CN110701459A - Supporting device for underwater robot of water delivery tunnel - Google Patents
Supporting device for underwater robot of water delivery tunnel Download PDFInfo
- Publication number
- CN110701459A CN110701459A CN201910832929.3A CN201910832929A CN110701459A CN 110701459 A CN110701459 A CN 110701459A CN 201910832929 A CN201910832929 A CN 201910832929A CN 110701459 A CN110701459 A CN 110701459A
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- Prior art keywords
- underwater robot
- tunnel
- pipe
- water delivery
- pipe fitting
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims description 8
- 239000011324 bead Substances 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 230000000903 blocking effect Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000007547 defect Effects 0.000 abstract description 5
- 230000008439 repair process Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
- F16M11/32—Undercarriages for supports with three or more telescoping legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a supporting device for an underwater robot of a water delivery tunnel, which comprises a plurality of pipe fittings which are sequentially sleeved, wherein a power assembly is fixedly connected in the pipe fitting in the middle, the power assembly comprises a transmission shaft, and the transmission shaft is fixedly connected with the pipe fitting in the middle. The device provided by the invention is simple in structure and convenient to use, can meet the requirement of underwater robot for supporting and fixing in moving water through the telescopic pipe fitting, and provides operation conditions for the robot to carry out fine detection and defect repair on the hole wall. The risks of water leakage and water cut-off maintenance of the water delivery tunnel are reduced, and good social benefit and economic benefit are obtained.
Description
Technical Field
The invention belongs to the technical field of underwater detection, and relates to a supporting device for an underwater robot of a water delivery tunnel.
Background
The water delivery tunnel is the main building of water supply engineering, and in order to guarantee its operation safe and reliable, the operation period need regularly to carry out the investigation to potential safety hazard, if tunnel concrete hole wall probably produces the crack under the complex environment, the deposit is easily adhered to at the bottom of the hole when long-term operation, influences rivers flow state etc. consequently patrols and examines the detection to the water delivery tunnel, and comprehensive grasp hole wall condition is to reducing the tunnel and leaking destruction and the maintenance risk of cutting off the water and have the significance.
The traditional mode generally adopts a manual inspection means, sends inspection personnel to enter a tunnel for inspection, has the problems of low efficiency, high danger and the like, and the tunnel must be in a water cut-off state during maintenance, thereby causing serious influence on the exertion of water supply benefits.
In order to solve the problem of manual inspection, the method of inspection by the robot is established at present, and the inspection robot for the water delivery tunnel can be used for quickly, effectively, safely and intelligently inspecting and detecting the water delivery tunnel in an intelligent and non-stop state. However, the flow velocity of the non-pressure water flow of the water delivery tunnel is generally 2-3m/s, the flow velocity is large, the flow velocity of the pressure water flow is larger, generally 4-6m/s, and the existing underwater inspection robot does not have the flow resistance capability and cannot be fixed during inspection operation in the tunnel, so that even if the abnormality of the tunnel wall is detected, the tunnel wall cannot be further shot and detected. Therefore, a supporting structure for the inspection robot for the water delivery tunnel is needed to solve the problem that the inspection robot stands for a short time during operation in water flow.
Disclosure of Invention
The invention aims to provide a supporting device for an underwater robot of a water delivery tunnel, which can support and fix the underwater inspection robot, so that the underwater inspection robot has the anti-flow capacity and provides operation conditions for subsequent operation.
The invention adopts the technical scheme that the supporting device for the underwater robot of the water delivery tunnel comprises a plurality of pipe fittings which are sequentially sleeved, wherein a power assembly is fixedly connected in the pipe fitting in the middle, the power assembly comprises a transmission shaft, and the transmission shaft is fixedly connected with the pipe fitting in the middle.
The invention is also characterized in that:
the power assembly comprises an oil tank, a hydraulic cylinder and a hydraulic pump which are sequentially connected to form a loop, the transmission shaft is arranged in the hydraulic cylinder, and the transmission shaft is parallel to the pipe fitting.
The power assembly further comprises a safety valve, and the safety valve is arranged between the hydraulic pump and the hydraulic cylinder.
The power assembly further comprises a filter, and the filter is arranged between the oil tank and the hydraulic cylinder.
The mutually sleeved pipe fittings are provided with a clamping mechanism.
The clamping mechanism is a turned edge which is arranged on the edge of a large-diameter pipe fitting in the pipe fittings which are mutually sleeved and protrudes along the radial direction, and a turned edge which is arranged on the edge of a small-diameter pipe fitting and protrudes along the radial direction.
And one end of the middle pipe fitting, which is far away from the power assembly, is fixed with an elastic assembly.
The resilient assembly includes a spring.
The end part of the elastic component is provided with a rubber flexible cushion block.
The diameter of the pipe fitting is between 2.5 and 5 percent of the diameter of the tunnel and is not less than 10 cm.
The underwater robot support device has the advantages that the device is simple, the use is convenient, the underwater robot support device can meet the requirement of underwater robot support and fixation in moving water through the telescopic pipe fitting, and operation conditions are provided for the robot to carry out fine detection and defect repair on the hole wall.
Drawings
FIG. 1 is a schematic structural diagram of a support device for an underwater robot of a water delivery tunnel according to the present invention;
FIG. 2 is a schematic structural diagram of a power assembly of a support device for a water transport tunnel underwater robot of the present invention;
FIG. 3 is a schematic structural diagram of a clamping mechanism of the support device for the underwater robot of the water delivery tunnel;
fig. 4 is an operation effect diagram of the supporting device for the underwater robot of the water delivery tunnel.
In the figure, 1, a pipe fitting, 2, a power assembly, 2-1, a transmission shaft, 2-2, an oil tank, 2-3, a hydraulic cylinder, 2-4, a hydraulic pump, 2-5, a safety valve, 2-6, a filter, 3, a clamping mechanism, 4, an elastic assembly, 5, a rubber flexible cushion block, 6, a tunnel and 7, an underwater robot.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a supporting device for an underwater robot of a water delivery tunnel, which comprises three pipe fittings 1 sequentially sleeved, wherein a power assembly 2 is fixedly connected in the pipe fitting 1 in the middle as shown in figure 1. As shown in figure 2, the power assembly 2 comprises an oil tank 2-2, a hydraulic cylinder 2-3 and a hydraulic pump 2-4 which are sequentially connected to form a loop, the hydraulic pump 2-4 is connected with a power supply, a transmission shaft 2-1 is arranged in the hydraulic cylinder 2-3, and the transmission shaft 2-1 is parallel to the pipe fitting 1. The power assembly 2 further comprises a safety valve 2-5, and the safety valve 2-5 is arranged between the hydraulic pump 2-4 and the hydraulic cylinder 2-3. The power assembly 2 further comprises a filter 2-6, and the filter 2-6 is arranged between the oil tank 2-2 and the hydraulic cylinder 2-3. The mutually sleeved pipe fittings 1 are provided with a clamping mechanism 3. One end of the transmission shaft 2-1 is fixedly connected with the pipe fitting 1 positioned in the middle. And a spring is fixed at one end of the middle pipe fitting 1 far away from the power assembly 2, and a rubber flexible cushion block 5 is arranged at the top end of the spring. In the embodiment, two sets of the device are arranged, and are respectively and horizontally arranged on two sides of the underwater robot 7.
As shown in fig. 3, the edge of the large-diameter pipe fitting in the pipe fitting 1 that is sleeved with each other is provided with a bead protruding radially inward, the edge of the small-diameter pipe fitting is provided with a bead protruding radially outward, and the two beads together form a locking assembly for preventing the pipe fitting 1 from falling off in the process of expansion and contraction.
The power assembly 2 uses oil liquid as a working medium, transmits motion through the change of the sealing volume, and transmits power through the pressure in the oil liquid, so that contraction is realized. The telescopic power of the whole device is mainly realized by the hydraulic cylinder 2-3, the movement of the transmission shaft 2-1 is realized by pressing in oil pressure, and the transmission shaft 2-1 is fixedly connected with the pipe fitting 1 positioned in the middle part, so that the pipe fitting 1 positioned in the middle part is driven to move. Other sleeved pipe fittings can also sequentially move correspondingly after reaching the maximum displacement distance.
The filter 2-6 is used for filtering impurities generated in the using process of the oil product and ensuring good telescopic performance. The safety valve 2-5 is used for ensuring the safety of the hydraulic cylinder in the using process.
The three pipe fittings 1 that cup joint in proper order form the telescopic link of this device, before using, at first with the telescopic link be fixed in underwater robot 7 on, link to each other power component 2 and underwater robot 7's control module and power module. In order to enhance the supporting and fixing performance of the underwater robot 7, a plurality of sets of the device can be radially arranged on the underwater robot 7.
When underwater robot 7 was in the state of patrolling and examining and marcing, the telescopic link was whole to be located 7 fuselages of underwater robot inside, and the telescopic link comprises basic section, interlude, the three part pipe fittings of section of stretching out, and basic section, interlude, the section of stretching out all can freely stretch out and draw back, and the interlude diameter slightly is lighter than the basic section, stretches out the section diameter slightly and is slightly less than the interlude. When the underwater robot 7 is in a patrol travelling state, the base section does not extend out, and the middle section and the extending section are positioned inside the base section.
When the underwater robot 7 inspects and catches the abnormal hole wall, for example, the hole wall has cracks, blocks fall off or the bottom of the hole has siltation, etc., the telescopic rod follows a preset program, the base section, the middle section (along the inner wall of the base section) and the extension section (along the inner wall of the middle section) sequentially extend out, and the telescopic rod extends to a proper position according to the hole size of the tunnel 6 and is kept fixed, as shown in fig. 4.
The spring can be used for adjusting the length of the telescopic rod so that the rubber flexible cushion block 5 can better adapt to the curved surface of the tunnel wall, and the friction force between the rubber flexible cushion block 5 and the tunnel 6 can be increased through the deformation of the spring so that the stability of the machine body can be better kept; the rubber flexible cushion block 5 enables the underwater robot 7 to keep a stable state through the friction force between the rubber flexible cushion block and the tunnel 6.
After the supporting structure is completely extended to fix the underwater robot 7, a high-definition camera and a camera of the underwater robot 7 are used for carrying out fine detection, defect data such as hole wall crack width, block falling area, sediment size and the like are detected and recorded, and simple defect repair can be carried out through a repair device of the underwater robot. When the flow rate of water flow in the hole is large or the diameter of the hole is large, the device can be increased to two or three groups so as to ensure the smooth and stable fixed-point operation of the underwater robot 7.
After the underwater robot 7 finishes fixed-point operation, the telescopic rod follows a preset program, the extension section (along the inner wall of the middle section), the middle section (along the inner wall of the base section) and the base section are sequentially retracted, the telescopic rod integrally returns to the inside of the robot 2, and the underwater robot 7 restarts a polling traveling mode.
The device drives the pipe fitting 1 fixedly connected with the hydraulic cylinder 2-3 through the movement of the hydraulic cylinder, and the pipe fitting 1 is connected through sleeve joint, so that the telescopic movement of the whole telescopic rod can be completed. The clamping mechanism 3 arranged on the pipe fitting 1 can ensure that the pipe fitting cannot fall off in the extending process. The device is simple in structure and convenient to use, the support and fixation requirements of the underwater robot 7 in flowing water can be met through the telescopic pipe fitting 1, the underwater robot 7 is guaranteed to have anti-flow capacity, and operation conditions are provided for the underwater robot 7 to perform subsequent hole wall fine detection and defect repair; the risks of water leakage and water cut-off maintenance of the water delivery tunnel are reduced, and good social benefit and economic benefit are obtained.
In the drawings, the positional relationship is described for illustrative purposes only and is not to be construed as limiting the present patent; it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. The technical solutions of the present invention or those skilled in the art, based on the teachings of the technical solutions of the present invention, may design similar modifications, equivalent substitutions, improvements, and the like to achieve the technical effects of the present invention, which should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a strutting arrangement for be used for water delivery tunnel underwater robot, its characterized in that includes a plurality of pipe fittings (1) that cup joint in proper order, and the rigid coupling has power component (2) in pipe fitting (1) that is located the centre, power component (2) include transmission shaft (2-1), transmission shaft (2-1) with pipe fitting (1) looks rigid coupling that is located the centre.
2. The supporting device for the underwater robot of the water delivery tunnel according to claim 1, wherein the power assembly (2) comprises an oil tank (2-2), a hydraulic cylinder (2-3) and a hydraulic pump (2-4) which are sequentially connected to form a loop, the transmission shaft (2-1) is arranged in the hydraulic cylinder (2-3), and the transmission shaft (2-1) is parallel to the pipe fitting (1).
3. A support arrangement for a water transport tunnel underwater robot according to claim 2, characterized in that the power assembly (2) further comprises a safety valve (2-5), the safety valve (2-5) being arranged between the hydraulic pump (2-4) and the hydraulic cylinder (2-3).
4. A support arrangement for a water transport tunnel underwater robot according to claim 2, characterized in that the power assembly (2) further comprises a filter (2-6), the filter (2-6) being arranged between the oil tank (2-2) and the hydraulic cylinder (2-3).
5. The supporting device for the underwater robot of the water delivery tunnel according to claim 1, wherein the mutually sleeved pipe fittings (1) are provided with a clamping mechanism (3).
6. The support device for the underwater robot of the water delivery tunnel according to claim 5, wherein the blocking mechanism (3) is a radially inward protruding bead arranged on the edge of a large-diameter pipe and a radially outward protruding bead arranged on the edge of a small-diameter pipe in the pipe (1) which are mutually sleeved.
7. The support device for the underwater robot of the water delivery tunnel according to claim 1, characterized in that the end of the pipe (1) located in the middle, which is far away from the power assembly, is fixed with an elastic assembly (4).
8. A support arrangement for a water transport tunnel underwater robot according to claim 7, characterized in that the resilient assembly (4) comprises a spring.
9. The support device for a water transport tunnel underwater robot of claim 7, characterized in that the ends of the elastic assembly (4) are provided with rubber flexible pads (5).
10. The support device for a water transport tunnel underwater robot of claim 1, characterized in that the diameter of the pipe (1) is 2.5% -5% of the diameter of the tunnel (6) and it is not less than 10 cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910832929.3A CN110701459A (en) | 2019-09-04 | 2019-09-04 | Supporting device for underwater robot of water delivery tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910832929.3A CN110701459A (en) | 2019-09-04 | 2019-09-04 | Supporting device for underwater robot of water delivery tunnel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110701459A true CN110701459A (en) | 2020-01-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910832929.3A Pending CN110701459A (en) | 2019-09-04 | 2019-09-04 | Supporting device for underwater robot of water delivery tunnel |
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| Country | Link |
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| CN (1) | CN110701459A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5203646A (en) * | 1992-02-06 | 1993-04-20 | Cornell Research Foundation, Inc. | Cable crawling underwater inspection and cleaning robot |
| RU2451867C2 (en) * | 2010-06-17 | 2012-05-27 | Открытое акционерное общество "Газпром" | In-tube control apparatus and method for moving it in gas main with preset uniform velocity |
| CN207112221U (en) * | 2017-05-04 | 2018-03-16 | 娄云鹏 | A kind of oil pipeline detection device |
| CN207349691U (en) * | 2017-10-21 | 2018-05-11 | 山东科捷工程检测有限公司 | A kind of big-diameter pipeline X-ray machine support |
| CN108758166A (en) * | 2018-07-17 | 2018-11-06 | 武汉理工大学 | Single driving creeping motion type pipe robot |
-
2019
- 2019-09-04 CN CN201910832929.3A patent/CN110701459A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5203646A (en) * | 1992-02-06 | 1993-04-20 | Cornell Research Foundation, Inc. | Cable crawling underwater inspection and cleaning robot |
| RU2451867C2 (en) * | 2010-06-17 | 2012-05-27 | Открытое акционерное общество "Газпром" | In-tube control apparatus and method for moving it in gas main with preset uniform velocity |
| CN207112221U (en) * | 2017-05-04 | 2018-03-16 | 娄云鹏 | A kind of oil pipeline detection device |
| CN207349691U (en) * | 2017-10-21 | 2018-05-11 | 山东科捷工程检测有限公司 | A kind of big-diameter pipeline X-ray machine support |
| CN108758166A (en) * | 2018-07-17 | 2018-11-06 | 武汉理工大学 | Single driving creeping motion type pipe robot |
Non-Patent Citations (2)
| Title |
|---|
| 何存兴: "《液压元件》", 28 February 1982 * |
| 施文耀: "《开关液压机构》", 30 November 1990 * |
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Application publication date: 20200117 |
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