CN117985206B - Underwater vehicle for offshore wind farm - Google Patents
Underwater vehicle for offshore wind farm Download PDFInfo
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- CN117985206B CN117985206B CN202311732374.8A CN202311732374A CN117985206B CN 117985206 B CN117985206 B CN 117985206B CN 202311732374 A CN202311732374 A CN 202311732374A CN 117985206 B CN117985206 B CN 117985206B
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- frame
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- navigation
- navigation frame
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- 230000007246 mechanism Effects 0.000 claims abstract description 92
- 238000007667 floating Methods 0.000 claims abstract description 45
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 34
- 230000005489 elastic deformation Effects 0.000 claims abstract 5
- 238000004140 cleaning Methods 0.000 claims description 27
- 239000007921 spray Substances 0.000 claims description 23
- 239000002184 metal Substances 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000005507 spraying Methods 0.000 claims description 6
- 230000010405 clearance mechanism Effects 0.000 claims 1
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000005728 strengthening Methods 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 239000012535 impurity Substances 0.000 abstract description 3
- 239000013535 sea water Substances 0.000 description 18
- 229910000831 Steel Inorganic materials 0.000 description 15
- 239000010959 steel Substances 0.000 description 15
- 230000007797 corrosion Effects 0.000 description 13
- 238000005260 corrosion Methods 0.000 description 13
- 108010066278 cabin-4 Proteins 0.000 description 10
- 238000004146 energy storage Methods 0.000 description 10
- 230000005484 gravity Effects 0.000 description 5
- 238000005286 illumination Methods 0.000 description 5
- 230000005389 magnetism Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005086 pumping Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 3
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/04—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by a combination of operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention belongs to the technical field of underwater base column detection, and particularly discloses an underwater vehicle for an offshore wind farm, which comprises a navigation frame, a control console, a buoyancy frame, a pressure cabin, a water pump, a double-propulsion driving mechanism and an inclination angle elastic deformation analysis mechanism, wherein the control console is arranged on the upper wall of the navigation frame, the buoyancy frame is arranged on the inner wall of the navigation frame below the control console, the pressure cabins are symmetrically arranged on two sides of the buoyancy frame in pairs, the water pump penetrates through the bottom wall of the pressure cabin, the double-propulsion driving mechanism is arranged on the navigation frame, the inclination angle elastic deformation analysis mechanism is arranged at one end of the navigation frame, and the double-propulsion driving mechanism comprises a floating and sinking adjusting mechanism and an extension pushing mechanism. The invention provides an underwater vehicle for an offshore wind power plant, which can remove marine biological attachments on the surface of a base column and can completely record the state of the materials on the surface of the base column after impurities are removed.
Description
Technical Field
The invention belongs to the technical field of underwater base column detection, and particularly relates to an underwater vehicle for an offshore wind farm.
Background
Offshore wind farms refer to offshore wind power with a water depth of about 10 meters. Compared with the land wind farm, the offshore wind farm has the advantages that land resources are not occupied, the offshore wind farm is not basically influenced by topography and topography, and the offshore wind farm needs to detect states of a foundation, cables, auxiliary facilities and the like in real time due to the influence of sea water flow, so that potential safety hazards are found as soon as possible.
The existing underwater vehicle has the following problems:
The existing underwater vehicle can only record the approximate conditions of the surface of the base column, but the base column with marine organisms attached to the surface cannot see the actual conditions of the surface of the base column, so that the corrosion condition of the surface of the steel structure is difficult to detect deeply, and the potential safety hazard is large, so that the underwater vehicle capable of removing marine organism attachments on the surface of the base column and completely recording the material state of the surface of the base column after impurities are removed is needed.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the scheme provides the underwater vehicle for the offshore wind farm, which can remove marine biological attachments on the surface of the base column and can completely record the state of the materials on the surface of the base column after impurities are removed.
The utility model provides an underwater vehicle for offshore wind farm, including navigation frame, control cabinet, buoyancy frame, pressure cabin, suction pump, dual propulsion actuating mechanism and inclination bullet type analysis mechanism, the control cabinet is located the navigation frame upper wall, buoyancy frame is located the navigation frame inner wall of control cabinet below, buoyancy frame both sides are located for a set of symmetry to pressure cabin, the suction pump runs through and locates the pressure cabin diapire, dual propulsion actuating mechanism locates on the navigation frame, inclination bullet type analysis mechanism locates the one end of navigation frame, dual propulsion actuating mechanism includes the sink adjustment mechanism and extends pushing mechanism, sink adjustment mechanism locates the navigation frame upper wall, extend pushing mechanism and locate the navigation frame inner wall, inclination bullet type analysis mechanism includes debris removal mechanism, transmission mechanism, location and remove mechanism and spray-out enhancement mechanism, debris removal mechanism locates on the extension pushing mechanism of one end of navigation frame, the transmission mechanism of making a video recording locates on the debris removal mechanism, location remove mechanism locates the both sides that navigation frame is close to debris removal mechanism one end, the debris removal enhancement mechanism is located to one side of navigation frame and is kept away from.
As a further preferable scheme, the floating and sinking adjusting mechanism comprises a floating and sinking waterproof motor, a floating and sinking driving shaft and floating and sinking paddles, wherein a plurality of groups of floating and sinking waterproof motors are arranged on the upper wall and the bottom wall of the navigation frame, the floating and sinking driving shaft is arranged at the power end of the floating and sinking waterproof motor, and the floating and sinking paddles are arranged at the end, far away from the floating and sinking waterproof motor, of the floating and sinking driving shaft; the extension pushing mechanism comprises an extension frame, an extension column, a reset spring, a cleaning frame, a driving magnet and a fixed electromagnet, wherein the extension frame is arranged on one side of the buoyancy frame, the extension column penetrates through the navigation frame and the buoyancy frame to be arranged inside the extension frame in a sliding mode, the reset spring is arranged between the extension column and the inner wall of the navigation frame, the cleaning frame is arranged on one side, far away from the reset spring, of the extension column, the driving magnet is arranged on the outer side, close to one end of the buoyancy frame, of the extension column, the fixed electromagnet is arranged on the side wall of the extension frame, and the driving magnet and the fixed electromagnet are arranged oppositely.
When the device is used, no water exists in the pressure cabin in an initial state, the density of the navigation frame is smaller than that of water, the navigation frame floats on the sea surface beside the base column, steel corrosion conditions of the base column part fully immersed in the sea water are detected, at the moment, waterproof measures are taken for equipment carried on the navigation frame, the water pump pumps the sea water through the water pumping end, the sea water enters the pressure cabin through the water draining end of the water pump, the sea water is injected into the pressure cabin, the pressure cabin drives the navigation frame to increase in gravity, the weight of the navigation frame is larger than that of the sea water discharged by the pressure cabin, the pressure cabin drives the navigation frame to gradually sink, the navigation frame gradually sinks below the sea surface along the side wall of the base column, then, the driving magnet is electrified to generate magnetism, the driving magnet is arranged at a fixed electromagnet in a heteropolar mode, the driving magnet is fixed on the side wall of the buoyancy frame through magnetic force adsorption driving magnet, the driving magnet drives the extending column to move to one side of the base column through deformation of the reset spring, and the extending column drives the cleaning frame to be close to the surface of the base column, and steel immersed in the sea water can be detected.
Preferably, the sundry removing mechanism comprises a rotating shaft, a removing plate, torsion springs, a double-shaft motor, a steering shaft, a steering plate, a pulse generator, a spray pipe, a pulse metal hose and a one-way control valve, wherein the rotating shaft is symmetrically arranged at one end of the removing frame far away from the extending column, the rotating shaft is rotationally arranged at the inner wall of the removing frame, the removing plate is arranged between the rotating shafts, the torsion springs are arranged between the removing plate and the removing frame at the outer side of the rotating shaft, the double-shaft motor is arranged at one side of the removing plate, the steering shaft is symmetrically arranged at the power ends at two sides of the double-shaft motor, one end of the steering shaft far away from the double-shaft motor is rotationally arranged at the side wall of the removing plate, the steering plate is arranged at the outer side of the steering shaft, a plurality of groups of the pulse generators are arranged at one end of the steering plate far away from the steering shaft, a plurality of the spray pipes are arranged at one end of the removing plate far away from the double-shaft motor, the pulse metal hose is communicated between the spray pipe and the power end of the pulse generator, and the one-way control valve is communicated at one end of the spray pipe far away from the pulse metal hose; the shooting transmission mechanism comprises a shooting frame, an underwater camera and an underwater illuminating lamp, wherein a plurality of groups of shooting frames are arranged on the inner wall of the steering plate at one end of the pulse generator, which is far away from the double-shaft motor, the underwater camera is arranged on one side of the shooting frame, which is close to the pulse generator, and the underwater illuminating lamp is arranged on the side wall of the steering plate between the underwater cameras; the positioning and shoveling mechanism comprises a positioning frame, hexagonal columns, hexagonal grooves, limiting magnetic plates, limiting springs and limiting electromagnets, wherein the positioning frame is symmetrically arranged on two sides of one end of the navigation frame, which is close to the clearance frame, the positioning frame is arranged on the side wall of the navigation frame in a sliding mode, the hexagonal columns are arranged on one end of the positioning frame, which is far away from the navigation frame, of the positioning frame, the hexagonal grooves are arranged on one side of the rotating shaft, which is far away from the clearance plate, the hexagonal grooves are arranged at one end openings, the limiting magnetic plates are arranged on one side of the hexagonal columns, which is far away from the hexagonal grooves, the limiting springs are arranged between the positioning frame and the limiting magnetic plates on the outer sides of the hexagonal columns, the limiting electromagnets are arranged on the side wall of the positioning frame on the outer sides of the limiting springs, and the limiting magnetic plates and the limiting electromagnets are arranged oppositely; the spraying enhancement mechanism comprises a propulsion waterproof motor, a propulsion shaft and propulsion paddles, wherein the propulsion waterproof motor is arranged on one side of the navigation frame away from the positioning frame, the propulsion shaft is arranged at the power end of the propulsion waterproof motor, and the propulsion paddles are arranged at one end of the propulsion shaft away from the propulsion waterproof motor.
When the device is used, the cleaning frame drives the cleaning plate to be close to the side wall of the base column through the rotating shaft, one end of the cleaning plate, which is close to the base column, is arc-shaped, so that the cleaning plate can be attached to the side wall of the base column, the limiting electromagnet is electrified to generate magnetism, homopolar arrangement is realized between the limiting electromagnet and the limiting magnetic plate, the limiting electromagnet is fixed on the side wall of the positioning frame to push the limiting magnetic plate through repulsive force, the limiting magnetic plate drives the hexagonal column to slide out of the hexagonal groove through deformation of the limiting spring, at the moment, the rotating shaft is changed into an active state from a fixed state, the positioning frame slides along the side wall of the navigation frame along with the extension column, the extension column extrudes the cleaning plate, the cleaning plate rotates around the rotating shaft through deformation of the torsion spring when being extruded by external force due to the inclined arrangement of the cleaning plate, the inclination angle between the cleaning plate and the navigation frame is changed from small to large, the marine organism attached to the side wall of the base column is conveniently removed by the spray pipe, the corrosion degree of steel on the surface of the base column can be more removed, the propulsion waterproof motor drives the propulsion shaft to rotate through the power end, the propulsion shaft drives the propulsion blade to rotate, the propulsion blade rotates to provide forward power for the navigation frame to approach the base column, the cleaning plate is attached to the side wall of the base column, the pulse generator transmits pulse waves into the spray pipe through the pulse metal hose, the spray pipe sprays the pulse waves to the side wall of the base column, marine organism attached to the side wall of the base column is removed under the impact force of the pulse waves, then the water suction pump continuously injects water into the pressure cabin through the water suction end, the gravity of the pressure cabin increases to drive the navigation frame to continuously subside, the navigation frame drives the cleaning plate to slide down along the side wall of the base column, and the attached matter on the side wall of the base column can be removed, the steel surface is exposed, at the moment, the double-shaft motor drives the steering shaft to rotate, the steering shaft drives the steering plate to rotate to a vertical state, the steering plate drives the underwater camera and the underwater illuminating lamp to be parallel to the base column through the camera frame, the underwater illuminating lamp provides illumination for video recording of the underwater camera, the underwater camera records corrosion conditions of the steel surface soaked in seawater, the floating waterproof motor drives the floating driving shaft to rotate, the floating driving shaft drives the floating paddle to rotate to provide assistance for descending of the navigation frame, and accordingly detection of the surface state of the base column soaked in seawater is completed.
