide rods (65) on the horizontal movable base (43),
Move left and right horizontal movable base (43) in the case where chain (63) drive more stable.
4. trash rack underwater detecting robot in power station according to claim 3, it is characterised in that: the underwater acquisition seat
(45) guide rod (65) have been also extended through on, drive underwater acquisition seat (45) left by stretching out frame (44) for horizontal movable base (43)
It moves right more stable.
5. trash rack underwater detecting robot in power station according to claim 1, it is characterised in that: described to move up and down frame
Group (3) further includes upper level frame (32), left standing frame (33) and right standing frame (34)；The lower level frame (31) and upper level frame (32)
In parallel, and lower level frame (31) and upper level frame (32) both ends are separately fixed on left standing frame (33) and right standing frame (34)；It is described
Left standing frame (33) and right standing frame (34) are parallel.
6. trash rack underwater detecting robot in power station according to claim 5, it is characterised in that: the left standing frame (33)
Positive way roller (35) are equipped with the upper and lower position of right standing frame (34)；The positive way roller (35) is for cooperating trash guide groove
(5) two sidewalls.
7. trash rack underwater detecting robot in power station according to claim 6, it is characterised in that: the lower level frame
(31) and the side at upper level frame (32) both ends is equipped with limit wheel seat (36)；The limit wheel seat (36) is equipped with lateral Displacement
Idler wheel (37)；The lateral Displacement idler wheel (37) is equipped on the wall of trash guide groove (5), moves up and down frame for limiting
Group (3) moves left and right.
8. trash rack underwater detecting robot in power station according to claim 5, it is characterised in that: the lower level frame
(31) and on upper level frame (32) it is equipped with counterweight；The lower level frame (31) is equipped with barricade (38)；The barricade (38) is used
In level of protection mobile device (4) and underwater acquisition device (2).
9. power station trash rack underwater detecting robot according to claims 1 to 8, it is characterised in that: described to adopt under water
Acquisition means (2) are underwater camera；The reception device waterborne (1) includes computer, power supply, video disk recorder, interchanger and PLC
Network receives；The computer, video disk recorder, interchanger, PLC network receive and underwater camera is sequentially connected；The power supply
For powering.
10. power station trash rack underwater detecting robot according to claims 1 to 8, it is characterised in that: moved down on described
Moving frame group (3) is equipped with lifting lug (39)；The lifting lug (39) moves up and down frame group (3) for loop wheel machine lifting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910898462.2A CN110510087A (en) | 2019-09-23 | 2019-09-23 | Power station trash rack underwater detecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910898462.2A CN110510087A (en) | 2019-09-23 | 2019-09-23 | Power station trash rack underwater detecting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110510087A true CN110510087A (en) | 2019-11-29 |
Family
ID=68631780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910898462.2A Pending CN110510087A (en) | 2019-09-23 | 2019-09-23 | Power station trash rack underwater detecting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110510087A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111294492A (en) * | 2020-02-13 | 2020-06-16 | 山东大学 | Auxiliary device for underwater shooting and shooting system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006111154A1 (en) * | 2005-04-22 | 2006-10-26 | Stiftung Alfred-Wegener-Institut Für Polar-Und Meeresforschung | Inspection system for underwater structures and having a positioning device |
| CN101705674A (en) * | 2009-11-16 | 2010-05-12 | 曲阜恒威水工机械有限公司 | Conjoined rotary type trash cleaning device |
| DE102015002181A1 (en) * | 2015-02-20 | 2016-08-25 | Rehart Gmbh | Method and device for cleaning the rake at the inlet of a hydropower plant equipped with a hydrodynamic worm |
| CN106269623A (en) * | 2016-09-06 | 2017-01-04 | 吉林大学 | A kind of frame-type PX pumping plant sluice gate guide rail automatic cleaning machine |
| CN106895240A (en) * | 2015-12-18 | 2017-06-27 | 哈尔滨歌瑞得莱机器人制造有限公司 | Anti-rotation is without cable trash rack underwater camera device |
| CN110244373A (en) * | 2019-08-12 | 2019-09-17 | 上海彩虹鱼海洋科技股份有限公司 | Gate slot detection system and dedicated underwater robot |
| CN210822699U (en) * | 2019-09-23 | 2020-06-23 | 四川东方水利智能装备工程股份有限公司 | Underwater detection robot for trash rack of hydropower station |
-
2019
- 2019-09-23 CN CN201910898462.2A patent/CN110510087A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006111154A1 (en) * | 2005-04-22 | 2006-10-26 | Stiftung Alfred-Wegener-Institut Für Polar-Und Meeresforschung | Inspection system for underwater structures and having a positioning device |
| CN101705674A (en) * | 2009-11-16 | 2010-05-12 | 曲阜恒威水工机械有限公司 | Conjoined rotary type trash cleaning device |
| DE102015002181A1 (en) * | 2015-02-20 | 2016-08-25 | Rehart Gmbh | Method and device for cleaning the rake at the inlet of a hydropower plant equipped with a hydrodynamic worm |
| CN106895240A (en) * | 2015-12-18 | 2017-06-27 | 哈尔滨歌瑞得莱机器人制造有限公司 | Anti-rotation is without cable trash rack underwater camera device |
| CN106269623A (en) * | 2016-09-06 | 2017-01-04 | 吉林大学 | A kind of frame-type PX pumping plant sluice gate guide rail automatic cleaning machine |
| CN110244373A (en) * | 2019-08-12 | 2019-09-17 | 上海彩虹鱼海洋科技股份有限公司 | Gate slot detection system and dedicated underwater robot |
| CN210822699U (en) * | 2019-09-23 | 2020-06-23 | 四川东方水利智能装备工程股份有限公司 | Underwater detection robot for trash rack of hydropower station |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111294492A (en) * | 2020-02-13 | 2020-06-16 | 山东大学 | Auxiliary device for underwater shooting and shooting system |
| CN111294492B (en) * | 2020-02-13 | 2021-02-23 | 山东大学 | Auxiliary device for underwater shooting and shooting system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205720025U (en) | A kind of AOI automatic detection device | |
| CN110510087A (en) | Power station trash rack underwater detecting robot | |
| CN103175473A (en) | Online monorail car pantograph monitoring system | |
| CN101505583B (en) | Device for operating on circuit substrate | |
| CN108815904A (en) | A kind of double grid sewage disposal apparatus of alternative expression and its application method | |
| CN106525364A (en) | Image detecting method and operation device for lower-surface condition of high-speed railway bridge | |
| CN108677883B (en) | Underwater inspection device for planar gate slot | |
| CN110130086B (en) | Automatic whole visual detection of upset of scarf tip and float hair adsorption equipment | |
| CN209559190U (en) | A kind of screen printing scraper system water Pingdu detection machine | |
| CN208420616U (en) | Silicon wafer hydrophily tester | |
| CN106862304B (en) | A kind of routing machine with detection function | |
| CN210822699U (en) | Underwater detection robot for trash rack of hydropower station | |
| CN213365575U (en) | Inspection device for underground substation | |
| CN209560624U (en) | A kind of bank not deposit machine | |
| CN209416281U (en) | Glass lifting Y-direction displacement detection platform | |
| CN206773491U (en) | Percolate treating stations monitoring system | |
| CN210526817U (en) | Horizontal moving device for underwater detection of trash rack of hydropower station | |
| CN211856947U (en) | Simple metal detector for security inspection | |
| CN211856933U (en) | Double-channel security check machine based on rotary arc detector | |
| CN210555525U (en) | Up-down moving frame set for underwater detection of trash rack of hydropower station | |
| CN214740876U (en) | Magnetic induction safety door for welding workstation | |
| CN216748127U (en) | Elastic harmless contact mechanism | |
| CN109001837A (en) | A kind of comprehensive scanning mechanism of intelligence safety check | |
| CN216847777U (en) | River pollution source monitoring devices | |
| CN208628579U (en) | Remote monitoring cutting machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |