CN115092375A - Multifunctional propelling mechanism of underwater inspection robot for cable pipe gallery - Google Patents
Multifunctional propelling mechanism of underwater inspection robot for cable pipe gallery Download PDFInfo
- Publication number
- CN115092375A CN115092375A CN202210825012.2A CN202210825012A CN115092375A CN 115092375 A CN115092375 A CN 115092375A CN 202210825012 A CN202210825012 A CN 202210825012A CN 115092375 A CN115092375 A CN 115092375A
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- shell
- clamping
- joint
- clamping shell
- underwater inspection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a multifunctional propelling mechanism of a cable pipe gallery underwater inspection robot, belonging to the technical field of pipe gallery underwater inspection robots, comprising a propeller body, wherein the bottom of the propeller body is provided with a clamping shell, the bottom of the clamping shell is provided with a mounting seat, the top of the mounting seat is provided with a mounting groove, the two ends inside the mounting groove are provided with clamping grooves, the two ends of the bottom of the clamping shell are provided with connecting blocks, a clamping plate is fixedly welded on the outer side of the bottom end of each connecting block, the opposite sides of the tops of the two connecting blocks are provided with racks, the two racks are arranged inside the clamping shell in a staggered manner, the middle end inside the clamping shell is provided with a servo motor, the output shaft end of the servo motor is fixedly provided with a transmission shaft, the two ends of the transmission shaft are respectively provided with two transmission gears, and the clamping shell and the mounting seat are adopted for clamping connection, so that the propeller body at the top of the clamping shell can be conveniently installed and detached, thereby reach the purpose of the dismouting of being convenient for to maintain or change the propeller body, improved the convenience greatly.
Description
Technical Field
The invention belongs to the technical field of underwater inspection robots for pipe galleries, and particularly relates to a multifunctional propulsion mechanism for an underwater inspection robot for a cable pipe gallery.
Background
Cable trenches are an important part of the urban distribution network during power transmission, and are located below the ground for storing various power cables. The device plays a leading role in the power transmission process, and if a cable or a cable duct has an accident, the fault detection difficulty is high, and even the control equipment can be damaged. Fire or even explosion caused by cable trench failure can also have serious consequences. In addition, power failure caused by faults can affect industrial production and life of people.
At present, 95 percent of power cables are cross-linked polyethylene cables, if the cross-linked polyethylene cables are soaked in water for a long time, the water tree aging of the cables can be accelerated, and the corrosion of water on armor layers and copper shielding layers of the cables is serious, so that the influence of accumulated water, particularly sewage, on the operation of the cables is important. In order to solve the problem, on one hand, a drainage device needs to be installed as soon as possible, and on the other hand, on-site detection and inspection needs to be carried out when accumulated water is found. However, due to the fact that the environment is complex, discharging is likely to happen under the water accumulation state, and patrolling personnel can go into the ditch with certain danger.
At present, the robot is patrolled and examined under water to current, adopt screw propulsion equipment to come for it provides power mostly, and the screw is mostly fixed in the robot outside of patrolling and examining through installation screw or welded mode, when needs overhaul propulsion equipment or change, lead to very troublesome in the process of dismantling and installing, this makes when propulsion equipment breaks down, be difficult to overhaul it, the maintenance degree of difficulty has been improved greatly, the cost of maintenance has been increased simultaneously, we propose a multi-functional advancing mechanism of robot is patrolled and examined under water to cable management corridor for this reason.
Disclosure of Invention
The invention aims to provide a multifunctional propulsion mechanism of an underwater inspection robot for a cable pipe gallery, which aims to solve the problems that most of existing underwater inspection robots in the background art adopt propeller propulsion equipment to provide power for the existing underwater inspection robots, most propellers are fixed on the outer sides of the inspection robots in a screw mounting or welding mode, when the propulsion equipment needs to be overhauled or replaced, the dismounting and mounting processes are very troublesome, the propulsion equipment is difficult to overhaul when in failure, the maintenance difficulty is greatly improved, and the maintenance cost is increased.
In order to achieve the purpose, the invention provides the following technical scheme: a multifunctional propulsion mechanism of an underwater inspection robot for a cable duct gallery comprises a propeller body, a mounting seat and an electric suction plate, wherein a clamping shell is arranged at the bottom of the propeller body, the top of the clamping shell is fixedly arranged at the bottom of the outer side of the propeller body in a welding mode, the mounting seat is arranged on the outer side of the bottom of the clamping shell, thread blocks are arranged on the periphery of the bottom of the outer side of the mounting seat, a mounting groove is formed in the top of the mounting seat, clamping grooves are formed in two ends of the inner portion of the mounting groove, connecting blocks are arranged at two ends of the bottom of the clamping shell and are in sliding connection with a bottom shell of the clamping shell, a clamping plate is fixedly welded on the outer side of the bottom of each connecting block, the top of each connecting block extends to the inner portion of the clamping shell, racks are arranged on opposite sides of the tops of the two connecting blocks, the racks are fixedly connected with the connecting blocks in a welding mode, the two racks are arranged in the clamping shell in a staggered mode, and a servo motor is arranged at the middle end of the inner portion of the clamping shell, the servo motor is fixedly arranged inside the clamping shell through a mounting screw, a transmission shaft is fixedly arranged at the output end of the servo motor, one end of the transmission shaft is movably connected with the inner wall of the clamping shell through a bearing arranged on the transmission shaft, two transmission gears are arranged at two ends of the transmission shaft respectively, and the two transmission gears are meshed with the two racks respectively.
Preferably, the junction of connecting block and cardboard is equipped with sealed the pad, and the cardboard is kept away from the one end that sealed pad and is equipped with the electric suction plate, and the inside inner wall surface in joint groove is equipped with the metal block, the inside of cardboard through the fixed joint of electric suction plate and the metal block that are equipped with and joint groove.
Preferably, the periphery bottom of joint shell is equipped with sealed arch, and sealed arch passes through welded mode and joint shell fixed connection, and sealed bellied bottom also is equipped with sealed the pad.
Preferably, the both sides of drive gear all are equipped with spacing lagging, and spacing lagging passes through the fixed inside that sets up in the joint shell of welded mode, and the top and the bottom of two spacing lagging all are equipped with the through-hole, and two racks pass the top or the bottom through-hole of spacing lagging respectively and with spacing lagging sliding connection.
Preferably, the top through hole of spacing lagging all is equipped with first spacing groove with the both sides of bottom through hole, and the both sides of both sides rack all are equipped with first stopper, and the rack is through first spacing groove and the first stopper and the spacing lagging sliding connection who is equipped with.
Preferably, the top both sides of connecting block are equipped with the second stopper, and the bottom casing of joint shell all is equipped with the second spacing groove with the junction both sides of connecting block, and the connecting block is through second spacing groove and second stopper and the joint shell sliding connection who is equipped with.
Preferably, a storage battery is arranged at the top end inside the clamping shell, and the storage battery is fixedly installed inside the clamping shell through a battery seat arranged on the storage battery.
Compared with the prior art, the invention has the beneficial effects that:
1. rotation through control servo motor drives the rotation of transmission shaft, make two drive gear of its drive rotate, because the meshing is connected between rack and the drive gear, make when drive gear rotates, it produces the displacement to drive the rack, thereby it removes to drive two connecting blocks, make it when the joint, can go into the inside joint groove of mount pad with the cardboard card, thereby realize the purpose of joint between joint shell and the mount pad, carry out the antiport through control servo motor, make two connecting blocks be close to each other, thereby reach the purpose of contact joint, with this the propeller body of convenient pair joint shell top is installed and is dismantled, thereby reach the purpose of the dismouting of being convenient for, in order to maintain or change the propeller body, the convenience is greatly improved.
2. Through electric suction plate and the metal block that is equipped with, realize fixing the cardboard, make it can carry out the joint back with the joint groove, can remain stable to improve the stability of being connected between joint shell and the mount pad, through the sealed pad that is equipped with, under the joint state, seal the joint groove, prevent when the operation under water, water enters into the inside in joint groove, causes the influence to the electric suction plate.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the mounting base of the present invention;
FIG. 3 is a schematic view of the internal structure of the locking slot of the present invention;
FIG. 4 is a schematic bottom view of the present invention;
FIG. 5 is a schematic view of the internal cross-sectional structure of the card housing of the present invention;
FIG. 6 is a schematic view of a clamping assembly of the present invention;
FIG. 7 is a schematic view of a multi-angle structure of the clamping assembly of the present invention.