Specifically, the upper wall of the control console is symmetrically provided with energy storage batteries.
Wherein, the control cabinet upper wall between the energy storage batteries is equipped with the controller.
Preferably, the controller is electrically connected with the water suction pump, the floating waterproof motor, the driving magnet, the double-shaft motor, the pulse generator, the underwater camera, the underwater illuminating lamp, the limiting electromagnet, the propelling waterproof motor and the energy storage battery respectively.
Further, the model numbers of the floating waterproof motor and the pushing waterproof motor are YLZ.
Still further, the pulse generator is model NTDJ-NF4583.
The beneficial effect that this scheme of adoption above-mentioned structure obtained is as follows:
Compared with the prior art, the scheme adopts the mode that the impact force of pulse waves is combined with the cleaning plate to descend and attach to the surface of the base column, so that the surface of the base column attached with marine organisms soaked in seawater for a long time is exposed, under the shooting of the rotation adjusting angle of the double-shaft motor, the corrosion condition of the surface of the base column can be clearly recorded, so that base column maintenance operators can analyze according to the corrosion condition of the base column and accurately maintain the parts with serious corrosion, the limiting electromagnet is fixed on the side wall of the positioning frame and pushes the limiting magnetic plate through repulsive force, the limiting magnetic plate drives the hexagonal column to slide out from the inside of the hexagonal groove through the deformation of the limiting spring, at the moment, the rotating shaft is changed into an active state from a fixed state, the propulsion waterproof motor drives the propulsion shaft to rotate through the power end, and the propulsion shaft drives the propulsion blade to rotate, the propulsion paddle rotates to provide forward power for the navigation frame to approach the base column so that the cleaning plate is attached to the side wall of the base column, the pulse generator transmits pulse waves into the spraying pipe through the pulse metal hose, the spraying pipe sprays the pulse waves to the side wall of the base column, marine organism attachments on the side wall of the base column are removed under the impact force of the pulse waves, then the water pump continuously injects water into the pressure cabin through the water pumping end, the pressure cabin increases gravity to drive the navigation frame to continuously subside, the navigation frame drives the cleaning plate to slide down along the side wall of the base column, the attachments on the side wall of the base column can be further cleaned, the steel surface is exposed, at the moment, the double-shaft motor drives the steering shaft to rotate, the steering shaft drives the steering plate to rotate to a vertical state, the steering plate drives the underwater camera and the underwater illuminating lamp to be parallel to the base column through the camera frame, the underwater illuminating lamp provides illumination for video of the underwater camera, the underwater camera records the corrosion condition of the seawater soaked steel surface.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present solution;
FIG. 2 is a front perspective view of the present solution;
FIG. 3 is a bottom perspective view of the present solution;
FIG. 4 is a front view of the present solution;
FIG. 5 is a left side view of the present solution;
FIG. 6 is a right side view of the present solution;
FIG. 7 is a top view of the present solution;
FIG. 8 is a bottom view of the present solution;
FIG. 9 is an enlarged view of the portion I of FIG. 1;
Fig. 10 is an enlarged structural view of the portion II of fig. 3.
Wherein 1, navigation frame, 2, control console, 3, buoyancy frame, 4, pressure cabin, 5, water pump, 6, double propulsion driving mechanism, 7, sink adjusting mechanism, 8, sink waterproof motor, 9, sink driving shaft, 10, sink paddle, 11, extension pushing mechanism, 12, extension frame, 13, extension column, 14, return spring, 15, clearing frame, 16, driving magnet, 17, fixed electromagnet, 18, dip angle bullet type analysis mechanism, 19, debris clearing mechanism, 20, rotation axis, 21, clearing plate, 22, torsion spring, 23, double shaft motor, 24, steering shaft, 25, steering plate, 26, pulse generator, 27, spray pipe, 28, pulse metal hose, 29, unidirectional control valve, 30, image pick-up transmission mechanism, 31, image pick-up frame, 32, underwater camera, 33, positioning and clearing mechanism, 34, positioning frame, 35, hexagonal column, 36, hexagonal groove, 37, spacing magnetic plate, 38, spacing spring, 39, spacing electromagnet, 40, spray enhancing mechanism, 41, waterproof motor, 42, propulsion energy storage device, 43, underwater propeller blade, 46, underwater propeller device, underwater device, and energy storage device.
The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this disclosure, illustrate and do not limit the disclosure.
Detailed Description
The technical solutions in the embodiments of the present solution will be clearly and completely described below with reference to the drawings in the embodiments of the present solution, and it is apparent that the described embodiments are only some embodiments of the present solution, but not all embodiments; all other embodiments, based on the embodiments in this solution, which a person of ordinary skill in the art would obtain without inventive faculty, are within the scope of protection of this solution.
In the description of the present embodiment, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate orientation or positional relationships based on those shown in the drawings, merely to facilitate description of the present embodiment and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present embodiment.
As shown in fig. 1-10, an underwater vehicle for a wind farm on the sea is provided, which comprises a navigation frame 1, a control console 2, a buoyancy frame 3, a pressure cabin 4, a water pump 5, a double-propulsion driving mechanism 6 and an inclination bullet type analysis mechanism 18, wherein the control console 2 is arranged on the upper wall of the navigation frame 1, the buoyancy frame 3 is arranged on the inner wall of the navigation frame 1 below the control console 2, the pressure cabins 4 are symmetrically arranged on two sides of the buoyancy frame 3 in pairs, the water pump 5 penetrates through the bottom wall of the pressure cabin 4, the double-propulsion driving mechanism 6 is arranged on the navigation frame 1, the inclination bullet type analysis mechanism 18 is arranged at one end of the navigation frame 1, the double-propulsion driving mechanism 6 comprises a buoyancy adjusting mechanism 7 and an extension pushing mechanism 11, the buoyancy adjusting mechanism 7 is arranged on the upper wall of the navigation frame 1, the extension pushing mechanism 11 is arranged on the inner wall of the navigation frame 1, the inclination bullet type analysis mechanism 18 comprises a sundry removal mechanism 19, a camera shooting transmission mechanism 30, a positioning and removing mechanism 33 and a spray enhancing mechanism 40, the sundry removal mechanism 19 is arranged on one end of the navigation frame 1, the extension mechanism 11 is arranged on one end of the navigation frame 1, the camera shooting mechanism 19 is arranged on one end of the extension mechanism 19, and the sundry removal mechanism 19 is far away from the camera shooting mechanism 19 and is arranged on one end of the positioning mechanism 19.
The floating and sinking adjusting mechanism 7 comprises a floating and sinking waterproof motor 8, a floating and sinking driving shaft 9 and floating and sinking paddles 10, wherein a plurality of groups of floating and sinking waterproof motors 8 are arranged on the upper wall and the bottom wall of the navigation frame 1, the floating and sinking driving shaft 9 is arranged at the power end of the floating and sinking waterproof motor 8, and the floating and sinking paddles 10 are arranged at one end of the floating and sinking driving shaft 9 away from the floating and sinking waterproof motor 8; the extension pushing mechanism 11 comprises an extension frame 12, an extension column 13, a return spring 14, a clearing frame 15, a driving magnet 16 and a fixed electromagnet 17, wherein the extension frame 12 is arranged on one side of the buoyancy frame 3, the extension column 13 penetrates through the navigation frame 1 and the buoyancy frame 3 to be slidingly arranged inside the extension frame 12, the return spring 14 is arranged between the extension column 13 and the inner wall of the navigation frame 1, the clearing frame 15 is arranged on one side, far away from the return spring 14, of the extension column 13, the driving magnet 16 is arranged on the outer side, close to one end of the buoyancy frame 3, of the extension column 13, the fixed electromagnet 17 is arranged on the side wall of the extension frame 12, and the driving magnet 16 and the fixed electromagnet 17 are oppositely arranged.
The sundry removing mechanism 19 comprises a rotating shaft 20, a removing plate 21, a torsion spring 22, a double-shaft motor 23, a steering shaft 24, a steering plate 25, a pulse generator 26, a spray pipe 27, a plurality of pulse metal hoses 28 and a one-way control valve 29, wherein the rotating shaft 20 is symmetrically arranged at one end of the removing frame 15 far away from the extension column 13, the rotating shaft 20 is rotationally arranged on the inner wall of the removing frame 15, the removing plate 21 is arranged between the rotating shaft 20, the torsion spring 22 is arranged between the removing plate 21 and the removing frame 15 at the outer side of the rotating shaft 20, the double-shaft motor 23 is arranged at one side of the removing plate 21, the steering shaft 24 is symmetrically arranged at power ends at two sides of the double-shaft motor 23, one end of the steering shaft 24 far away from the double-shaft motor 23 is rotationally arranged at the side wall of the removing plate 21, the steering plate 25 is arranged at the outer side of the steering shaft 24, a plurality of pulse metal hoses 28 are arranged at one end of the steering plate 25 far away from the steering shaft 24, a plurality of the spray pipes 27 are penetrated at one end of the removing plate 21 far away from the double-shaft motor 23, the pulse metal hoses 28 are communicated between the spray pipe 27 and the power ends of the pulse metal hoses 26, and the one-way control valve 29 is communicated with one end of the pulse metal hoses 27 far away from the pulse metal hoses 28; the camera transmission mechanism 30 comprises a camera frame 31, an underwater camera 32 and an underwater illumination lamp 46, wherein a plurality of groups of camera frames 31 are arranged on the inner wall of the steering plate 25 at one end, far away from the double-shaft motor 23, of the pulse generator 26, the underwater camera 32 is arranged on one side, close to the pulse generator 26, of the camera frame 31, and the underwater illumination lamp 46 is arranged on the side wall of the steering plate 25 between the underwater cameras 32; the positioning and shoveling mechanism 33 comprises a positioning frame 34, a hexagonal column 35, a hexagonal groove 36, a limiting magnetic plate 37, a limiting spring 38 and a limiting electromagnet 39, wherein the positioning frame 34 is symmetrically arranged on two sides of one end of the navigation frame 1, which is close to the clearing frame 15, the positioning frame 34 is slidably arranged on the side wall of the navigation frame 1, the hexagonal column 35 is slidably arranged on one end of the positioning frame 34, which is far away from the navigation frame 1, the hexagonal groove 36 is arranged on one side of the rotating shaft 20, which is far away from the clearing plate 21, the hexagonal groove 36 is provided with an opening at one end, the limiting magnetic plate 37 is arranged on one side of the hexagonal column 35, which is far away from the hexagonal groove 36, the limiting spring 38 is arranged between the positioning frame 34 and the limiting magnetic plate 37 on the outer side of the hexagonal column 35, the limiting electromagnet 39 is arranged on the side wall of the positioning frame 34 on the outer side of the limiting spring 38, and the limiting magnetic plate 37 and the limiting electromagnet 39 are oppositely arranged; the spraying enhancement mechanism 40 comprises a propulsion waterproof motor 41, a propulsion shaft 42 and a propulsion blade 43, wherein the propulsion waterproof motor 41 is arranged on one side of the navigation frame 1, which is far away from the positioning frame 34, the propulsion shaft 42 is arranged at the power end of the propulsion waterproof motor 41, and the propulsion blade 43 is arranged at one end of the propulsion shaft 42, which is far away from the propulsion waterproof motor 41.
