CN115107058B - Auxiliary mechanical hand device for identifying cracks of dam slope induced underwater by earthquake - Google Patents
Auxiliary mechanical hand device for identifying cracks of dam slope induced underwater by earthquake Download PDFInfo
- Publication number
- CN115107058B CN115107058B CN202211009214.6A CN202211009214A CN115107058B CN 115107058 B CN115107058 B CN 115107058B CN 202211009214 A CN202211009214 A CN 202211009214A CN 115107058 B CN115107058 B CN 115107058B
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- dam slope
- earthquake
- underwater
- induced
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses an auxiliary mechanical hand device for identifying cracks of an underwater dam slope induced by an earthquake, which comprises a vehicle body, wherein a pull rope is connected in the vehicle body and is wound in a winding device, the winding device is connected to a guide rail in a sliding manner, the guide rail is distributed at the top of the dam slope along the length direction of the dam slope, a mechanical hand is arranged in the vehicle body, and four sucking discs are arranged at the bottom of the vehicle body; compared with the prior art, the underwater vehicle body can reduce the downward pressure in the underwater moving process to enable the underwater vehicle body to move more smoothly, increases the downward pressure in the detection process to enable the underwater vehicle body to be more stable, and can resist the impact of water flow and prevent the underwater vehicle body from deviating under the impact of the water flow due to the fact that the sucker is fixed with the dam slope.
Description
Technical Field
The invention relates to the technical field of building detection equipment in hydraulic engineering, in particular to an auxiliary manipulator device for identifying cracks of an underwater dam slope induced by earthquake.
Background
The method is characterized in that after geological disasters such as earthquake occur, buildings in hydraulic engineering need to be checked, dam slope crack conditions are found in time, safety conditions of engineering are analyzed, and crack diseases of the dam slope in the underwater part are hidden, difficult to find in time and high in detection difficulty. And the existing inspection mostly adopts a manual diving method for detection, so that the working efficiency is low, the labor intensity is high, the detection speed is low, and the structural error is large. In the prior art, the dam slope is detected through equipment capable of walking on the surface of the dam slope, but the detection equipment walks by using the rollers, so that the position of the detection equipment is easy to be influenced by water flow impact underwater, the underwater buoyancy of the detection equipment is difficult to control, the stability of the detection equipment is poor due to overlarge buoyancy, and the detection equipment is difficult to move due to large resistance underwater when the buoyancy is too small.
Therefore, there is a need to provide an auxiliary manipulator device for earthquake-induced crack detection of an underwater dam slope, so as to solve the problems in the background art.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an auxiliary machinery hand device for earthquake-induced dam slope crack discernment under water, includes the automobile body, be connected with the stay cord in the automobile body, the stay cord rolling is to hoisting device, hoisting device slidable ground is connected to in the guide rail, the guide rail distributes at dam slope top along dam slope length direction, be provided with the manipulator in the automobile body, the automobile body bottom is equipped with four sucking discs.
Further, preferably, a plurality of buoys are fixed above the vehicle body, and the pulling rope is connected to a connecting plate fixed between the buoys.
Further, as a preferable mode, a drainage pump capable of supplying and draining water is arranged in the floating barrel, and an air bottle is fixed below the floating barrel.
Further, preferably, two mutually symmetrical blades are arranged on two sides above the vehicle body.
Further, preferably, the suction cup is movably connected with the vehicle body up and down, and a spring is arranged at the joint of the suction cup and the vehicle body.
Further, preferably, a negative pressure pump is arranged in the vehicle body, the negative pressure pump is connected to each suction cup through a hose, and an electromagnetic valve is arranged between each suction cup and the hose.
Furthermore, as preferred, four corners of the vehicle body are provided with rotatable rotating shafts, the rotating shafts penetrate from the interior of the vehicle body to the exterior of the bottom of the vehicle body, one end of each rotating shaft outside the bottom of the vehicle body is fixed with an outer rotating rod, and one end, far away from the rotating shafts, of each outer rotating rod is connected with a corresponding sucker.
Preferably, an inner rotating rod opposite to the outer rotating rod in direction is fixed at one end of the rotating shaft in the vehicle body, two connecting strips are respectively arranged at two sides of the vehicle body, and two inner rotating rods located at the same side of the vehicle body are hinged to the same connecting strip together.
Further, preferably, each connecting strip is connected with the inside of the vehicle body through a telescopic rod, and two ends of each telescopic rod are respectively hinged with the connecting strips and the vehicle body.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the water content in the floating barrel is controlled by the drainage pump, so that the buoyancy of the vehicle body can be controlled, the buoyancy of the vehicle body is reduced in the detection process to improve the stability, the paddle is controlled to further provide downward pressure for the vehicle body, and the vehicle body can be adsorbed on the surface of the dam slope by the sucking disc and the negative pressure pump.
According to the invention, two suckers far away from the moving direction are fixed with the surface of the dam slope, the two suckers facing the moving direction are loosened with the surface of the dam slope, the outer rotating rod on the side is rotated to face the moving direction through the telescopic rod, then the two suckers facing the moving direction adsorb the surface of the dam slope, then the two suckers far away from the moving direction are loosened with the surface of the dam slope, meanwhile, the downward pressure of the vehicle body is reduced through the drainage pump and the paddle, the outer rotating rod is rotated to be far away from the moving direction through the telescopic rod facing the moving direction, at the moment, the vehicle body moves towards the direction due to the fact that the two suckers facing the moving direction are fixed with the dam slope, and the vehicle body can continuously move towards the direction after being sequentially implemented; therefore, the downward pressure of the vehicle body can be reduced in the underwater moving process, the vehicle body can move more smoothly, the downward pressure is increased in the detection process, the vehicle body is more stable, and the sucker is fixed to the dam slope, so that the impact of water flow can be resisted, and the vehicle body is prevented from deviating under the impact action of the water flow.
Drawings
FIG. 1 is a schematic structural diagram of an auxiliary manipulator device for earthquake-induced crack identification of an underwater dam slope;
FIG. 2 is a schematic view of a vehicle body construction;
FIG. 3 is a schematic view of the interior of the vehicle body;
in the figure: 1. a vehicle body; 2. a manipulator; 3. pulling a rope; 4. a guide rail; 5. a hoisting device; 6. a float bowl; 7. a gas cylinder; 8. a connecting plate; 9. a paddle; 10. a suction cup; 11. a spring; 12. an outer rotating rod; 13. a rotating shaft; 14. an inner rotating rod; 15. a connecting strip; 16. a telescopic rod; 17. a negative pressure pump.
Detailed Description
Referring to fig. 1 and 2, in an embodiment of the present invention, an auxiliary manipulator device for identifying cracks in an underwater dam slope induced by an earthquake includes a vehicle body 1, a pull rope 3 is connected in the vehicle body 1, the pull rope 3 is wound in a winding device 5, the winding device 5 is slidably connected in a guide rail 4, the guide rail 4 is distributed at the top of the dam slope along the length direction of the dam slope, a manipulator 2 is arranged in the vehicle body 1, and four suction cups 10 are arranged at the bottom of the vehicle body 1. The manipulator 2 is connected with a detection module, and the position of the vehicle body 1 in the dam slope can be changed by moving, retracting and releasing the winch 5, so that cracks distributed at different positions in the dam slope can be detected through the manipulator 2.
In this embodiment, a plurality of buoys 6 are fixed above the vehicle body 1, and the pull rope 3 is connected to a connection plate 8 fixed between the buoys 6.
In this embodiment, the float 6 is provided with a drainage pump capable of supplying and draining water therein, and an air bottle 7 is fixed below the float 6. That is, when the vehicle body 1 enters the water body, the float 6 is drained or filled with water, so that the vehicle body 1 can be subjected to buoyancy or pressure in the water body, and further the stability of the vehicle body in the water body can be improved or the vehicle body is prevented from being subjected to too much resistance in the water body, so that the vehicle body is inconvenient to rapidly recover.
In this embodiment, two symmetrical blades 9 are disposed on two sides above the vehicle body 1. The two blades 9 are driven to rotate in an unequal speed to provide lateral thrust to the vehicle body 1, so that the vehicle body 1 can move laterally.
In this embodiment, the suction cups 10 are movably connected with the car body 1 up and down, and the connection position is provided with a spring 11, so that the car body 1 can buffer the impact force of water flow and each suction cup 10 can be adsorbed on the surfaces with different heights to adapt to the shape of a dam slope.
Referring to fig. 3, in the present embodiment, a negative pressure pump 17 is disposed in the vehicle body 1, the negative pressure pump 17 is respectively connected to each suction cup 10 through a hose, and an electromagnetic valve is disposed between each suction cup 10 and the hose. When the suction cups 10 are attached to the surface of the dam slope, negative pressure is generated inside the corresponding suction cups 10 through the negative pressure pump 17, so that the suction cups 10 are subjected to external water pressure, and can be adsorbed on the surface of the dam slope.
In this embodiment, rotatable rotating shafts 13 are disposed at four corners of the vehicle body 1, the rotating shafts 13 penetrate from the inside of the vehicle body 1 to the outside of the bottom of the vehicle body 1, an outer rotating rod 12 is fixed at one end of each rotating shaft 13 outside the bottom of the vehicle body 1, and one end of each outer rotating rod 12, which is far away from the corresponding rotating shaft 13, is connected to the corresponding suction cup 10.
In this embodiment, an inner rotating rod 14 facing opposite to the outer rotating rod 12 is fixed at one end of the rotating shaft 13 in the vehicle body 1, two connecting strips 15 are respectively arranged at two sides of the vehicle body 1, and two inner rotating rods 14 located at the same side of the vehicle body 1 are hinged to the same connecting strip 15 together.
In this embodiment, each of the connecting strips 15 is connected with the inside of the vehicle body 1 through a telescopic rod 16, and two ends of the telescopic rod 16 are hinged to the connecting strips 15 and the vehicle body 1 respectively. That is to say, the orientation of the suction cups 10 on the same side can be controlled by controlling the telescopic length of the telescopic rod 16, and the suction cups 10 can drive the vehicle body 1 to move in multiple directions by matching with the negative pressure pump 17.
During specific implementation, the vehicle body 1 is placed in a water body along a dam slope, the water content in the buoy 6 is controlled through the drainage pump, the buoyancy of the vehicle body 1 can be controlled, the buoyancy is reduced in the detection process, the stability is improved, the paddle 9 is controlled to further provide downward pressure for the vehicle body 1, the vehicle body 1 can be adsorbed on the surface of the dam slope through the suction disc 10 and the negative pressure pump 17, and the manipulator 2 is controlled to perform dam slope crack identification in the water body through the detection module;
when the vehicle body 1 moves, the two suckers 10 far away from the moving direction are fixed with the surface of a dam slope, the two suckers 10 close to the moving direction are loosened with the surface of the dam slope, the outer rotating rod 12 on the side is rotated to face the moving direction through the telescopic rod 16, the two suckers 10 close to the moving direction adsorb the surface of the dam slope, then the two suckers 10 far away from the moving direction are loosened with the surface of the dam slope, the downward pressure of the vehicle body 1 is reduced through the drainage pump and the blades 9, the outer rotating rod 12 is rotated to be far away from the moving direction through the telescopic rod 16 close to the moving direction, at the moment, the two suckers 10 close to the moving direction are fixed with the dam slope, so that the vehicle body 1 moves towards the direction, and the continuous movement of the vehicle body 1 towards the direction is sequentially implemented; meanwhile, the winding device 5 moves and retracts in accordance with the moving direction of the vehicle body 1, so that the pull rope 3 is always kept perpendicular to the guide rail 4.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (6)
1. An auxiliary mechanical arm device for identifying cracks of an underwater dam slope induced by an earthquake comprises a vehicle body (1) and is characterized in that a pull rope (3) is connected into the vehicle body (1), the pull rope (3) is wound into a winding device (5), the winding device (5) is connected into a guide rail (4) in a sliding mode, the guide rail (4) is distributed at the top of the dam slope along the length direction of the dam slope, a mechanical arm (2) is arranged in the vehicle body (1), and four suction cups (10) are arranged at the bottom of the vehicle body (1);
the four corners of the car body (1) are provided with rotatable rotating shafts (13), the rotating shafts (13) penetrate through the car body (1) to the outside of the bottom of the car body (1), an outer rotating rod (12) is fixed at one end of each rotating shaft (13) outside the bottom of the car body (1), and one end, far away from the rotating shafts (13), of each outer rotating rod (12) is connected with a corresponding sucker (10);
an inner rotating rod (14) which faces opposite to the outer rotating rod (12) is fixed at one end of the rotating shaft (13) in the vehicle body (1), two connecting strips (15) are respectively arranged at two sides of the vehicle body (1), and two inner rotating rods (14) which are positioned at the same side of the vehicle body (1) are jointly hinged into the same connecting strip (15);
each connecting strip (15) is connected with the interior of the vehicle body (1) through a telescopic rod (16), and two ends of each telescopic rod (16) are hinged to the connecting strips (15) and the vehicle body (1) respectively.
2. An auxiliary manipulator device for earthquake induced crack recognition of an underwater dam slope according to claim 1, characterized in that a plurality of buoys (6) are fixed above the vehicle body (1), and the pulling rope (3) is connected to a connecting plate (8) fixed between the buoys (6).
3. The auxiliary mechanical arm device for the earthquake-induced crack identification of the underwater dam slope is characterized in that a drainage pump capable of supplying and draining water is arranged in the buoy (6), and a gas cylinder (7) is fixed below the buoy (6).
4. The auxiliary mechanical arm device for recognizing the crack of the earthquake-induced underwater dam slope is characterized in that two blades (9) which are symmetrical to each other are arranged on two sides above the vehicle body (1).
5. The auxiliary mechanical arm device for recognizing the crack of the earthquake-induced underwater dam slope as claimed in claim 1, wherein the suction cup (10) is movably connected with the vehicle body (1) up and down, and a spring (11) is arranged at the joint of the suction cup and the vehicle body.
6. The auxiliary mechanical arm device for identifying the crack of the earthquake-induced underwater dam slope as claimed in claim 1, wherein a negative pressure pump (17) is arranged in the vehicle body (1), the negative pressure pump (17) is respectively connected to each suction cup (10) through a hose, and an electromagnetic valve is arranged between each suction cup (10) and the hose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211009214.6A CN115107058B (en) | 2022-08-23 | 2022-08-23 | Auxiliary mechanical hand device for identifying cracks of dam slope induced underwater by earthquake |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211009214.6A CN115107058B (en) | 2022-08-23 | 2022-08-23 | Auxiliary mechanical hand device for identifying cracks of dam slope induced underwater by earthquake |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115107058A CN115107058A (en) | 2022-09-27 |
| CN115107058B true CN115107058B (en) | 2022-11-11 |
Family
ID=83336143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211009214.6A Active CN115107058B (en) | 2022-08-23 | 2022-08-23 | Auxiliary mechanical hand device for identifying cracks of dam slope induced underwater by earthquake |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115107058B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2003116811A (en) * | 2003-06-04 | 2005-02-27 | Борис Викторович Берков (RU) | PROTECTIVE SELF-ACTING FLOODFILLING (OPTIONS) |