In the figure: 1. a propeller body; 2. clamping the shell; 3. a mounting seat; 4. a thread block; 5. sealing the protrusion; 6. mounting grooves; 7. a clamping groove; 8. a metal block; 9. connecting blocks; 10. clamping a plate; 11. an electric suction plate; 12. a gasket; 13. a rack; 14. a transmission gear; 15. a drive shaft; 16. a servo motor; 17. a first stopper; 18. a limiting sleeve plate; 19. a first limit groove; 20. a storage battery; 21. a second limit groove; 22. and a second limiting block.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1-5, the invention provides a technical scheme of a multifunctional propulsion mechanism of a cable pipe gallery underwater inspection robot, which comprises the following steps: including propeller body (1), mount pad 3 and electric suction plate 11, the bottom of propeller body (1) is equipped with joint shell (2), the top of joint shell (2) is fixed in the outside bottom of propeller body (1) through the welded mode, the bottom outside of joint shell (2) is equipped with mount pad (3), be equipped with thread block (4) around the outside bottom of mount pad (3), mounting groove (6) have been seted up at the top of mount pad (3), joint groove (7) have all been seted up at the inside both ends of mounting groove (6), the bottom both ends of joint shell (2) are equipped with connecting block (9), connecting block (9) and the bottom casing sliding connection of joint shell (2), the fixed welding of the bottom outside of connecting block (9) has cardboard (10), the top of connecting block (9) extends to the inside of joint shell (2), the top opposite side of two connecting blocks (9) all is equipped with rack (13), rack (13) are through welded mode and connecting block (9) fixed connection, two rack (13) are crisscross to be set up in the inside of joint shell (2), the inside middle-end of joint shell (2) is equipped with servo motor (16), servo motor (16) are through installation screw fixed mounting in the inside of joint shell (2), the output shaft end of servo motor (16) is fixed and is equipped with transmission shaft (15), the inner wall swing joint of the one end of transmission shaft (15) through the bearing that is equipped with and joint shell (2), the both ends of transmission shaft (15) are equipped with two drive gear (14) respectively, two drive gear (14) are connected with two rack (13) meshing respectively.
In this embodiment, the rotation of the transmission shaft 15 is driven by controlling the rotation of the servo motor 16, so that the transmission shaft drives the two transmission gears 14 to rotate, due to the meshing connection between the rack 13 and the transmission gear 14, when the transmission gear 14 rotates, the rack 13 is driven to generate displacement, thereby driving the two connecting blocks 9 to move, when the connecting blocks are clamped, the clamping plate 10 can be clamped into the clamping groove 7 in the mounting base 3, thereby realizing the purpose of clamping between the clamping shell 2 and the mounting seat 3, leading the two connecting blocks 9 to be close to each other by controlling the servo motor 16 to rotate reversely, thereby achieving the purpose of contact clamping, facilitating the installation and the disassembly of the propeller body 1 at the top of the clamping shell 2, thereby reach the purpose of the dismouting of being convenient for to maintain or change propeller body 1, improved the convenience greatly.
Specifically, the junction of connecting block (9) and cardboard (10) is equipped with sealed pad (12), and the one end that sealed pad (12) were kept away from in cardboard (10) is equipped with electric suction plate (11), and the inside inner wall surface of joint groove (7) is equipped with metal block (8), and inside of cardboard (10) through electric suction plate (11) and metal block (8) fixed joint and joint groove (7) that are equipped with.
In this embodiment, through electric suction plate 11 and the metal block 8 that are equipped with, realize fixing cardboard 10, make it can carry out the joint back with joint groove 7, can remain stable to improve the stability of being connected between joint shell 2 and the mount pad 3, through the sealed pad 12 that is equipped with, under the joint state, seal joint groove 7, prevent when the operation under water, water enters into the inside in joint groove 7, cause the influence to electric suction plate 11.
Specifically, the periphery bottom of joint shell (2) is equipped with sealed arch (5), and sealed arch (5) are through welded mode and joint shell (2) fixed connection, and the bottom of sealed arch (5) also is equipped with sealed pad (12).
In this embodiment, through the sealed arch 5 that is equipped with, realize sealing up the sealed opening part of mounting groove 6, avoid water to get into the inside of mounting groove 6 to pile up inside it, thereby get into the inside of joint groove 7, influence the normal operating of electric suction plate 11.
Specifically, both sides of the transmission gear (14) are provided with limiting sleeve plates (18), the limiting sleeve plates (18) are fixedly arranged inside the clamping shell (2) in a welding mode, through holes are formed in the top ends and the bottom ends of the two limiting sleeve plates (18), and the two racks (13) penetrate through the top ends or the bottom through holes of the limiting sleeve plates (18) respectively and are connected with the limiting sleeve plates (18) in a sliding mode.
In this embodiment, through the stop collar board 18 that is equipped with, the through-hole that cooperation bottom and low floor were equipped with guarantees rack 13's steady movement, prevents that rack 13's end from taking place the skew, influences its mobility, guarantees its stationarity at the removal in-process simultaneously.
Specifically, the top through hole of the limiting sleeve plate (18) and the two sides of the bottom through hole are provided with first limiting grooves (19), the two sides of the racks (13) on the two sides are provided with first limiting blocks (17), and the racks (13) are connected with the limiting sleeve plate (18) in a sliding mode through the first limiting grooves (17) and the first limiting blocks (19) which are arranged.
In this embodiment, through first stopper 19 and the first spacing groove 17 that are equipped with, realize spacing to rack 13, prevent that the phenomenon of skew from appearing in the end of rack 13, lead to the condition of latch appearing, improve rack 13's stability.
Specifically, the top both sides of connecting block (9) are equipped with second stopper (22), and the bottom casing of joint shell (2) all is equipped with second spacing groove (21) with the junction both sides of connecting block (9), and connecting block (9) are through second spacing groove (21) and second stopper (22) and joint shell (2) sliding connection who is equipped with.
In this embodiment, through second stopper 22 and the second spacing groove 21 that is equipped with, realize the spacing effect to connecting block 9, prevent that connecting block 9 from appearing the phenomenon that the card pauses at the removal in-process, influencing the joint between joint shell 2 and the mount pad 3.
Specifically, the top end of the inside of the clamping shell (2) is provided with a storage battery (20), and the storage battery (20) is fixedly installed inside the clamping shell (2) through a battery seat.
In this embodiment, through the battery 20 that is equipped with, realize providing electric power to servo motor 16 and propeller body 1, make it can the steady operation, through adopting independent battery 20, avoid propeller body 1 and patrol and examine and carry out electric connection between the robot, improve the portability to the propeller dismouting.
Claims (7)
1. The utility model provides a multi-functional advancing mechanism of cable management corridor robot of patrolling and examining under water, includes propeller body (1), mount pad 3 and electric suction plate 11, its characterized in that: the propeller is characterized in that a clamping shell (2) is arranged at the bottom of the propeller body (1), the top of the clamping shell (2) is fixedly arranged at the bottom of the outer side of the propeller body (1) in a welding mode, an installation seat (3) is arranged on the outer side of the bottom of the clamping shell (2), thread blocks (4) are arranged on the periphery of the bottom of the outer side of the installation seat (3), an installation groove (6) is formed in the top of the installation seat (3), clamping grooves (7) are formed in two inner ends of the installation groove (6), connecting blocks (9) are arranged at two ends of the bottom of the clamping shell (2), the connecting blocks (9) are in sliding connection with a bottom shell of the clamping shell (2), clamping plates (10) are fixedly welded on the outer side of the bottom of the connecting blocks (9), the top of each connecting block (9) extends into the clamping shell (2), racks (13) are arranged on opposite sides of the tops of the two connecting blocks (9), and the racks (13) are fixedly connected with the connecting blocks (9) in a welding mode, two racks (13) are arranged in the clamping shell (2) in a staggered mode, a servo motor (16) is arranged at the middle end of the inner portion of the clamping shell (2), the servo motor (16) is fixedly installed in the clamping shell (2) through an installation screw, a transmission shaft (15) is fixedly arranged at the output end of the servo motor (16), one end of the transmission shaft (15) is movably connected with the inner wall of the clamping shell (2) through a bearing which is arranged on the transmission shaft, two transmission gears (14) are arranged at the two ends of the transmission shaft (15) respectively, and the two transmission gears (14) are connected with the two racks (13) in a meshed mode respectively.
2. The multifunctional propulsion mechanism of the cable pipe rack underwater inspection robot according to claim 1, characterized in that: the joint of connecting block (9) and cardboard (10) is equipped with sealed pad (12), and the one end that sealed pad (12) was kept away from in cardboard (10) is equipped with electric suction plate (11), and the inside inner wall surface of joint groove (7) is equipped with metal block (8), and inside of cardboard (10) through electric suction plate (11) and metal block (8) fixed joint and joint groove (7) that are equipped with.
3. The multifunctional propulsion mechanism of the cable pipe rack underwater inspection robot according to claim 2, characterized in that: the periphery bottom of joint shell (2) is equipped with sealed arch (5), and sealed arch (5) are through welded mode and joint shell (2) fixed connection, and the bottom of sealed arch (5) also is equipped with sealed pad (12).
4. The multifunctional propulsion mechanism of the cable pipe rack underwater inspection robot according to claim 1, characterized in that: both sides of the transmission gear (14) are provided with limiting sleeve plates (18), the limiting sleeve plates (18) are fixedly arranged inside the clamping shell (2) in a welding mode, the top ends and the bottom ends of the two limiting sleeve plates (18) are provided with through holes, and the two racks (13) respectively penetrate through the top ends or the bottom end through holes of the limiting sleeve plates (18) and are connected with the limiting sleeve plates (18) in a sliding mode.
5. The multifunctional propulsion mechanism of the cable pipe rack underwater inspection robot according to claim 4, characterized in that: the top through hole of spacing lagging (18) all is equipped with first spacing groove (19) with the both sides of bottom through hole, and the both sides of both sides rack (13) all are equipped with first stopper (17), and rack (13) are through first spacing groove (17) and first stopper (19) and spacing lagging (18) sliding connection who is equipped with.
6. The multifunctional propulsion mechanism of the cable pipe rack underwater inspection robot according to claim 1, characterized in that: the top both sides of connecting block (9) are equipped with second stopper (22), and the bottom casing of joint shell (2) all is equipped with second spacing groove (21) with the junction both sides of connecting block (9), and second spacing groove (21) and second stopper (22) and joint shell (2) sliding connection that connecting block (9) were through being equipped with.
7. The multifunctional propulsion mechanism of the cable pipe rack underwater inspection robot according to claim 1, characterized in that: the inside top of joint shell (2) is equipped with battery (20), and battery (20) are through the inside of the battery seat fixed mounting who is equipped with in joint shell (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210825012.2A CN115092375A (en) | 2022-07-14 | 2022-07-14 | Multifunctional propelling mechanism of underwater inspection robot for cable pipe gallery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210825012.2A CN115092375A (en) | 2022-07-14 | 2022-07-14 | Multifunctional propelling mechanism of underwater inspection robot for cable pipe gallery |
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| Publication Number | Publication Date |
|---|---|
| CN115092375A true CN115092375A (en) | 2022-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210825012.2A Pending CN115092375A (en) | 2022-07-14 | 2022-07-14 | Multifunctional propelling mechanism of underwater inspection robot for cable pipe gallery |
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| CN (1) | CN115092375A (en) |
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| CN212047843U (en) * | 2020-04-21 | 2020-12-01 | 南通通茂船舶制造有限公司 | Propelling device capable of absorbing water on two sides |
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| CN212448008U (en) * | 2020-02-25 | 2021-02-02 | 邓楚君 | Propulsion unit that sewage treatment used |
| CN213862634U (en) * | 2020-12-24 | 2021-08-03 | 天津市斯卡特科技有限公司 | Fastening type underwater propulsor |
| CN113501121A (en) * | 2021-07-23 | 2021-10-15 | 桂林市玛拉谷电能动力有限公司 | Bamboo raft or marine electric propeller |
| WO2022095000A1 (en) * | 2020-11-08 | 2022-05-12 | 唐山圣因海洋科技有限公司 | Detachable lifting and lowering apparatus for ocean investigation and method therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060243188A1 (en) * | 2005-04-29 | 2006-11-02 | Pradetto James T | Diver propulsion system with separate battery and motor-transmission modules |
| WO2018039994A1 (en) * | 2016-08-31 | 2018-03-08 | 深圳市大疆创新科技有限公司 | Driving device, propeller and power system |
| CN208897295U (en) * | 2018-04-28 | 2019-05-24 | 巨浪创新（深圳）科技有限公司 | A kind of integrated small underwater robot propeller |
| CN211618051U (en) * | 2020-01-03 | 2020-10-02 | 泰州市申泰船业有限公司 | Installation structure of steel marine propeller |
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