The upper wall of the console 2 is symmetrically provided with energy storage batteries 44.
The upper wall of the control console 2 between the energy storage batteries 44 is provided with a controller 45.
The controller 45 is electrically connected with the water pump 5, the floating waterproof motor 8, the driving magnet 16, the double-shaft motor 23, the pulse generator 26, the underwater camera 32, the underwater illuminating lamp 46, the limiting electromagnet 39, the propulsion waterproof motor 41 and the energy storage battery 44 respectively.
The model numbers of the floating waterproof motor 8 and the pushing waterproof motor 41 are YLZ.
The pulse generator 26 is model NTDJ-NF4583.
In the first embodiment, in the initial state, no water exists in the pressure cabin 4, the navigation frame 1 is placed on the sea surface beside the base column, the navigation frame 1 floats on the sea surface because the density of the navigation frame 1 is smaller than that of water, waterproof measures are taken on equipment carried on the navigation frame 1, the controller 45 is electrically connected with the remote control end, the energy storage battery 44 is fully charged with electric energy, and the energy storage battery 44 provides power for underwater operation;
Specifically, when the steel corrosion condition of the base column part immersed in the seawater is required to be detected, the navigation frame 1 is immersed in the seawater to pick up the corrosion state of the steel surface material, the controller 45 controls the water pump 5 to start, the water pump 5 pumps the seawater through the water pumping end, the seawater enters the pressure cabin 4 through the water discharging end of the water pump 5, the seawater is injected into the pressure cabin 4, the pressure cabin 4 enables the gravity of the navigation frame 1 to be increased, at the moment, the weight of the navigation frame 1 is larger than the weight of the boiled water discharged by the pressure cabin 4, the pressure cabin 4 drives the navigation frame 1 to gradually sink, and the navigation frame 1 gradually sinks below the sea along the side wall of the base column;
Subsequently, the controller 45 controls the driving magnet 16 to start, the driving magnet 16 is electrified to generate magnetism, the driving magnet 16 is arranged at the opposite pole of the fixed electromagnet 17, the driving magnet 16 is fixed on the side wall of the buoyancy frame 3 and adsorbs the driving magnet 16 through magnetic force, the driving magnet 16 deforms through the reset spring 14 to drive the extension column 13 to move to one side of the base column, and the extension column 13 drives the cleaning frame 15 to be close to the surface of the base column, so that the steel immersed in seawater can be detected;
The cleaning frame 15 drives the cleaning plate 21 to be close to the side wall of the base column through the rotating shaft 20, one end of the cleaning plate 21 close to the base column is in a circular arc shape, so that the cleaning plate 21 can be attached to the side wall of the base column, the controller 45 controls the limiting electromagnet 39 to be started, the limiting electromagnet 39 is electrified to generate magnetism, the limiting electromagnet 39 and the limiting magnetic plate 37 are in homopolar arrangement, the limiting electromagnet 39 is fixed on the side wall of the positioning frame 34 to push the limiting magnetic plate 37 through repulsive force, the limiting magnetic plate 37 deforms through the limiting spring 38 to drive the hexagonal column 35 to slide out of the hexagonal groove 36, at the moment, the rotating shaft 20 is changed into an active state from a fixed state, the positioning frame 34 slides along the side wall of the navigation frame 1 along with the extension column 13 stretching out of the navigation frame 1, the extension column 13 extrudes the cleaning plate 21, because the clearing plate 21 is obliquely arranged, the clearing plate 21 rotates around the rotating shaft 20 through deformation of the torsion spring 22 when being extruded by external force, the inclination angle between the clearing plate 21 and the navigation frame 1 is changed from small to large, the clearing plate 21 drives the inclination angle between the spray pipe 27 and the side wall of the base column to be changed from large to small, at the moment, the controller 45 controls the limiting electromagnet 39 to be powered off and demagnetized, the limiting spring 38 is deformed and reset to drive the hexagonal column 35 to be inserted into the hexagonal groove 36, the hexagonal groove 36 fixes the rotated angle of the rotating shaft 20, the rotating shaft 20 is changed into a fixed state from an active state, so that marine organisms attached to the side wall of the base column can be conveniently cleared by the spray pipe 27, and further the corrosion degree of steel on the surface of the base column can be cleared more clearly;