| CN103345000A (en) * | 2013-06-06 | 2013-10-09 | 黄河水利职业技术学院 | Underwater dam slope hidden danger detection vehicle |
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN107985526A (en) * | 2017-12-07 | 2018-05-04 | 浙江海洋大学 | Remove the robot of under-water body attachment |
| CN113562133A (en) * | 2021-09-22 | 2021-10-29 | 北京史河机器人科技有限公司 | Underwater detection robot |
| CN113978644A (en) * | 2021-12-14 | 2022-01-28 | 聂晓滨 | Underwater cleaning robot |
| CN114459349A (en) * | 2022-01-14 | 2022-05-10 | 江苏中科水务机器人科技有限公司 | Underwater dam crack detection and maintenance robot |
| CN114775532A (en) * | 2022-05-20 | 2022-07-22 | 四川省水利电力工程局有限公司 | Dam is faced water and is used platform for domatic construction |
-
2022
- 2022-08-23 CN CN202211009214.6A patent/CN115107058B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2003116811A (en) * | 2003-06-04 | 2005-02-27 | Борис Викторович Берков (RU) | PROTECTIVE SELF-ACTING FLOODFILLING (OPTIONS) |
| CN103345000A (en) * | 2013-06-06 | 2013-10-09 | 黄河水利职业技术学院 | Underwater dam slope hidden danger detection vehicle |
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN107985526A (en) * | 2017-12-07 | 2018-05-04 | 浙江海洋大学 | Remove the robot of under-water body attachment |
| CN113562133A (en) * | 2021-09-22 | 2021-10-29 | 北京史河机器人科技有限公司 | Underwater detection robot |
| CN113978644A (en) * | 2021-12-14 | 2022-01-28 | 聂晓滨 | Underwater cleaning robot |
| CN114459349A (en) * | 2022-01-14 | 2022-05-10 | 江苏中科水务机器人科技有限公司 | Underwater dam crack detection and maintenance robot |
| CN114775532A (en) * | 2022-05-20 | 2022-07-22 | 四川省水利电力工程局有限公司 | Dam is faced water and is used platform for domatic construction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115107058A (en) | 2022-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201795904U (en) | Oil tank air tightness detector | |
| CN112407191B (en) | Underwater robot surface area salvaging and capturing device and method for ocean engineering exploration | |
| CN111717384A (en) | Water quality sampling device based on solar unmanned aerial vehicle | |
| CN115107058B (en) | Auxiliary mechanical hand device for identifying cracks of dam slope induced underwater by earthquake | |
| CN104250968B (en) | From installation suction pile formula moveable platform structure | |
| JP2015116857A (en) | Mining vessel | |
| CN109398613B (en) | A kind of micro control device and its construction method reducing the loss of plate anchor buried depth | |
| CN203373716U (en) | Self-installation suction pile type movable platform structure | |
| US11939034B1 (en) | Deep-sea crawling robot and crawling method thereof | |
| CN105216976B (en) | A kind of environmentally friendly jackstone leveling ship of deep water | |
| CN102490873A (en) | Water surface operating ship capable of moving up and down | |
| CN206750075U (en) | Ship wheel house lowering or hoisting gear | |
| CN212159193U (en) | Telescopic sampling rod and sampling device | |
| CN111076981B (en) | Deep water sampling mechanism for laboratory sewage detection and sampling method thereof | |
| CN210151774U (en) | Tool for hoisting vertical pile of steel pipe pile of offshore wind power single-pile foundation | |
| CN210127842U (en) | Suction anchor applied to deep-water shallow-layer drilling engineering | |
| CN215338953U (en) | Self-triggering type sediment gravity sampling device | |
| CN208616165U (en) | Pitching pile formula floating platform guide post system partly latent with automatic positioning mechanism | |
| CN100547379C (en) | Boomerang formula heat-insulation pressure keeping deep water sea bed sampler | |
| CN106593334B (en) | Self-submersible underwater core drilling sampling device | |
| CN116280102B (en) | Marine underwater auxiliary rescue device | |
| CN109725130A (en) | Picotan | |
| CN220418913U (en) | Quick sample lifting water quality collector | |
| CN211904760U (en) | Laboratory sewage detection's sampling mechanism | |
| CN211167162U (en) | Underwater adsorption type obstacle crossing robot |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |