CN112758201B - Gate maintenance robot for hydraulic engineering - Google Patents
Gate maintenance robot for hydraulic engineering Download PDFInfo
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- CN112758201B CN112758201B CN202110179238.5A CN202110179238A CN112758201B CN 112758201 B CN112758201 B CN 112758201B CN 202110179238 A CN202110179238 A CN 202110179238A CN 112758201 B CN112758201 B CN 112758201B
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- chassis
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- fixedly arranged
- motor
- repairing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C73/00—Repairing of articles made from plastics or substances in a plastic state, e.g. of articles shaped or produced by using techniques covered by this subclass or subclass B29D
- B29C73/02—Repairing of articles made from plastics or substances in a plastic state, e.g. of articles shaped or produced by using techniques covered by this subclass or subclass B29D using liquid or paste-like material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
Abstract
The invention discloses a gate maintenance robot for hydraulic engineering, which relates to the field of hydraulic engineering.A technical scheme is that the gate maintenance robot comprises a chassis, wherein magnetic adsorption tracks for the chassis to walk in a water channel are arranged on two sides of the chassis, and a repairing device for repairing a rubber water seal is fixedly arranged on one side of the chassis; the repairing device comprises a guide rail fixedly connected with the chassis, the guide rail is in sliding connection with two sliding blocks, each sliding block is fixedly provided with a support, the two supports are respectively provided with an adjusting mechanism used for switching different repairing tools, and the two adjusting mechanisms are arranged oppositely. The invention has the beneficial effects that: manpower and material resources are saved, the repairing process is simplified, and the repairing efficiency is improved; simple structure, convenient to use is convenient for repair the lateral wall rubber water seal of ditch.
Description
Technical Field
The invention relates to the field of hydraulic engineering, in particular to a gate maintenance robot for hydraulic engineering.
Background
In order to ensure the operation safety of the gate and ensure the water storage and supply capacity of the reservoir, the metal gate equipment needs to be maintained on time, and the main inspection direction is as follows: the defect condition of a gate body, the abrasion condition of a supporting travelling mechanism, the abrasion condition of a water stopping device and the abrasion condition of an embedded part; the water stopping devices of the gate all adopt rubber water seals, and the rubber water seals are aged for a long time, lose elasticity and are seriously abraded, so that new rubber water seals are required to be replaced; the rubber water seal is partially torn due to poor installation of the water seal embedded part, the water seal embedded part is improved, the damaged part is cut off, and a new water seal with the same specification and size is replaced.
The repair to the water seal is all accomplished through the manual work now, and the repair process is loaded down with trivial details, needs a large amount of repair tools, and needs a large amount of manpower and materials, and the manual work is comparatively difficult to the water seal repair on the ditch lateral wall in addition, needs a large amount of equipment to assist the repair, and the repair process is wasted time and energy.
Disclosure of Invention
Aiming at the technical problem, the invention provides a gate overhaul robot for hydraulic engineering.
The technical scheme is that the device comprises a chassis, wherein magnetic adsorption tracks for the chassis to walk in a water channel are arranged on two sides of the chassis, and a repairing device for repairing a rubber water seal is fixedly arranged on one side of the chassis;
the repairing device comprises a guide rail fixedly connected with the chassis, the guide rail is in sliding connection with two sliding blocks, each sliding block is fixedly provided with a support, the two supports are respectively provided with an adjusting mechanism for switching repairing tools, and the two adjusting mechanisms are arranged oppositely.
Preferably, the middle part of the guide rail is horizontally provided with a double-end screw rod, and threads at two ends of the double-end screw rod are respectively in threaded connection with one sliding block;
the double-end lead screw is linked with the lead screw motor, a driving gear is fixedly arranged on a motor shaft of the lead screw motor, a driven gear is fixedly arranged at one end of the double-end lead screw, and the driving gear is meshed with the driven gear.
Preferably, the adjusting mechanism comprises an adjusting frame fixedly connected with the support, chain wheels are respectively rotatably arranged at two ends of the adjusting frame, a chain is slidably arranged on the outer side of the adjusting frame, and the chain wheels drive the chain to slide along the adjusting frame;
a plurality of fixed blocks are arranged on the outer side of the chain in an array mode, each fixed block is fixedly connected with one chain link of the chain, a rotary hole is formed in the middle of each fixed block, and a switching piece is connected into each rotary hole;
the repairing tool comprises a cutting unit, a trimming unit, a clamping unit and a pressing unit which are fixedly arranged on the adapter piece, wherein the cutting unit, the trimming unit, the clamping unit and the pressing unit are respectively and fixedly connected with one adapter piece;
the adjusting frame is fixedly provided with a chain wheel motor, and a motor shaft of the chain wheel motor is coaxially and fixedly arranged with one of the chain wheels.
Preferably, the cutting unit comprises cutters fixedly connected with the adaptor, an included angle between each cutter and the horizontal plane is 30-60 degrees, the two cutters are arranged in opposite directions, and cutting edges of the two cutters are arranged away from the chassis.
Preferably, the trimming unit comprises a bottom frame fixedly connected with the adaptor, an inclined slide rail is arranged on the bottom frame, the inclination angle of the slide rail is consistent with that of the cutter, sand paper is connected to the outer side of the slide rail in a sliding manner, and the sand paper trimming unit further comprises a sand paper motor for driving the sand paper to rotate;
the rubber box is fixedly arranged on the bottom frame, a rubber pipe is arranged on one side, facing the bottom frame, of the rubber box, the rubber pipe extends to one side of the sliding rail, a plurality of rubber dripping holes are formed in the rubber pipe in an array mode, and a flow switch is arranged on the rubber pipe.
Preferably, the clamping unit comprises an electrically powered clamping jaw fixedly arranged on the adaptor.
Preferably, the compressing unit comprises a compressing seat fixedly arranged on the adapter, a sliding hole is formed in the middle of the compressing seat, a driving motor is fixedly arranged at the upper end of the compressing seat, a driving wheel is coaxially and fixedly arranged on a motor shaft of the driving motor, a guide rod is arranged on one side of the driving wheel, which deviates from the driving motor, the driving wheel is an eccentric wheel, one end of a connecting rod is rotatably connected to the guide rod, the other end of the connecting rod is rotatably connected with a pressing block, and the pressing block is slidably connected with the sliding hole.
Preferably, the adaptor includes with the pivot of changeing the hole rotation and being connected, the fixed mounting block that sets up the rectangle of one end of pivot, the upper surface of mounting block sets up the pinhole, the pinhole with the axis of pivot is perpendicular in the projection of vertical direction.
Preferably, the lower side of the adjusting frame is fixedly provided with an electromagnetic pin, the electromagnetic pin is positioned on one side departing from the support, a pin shaft of the electromagnetic pin corresponds to the pin hole, and the pin shaft of the electromagnetic pin is inserted into the pin hole after extending out.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: manpower and material resources are saved, the repairing process is simplified, and the repairing efficiency is improved; simple structure, convenient to use is convenient for repair the lateral wall rubber water seal of ditch.
Drawings
Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a repairing apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an adjusting mechanism according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a trimming unit according to an embodiment of the invention.
FIG. 5 is a schematic structural diagram of a pressing unit according to an embodiment of the present invention
Wherein the reference numerals are: 1. a chassis; 2. a magnetic adsorption crawler belt; 3. a repair device; 3-1, a guide rail; 3-2, a sliding block; 3-3, a bracket; 3-4, a double-end screw rod; 4. an adjustment mechanism; 4-1, adjusting frames; 4-3, a chain; 4-4, fixing blocks; 4-5, an adapter; 4-6, pin holes; 4-7, electromagnetic pins; 5. a cutting unit; 5-1, cutting; 6. a trimming unit; 6-1, a bottom frame; 6-2, sliding rails; 6-3, sand paper; 6-4, glue box; 6-5, pipelines; 7. a clamping unit; 7-1, electric clamping jaws; 8. A pressing unit; 8-1, pressing a seat; 8-2, briquetting; 8-3, connecting rod; 8-4, driving wheels.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting.
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be construed broadly, e.g. as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
Example 1
Referring to fig. 1 to 5, the invention provides a gate maintenance robot for hydraulic engineering, which comprises a chassis 1, wherein magnetic adsorption crawler belts 2 for the chassis 1 to travel in a water channel are arranged on two sides of the chassis 1, and a repairing device 3 for repairing a rubber water seal is fixedly arranged on one side of the chassis 1; the magnetic adsorption crawler 2 can move on the side wall of the gate canal, so that the application range of the device is enlarged;
the repairing device 3 comprises a guide rail 3-1 fixedly connected with the chassis 1, the guide rail 3-1 is connected with two sliding blocks 3-2 in a sliding manner, each sliding block 3-2 is fixedly provided with a support 3-3, the two supports 3-3 are respectively provided with an adjusting mechanism 4 for switching repairing tools, and the two adjusting mechanisms 4 are arranged oppositely.
The middle part of the guide rail 3-1 is horizontally provided with a double-end screw rod 3-4, and the threads at the two ends of the double-end screw rod 3-4 are respectively connected with a sliding block 3-2 in a threaded manner;
the double-end screw rod 3-4 is linked with a screw rod motor, a driving gear is fixedly arranged on a motor shaft of the screw rod motor, a driven gear is fixedly arranged at one end of the double-end screw rod 3-4, and the driving gear is meshed with the driven gear.
The double-end screw rod 3-4 is driven to rotate by the screw rod motor, so that the two slide blocks 3-2 are driven to move oppositely, the distance between the two adjusting mechanisms 4 is adjusted by the slide blocks 3-2, and the adjustment of the repairing length is realized.
The adjusting mechanism 4 comprises an adjusting frame 4-1 fixedly connected with the support 3-3, chain wheels are respectively rotatably arranged at two ends of the adjusting frame 4-1, a chain 4-3 is arranged outside the adjusting frame 4-1 in a sliding manner, and the chain wheels drive the chain 4-3 to slide along the adjusting frame 4-1;
a plurality of fixing blocks 4-4 are arranged on the outer side of the chain 4-3 in an array mode, each fixing block 4-4 is fixedly connected with one chain link of the chain, a rotary hole is formed in the middle of each fixing block 4-4, and an adapter 4-5 is connected into each rotary hole;
the repairing tool comprises a cutting unit 5, a trimming unit 6, a clamping unit 7 and a pressing unit 8 which are fixedly arranged on the adaptor 4-5, wherein the cutting unit 5, the trimming unit 6, the clamping unit 7 and the pressing unit 8 are respectively and fixedly connected with one adaptor 4-5;
a chain wheel motor is fixedly arranged on the adjusting frame 4-1, and a motor shaft of the chain wheel motor is coaxially and fixedly arranged with one chain wheel.
The chain wheel is driven by the chain wheel motor to rotate, so that the chain 4-3 is driven to rotate, the lowest end of the adjusting frame 4-1 is a working position, the rest positions are idle positions, different mechanisms enter the working positions through the rotation of the chain 4-3, and the treatment of the rubber water seal is realized.
The cutting unit 5 comprises cutters 5-1 fixedly connected with the adaptor 4-5, the included angle between the cutters 5-1 and the horizontal plane is 30-60 degrees, the two cutters 5-1 are arranged oppositely, and the cutting edges of the two cutters 5-1 are arranged opposite to the chassis 1.
The chassis 1 drives the cutter 5-1 to move, so that the cutter 5-1 cuts off the rubber water seal, the inclined cutter 5-1 cuts the rubber water seal into an inclined plane, and the contact area of the new rubber water seal and the old rubber water seal is increased.
The trimming unit 6 comprises an underframe 6-1 fixedly connected with the adaptor 4-5, an inclined slide rail 6-2 is arranged on the underframe 6-1, the inclination angle of the slide rail 6-2 is consistent with that of the cutter 5-1, the outer side of the slide rail 6-2 is connected with an abrasive paper 6-3 in a sliding manner, and the trimming unit also comprises an abrasive paper motor for driving the abrasive paper 6-3 to rotate;
the chassis 6-1 is fixedly provided with a rubber box 6-4, one side of the rubber box 6-4 facing the chassis 1 is provided with a rubber tube 6-5, the rubber tube 6-5 extends to one side of the slide rail 6-2, the rubber tube 6-5 is provided with a plurality of rubber dripping holes in an array mode, and the rubber tube 6-5 is provided with a flow switch.
The abrasive paper 6-3 is driven by the abrasive paper 6-3 motor to rotate along the sliding rail 6-2, the inclined joint part is trimmed, the contact area of the new and old rubber water seals is increased, the chassis 1 is trimmed while moving forwards, the whole joint part is trimmed, when the rubber tube 6-5 is positioned above the rubber water seals, the flow switch is opened, so that rubber adhesive in the rubber box 6-4 drips on the trimming surface through the glue dripping holes in the rubber tube 6-5, and the new and old rubber water seals are bonded through the rubber adhesive.
The clamping unit 7 comprises an electrically powered clamping jaw 7-1 fixedly arranged on the adapter 4-5.
The distance between the two adjusting mechanisms 4 is adjusted according to the damage degree of the old rubber water seal in advance, a new rubber water seal is cut according to the length needed on site, then the new rubber seal is clamped through the two electric clamping jaws 7-1, after the clamping mechanisms reach the working position, the new rubber seal is positioned above the cut rubber seal, the electric clamping jaws 7-1 are loosened, the new rubber seal falls on the old rubber seal, and the inclined planes at the two ends of the new rubber water seal and the inclined planes at the two ends of the old rubber water seal are adhered together through a rubber adhesive.
The pressing unit 8 comprises a pressing seat 8-1 fixedly arranged with the adapter 4-5, a sliding hole is formed in the middle of the pressing seat 8-1, a driving motor is fixedly arranged at the upper end of the pressing seat 8-1, a driving wheel 8-4 is coaxially and fixedly arranged on a motor shaft of the driving motor, a guide rod is arranged on one side, away from the driving motor, of the driving wheel 8-4, the driving wheel 8-4 is an eccentric wheel, one end of a connecting rod 8-3 is rotatably connected onto the guide rod, the other end of the connecting rod 8-3 is rotatably connected with a pressing block 8-2, and the pressing block 8-2 is slidably connected with the sliding hole.
The driving wheel 8-4 is driven to rotate through the driving motor, so that the pressing plate is driven to axially move along the slide hole, the pressing block 8-2 which reciprocates realizes the pressing of the new and old rubber water seals, and the adhesion degree of the new and old rubber water seals is increased.
The adaptor 4-5 comprises a rotating shaft rotatably connected with the rotating hole, a rectangular mounting block is fixedly arranged at one end of the rotating shaft, a pin hole 4-6 is formed in the upper surface of the mounting block, and the pin hole 4-6 is perpendicular to the projection of the axis of the rotating shaft in the vertical direction.
Through the rotation of the rotating shaft in the rotating hole, each mechanism is kept in a vertical state according to the gravity of the mechanism, different mechanisms can be fixed through the mounting blocks respectively, the mounting is convenient and fast, and the universality is high.
An electromagnetic pin 4-7 is fixedly arranged on the lower side of the adjusting frame 4-1, the electromagnetic pin 4-7 is positioned on one side departing from the support 3-3, a pin shaft of the electromagnetic pin 4-7 corresponds to the pin hole 4-6, and the pin shaft of the electromagnetic pin 4-7 is inserted into the pin hole 4-6 after extending out.
When the chain 4-3 rotates to the working position, the electromagnetic pin 4-7 works, and the pin shaft extends out and is inserted into the pin hole 4-6, so that the positions of different mechanisms are kept fixed in the working process, and the displacement of the mechanisms is avoided in the working process.
The lower end of the adjusting frame 4-1 is provided with a position sensor, the sensing end of the position sensor is arranged towards the working position, and the position sensor and the chain motor form an electric control loop. The chain motor is controlled by the position sensor, so that one working unit is positioned at the working position each time.
When the device is used, the distance between two adjusting mechanisms 4 is adjusted in advance according to the damage degree of an old rubber water seal, a new rubber water seal is cut according to the length required to be used on site, then the new rubber seal is clamped by two electric clamping jaws 7-1, then the magnetic adsorption crawler 2 is driven to reach the area required to be repaired for the rubber water seal, the magnetic adsorption crawler 2 is perpendicular to the rubber water seal, the chain wheel motor is started to drive the chain wheel to rotate, so as to drive the chain 4-3 to slide along the adjusting frame 4-1, the cutting unit 5 is driven to reach the working position, after the position sensor senses that the cutting unit 5 reaches the working position, the electromagnetic pin 4-7 works, the pin shaft extends out of the pin hole 4-6 of the adapter 4-5, so that the cutting unit 5 is fixed, the magnetic adsorption crawler 2 is driven to travel by the traveling motor, the old rubber water seal is cut off, the cut-off old rubber water seal is arranged on the cutter 5-1, then the adjusting mechanism 4 works to drive the trimming unit 6 to reach the working position, the cut inclined plane of the rubber water seal is trimmed and coated with a rubber adhesive in a dripping mode, the adjusting mechanism 4 drives the clamping unit 7 to reach the working position, the electric clamping jaw 7-1 is opened, the new rubber water seal drops in the cut area, then the adjusting mechanism 4 drives the pressing unit 8 to reach the working position, the driving motor is started to drive the pressing block 8-2 to axially reciprocate along the sliding hole, the lower surface of the pressing block continuously realizes beating and pressing of the joint of the new rubber water seal and the old rubber water seal, contact of the new rubber water seal and the old rubber water seal is increased, the using effect of the rubber adhesive is improved, the new rubber water seal and the old rubber water seal are firmly pasted together, and therefore repairing of the rubber water seal is achieved.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A gate maintenance robot for hydraulic engineering is characterized by comprising a chassis (1), wherein magnetic adsorption tracks (2) for enabling the chassis (1) to walk in a water channel are arranged on two sides of the chassis (1), and a repairing device (3) for repairing a rubber water seal is fixedly arranged on one side of the chassis (1);
the repairing device (3) comprises a guide rail (3-1) fixedly connected with the chassis (1), the guide rail (3-1) is connected with two sliding blocks (3-2) in a sliding mode, each sliding block (3-2) is fixedly provided with a support (3-3), the two supports (3-3) are respectively provided with an adjusting mechanism (4) used for switching repairing tools, and the two adjusting mechanisms (4) are arranged oppositely;
the middle part of the guide rail (3-1) is horizontally provided with a double-end screw rod (3-4), and threads at two ends of the double-end screw rod (3-4) are respectively connected with one sliding block (3-2) in a threaded manner;
the double-end screw rod (3-4) is linked with a screw rod motor, a driving gear is fixedly arranged on a motor shaft of the screw rod motor, a driven gear is fixedly arranged at one end of the double-end screw rod (3-4), and the driving gear is meshed with the driven gear;
the adjusting mechanism (4) comprises an adjusting frame (4-1) fixedly connected with the support (3-3), chain wheels are respectively rotatably arranged at two ends of the adjusting frame (4-1), a chain (4-3) is arranged on the outer side of the adjusting frame (4-1) in a sliding manner, and the chain wheels drive the chain (4-3) to slide along the adjusting frame (4-1);
a plurality of fixing blocks (4-4) are arranged on the outer side of the chain (4-3) in an array mode, each fixing block (4-4) is fixedly connected with one chain link of the chain, a rotary hole is formed in the middle of each fixing block (4-4), and a switching piece (4-5) is connected into each rotary hole;
the repairing tool comprises a cutting unit (5), a trimming unit (6), a clamping unit (7) and a pressing unit (8) which are fixedly arranged on the adaptor (4-5), wherein the cutting unit (5), the trimming unit (6), the clamping unit (7) and the pressing unit (8) are respectively and fixedly connected with one adaptor (4-5);
a chain wheel motor is fixedly arranged on the adjusting frame (4-1), and a motor shaft of the chain wheel motor is coaxially and fixedly arranged with one of the chain wheels;
the adapter (4-5) comprises a rotating shaft rotationally connected with the rotating hole, a rectangular mounting block is fixedly arranged at one end of the rotating shaft, a pin hole (4-6) is formed in the upper surface of the mounting block, and the pin hole (4-6) is perpendicular to the projection of the axis of the rotating shaft in the vertical direction;
the lower side of the adjusting frame (4-1) is fixedly provided with an electromagnetic pin (4-7), the electromagnetic pin (4-7) is located on one side departing from the support (3-3), a pin shaft of the electromagnetic pin (4-7) corresponds to the pin hole (4-6), and the pin shaft of the electromagnetic pin (4-7) is inserted into the pin hole (4-6) after extending out.
2. The gate maintenance robot for the hydraulic engineering according to claim 1, wherein the cutting unit (5) comprises a cutter (5-1) fixedly connected with the adaptor (4-5), an included angle between the cutter (5-1) and a horizontal plane is 30-60 degrees, the two cutters (5-1) are arranged in an opposite mode, and cutting edges of the two cutters (5-1) are arranged to be deviated from the chassis (1).
3. The gate maintenance robot for the hydraulic engineering according to claim 2, wherein the trimming unit (6) comprises a base frame (6-1) fixedly connected with the adaptor (4-5), an inclined slide rail (6-2) is arranged on the base frame (6-1), the inclination angle of the slide rail (6-2) is consistent with that of the cutter (5-1), sand paper (6-3) is slidably connected to the outer side of the slide rail (6-2), and a sand paper motor for driving the sand paper (6-3) to rotate is further included;
the rubber box is characterized in that a rubber box (6-4) is fixedly arranged on the bottom frame (6-1), a rubber pipe (6-5) is arranged on one side, facing the bottom frame (1), of the rubber box (6-4), the rubber pipe (6-5) extends to one side of the sliding rail (6-2), a plurality of rubber dripping holes are formed in the rubber pipe (6-5) in an array mode, and a flow switch is arranged on the rubber pipe (6-5).
4. The gate overhaul robot for the hydraulic engineering according to claim 1, wherein the clamping unit (7) comprises an electric clamping jaw (7-1) fixedly arranged on the adaptor (4-5).
5. The gate overhaul robot for the water conservancy project according to claim 1, the pressing unit (8) comprises a pressing seat (8-1) fixedly arranged with the adaptor (4-5), a sliding hole is arranged in the middle of the pressing seat (8-1), a driving motor is fixedly arranged at the upper end of the pressing seat (8-1), a motor shaft of the driving motor is coaxially and fixedly provided with a driving wheel (8-4), one side of the driving wheel (8-4) departing from the driving motor is provided with a guide rod, the driving wheel (8-4) is an eccentric wheel, the guide rod is rotatably connected with one end of a connecting rod (8-3), the other end of the connecting rod (8-3) is rotatably connected with a pressing block (8-2), and the pressing block (8-2) is connected with the sliding hole in a sliding mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110179238.5A CN112758201B (en) | 2021-02-07 | 2021-02-07 | Gate maintenance robot for hydraulic engineering |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110179238.5A CN112758201B (en) | 2021-02-07 | 2021-02-07 | Gate maintenance robot for hydraulic engineering |
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| CN112758201A CN112758201A (en) | 2021-05-07 |
| CN112758201B true CN112758201B (en) | 2021-08-24 |
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| CN202110179238.5A Active CN112758201B (en) | 2021-02-07 | 2021-02-07 | Gate maintenance robot for hydraulic engineering |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450925A (en) * | 2019-07-23 | 2019-11-15 | 河海大学 | A kind of multi-functional manned underwater vehicle for key water control project |
| CN212114551U (en) * | 2020-05-22 | 2020-12-08 | 绍兴建元电力集团有限公司大兴电力承装分公司 | High-voltage overhead ground wire repairing robot |
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|---|---|---|---|---|
| US7039485B2 (en) * | 2004-03-12 | 2006-05-02 | The Boeing Company | Systems and methods enabling automated return to and/or repair of defects with a material placement machine |
| CN202295263U (en) * | 2011-10-20 | 2012-07-04 | 河海大学 | Miniature underwater detection robot |
| CN107150117B (en) * | 2017-07-19 | 2018-06-19 | 安徽理工大学 | Multi-arm type suspended rail formula casting cleaning machine people |
| CN110235692B (en) * | 2019-06-28 | 2021-07-27 | 义乌市倩飞科技有限公司 | Intelligent bark repairing robot |
| CN110682372A (en) * | 2019-10-29 | 2020-01-14 | 安吉孝丰名远竹木机械厂 | Automatic bamboo tube feeding and slicing device |
| CN111846145A (en) * | 2020-05-11 | 2020-10-30 | 东南大学 | Marine equipment with self-repairing and underwater facility repairing functions and method |
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2021
- 2021-02-07 CN CN202110179238.5A patent/CN112758201B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450925A (en) * | 2019-07-23 | 2019-11-15 | 河海大学 | A kind of multi-functional manned underwater vehicle for key water control project |
| CN212114551U (en) * | 2020-05-22 | 2020-12-08 | 绍兴建元电力集团有限公司大兴电力承装分公司 | High-voltage overhead ground wire repairing robot |
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