The controller 45 controls the propulsion waterproof motor 41 to start, the propulsion waterproof motor 41 drives the propulsion shaft 42 to rotate through the power end, the propulsion shaft 42 drives the propulsion blade 43 to rotate, the propulsion blade 43 rotates to provide forward power for the navigation frame 1 to approach the base column, the cleaning plate 21 is tightly attached to the side wall of the base column, the controller 45 controls the pulse generator 26 to start, the pulse generator 26 emits pulse waves into the spray pipe 27 through the pulse metal hose 28, the spray pipe 27 sprays the pulse waves to the side wall of the base column, marine biological attachments on the side wall of the base column are removed under the impact force of the pulse waves, then the controller 45 controls the water pump 5 to start, the water pump 5 continues to inject water into the pressure cabin 4 through the water pumping end, the pressure cabin 4 increases gravity to drive continuous sedimentation of the navigation frame 1, the navigation frame 1 drives the cleaning plate 21 to slide down along the side wall of the base column, and the attachments on the side wall of the base column can be cleaned, and the steel surfaces are exposed;
At this time, the controller 45 controls the dual-axis motor 23 to start, the dual-axis motor 23 drives the steering shaft 24 to rotate, the steering shaft 24 drives the steering plate 25 to rotate to a vertical state, the steering plate 25 drives the underwater camera 32 and the underwater illuminating lamp 46 to be parallel to the base column through the camera frame 31, the controller 45 respectively controls the underwater camera 32 and the underwater illuminating lamp 46 to start, the underwater illuminating lamp 46 provides illumination for the video of the underwater camera 32, the underwater camera 32 shoots the corrosion condition of the seawater-soaked steel surface, the underwater camera 32 transmits the shot information of the steel surface to the remote terminal through the controller 45, the controller 45 controls the floating waterproof motor 8 to start, the floating waterproof motor 8 drives the floating driving shaft 9 to rotate, and the floating driving shaft 9 drives the floating blade 10 to rotate to provide assistance for the descent of the navigation frame 1, so that the corrosion condition of the base column surface soaked in the seawater is shot, and the maintenance personnel can conveniently analyze the state of the base column surface; repeating the above operation when using next time.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present solution have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations may be made to these embodiments without departing from the principles and spirit of the solution, the scope of which is defined in the appended claims and their equivalents.
The present embodiment and the embodiments thereof have been described above with no limitation, and the embodiment shown in the drawings is merely one of the embodiments of the present embodiment, and the actual structure is not limited thereto. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the technical solution.
Claims (7)
1. An underwater vehicle for an offshore wind farm, comprising a navigation frame (1), a control console (2), a buoyancy frame (3), a pressure cabin (4) and a water pump (5), and is characterized in that: the device also comprises a double-propulsion driving mechanism (6) and an inclination angle elastic deformation analysis mechanism (18), wherein the control console (2) is arranged on the upper wall of the navigation frame (1), the buoyancy frame (3) is arranged on the inner wall of the navigation frame (1) below the control console (2), the pressure tanks (4) are symmetrically arranged on two sides of the buoyancy frame (3) in pairs, the water suction pumps (5) are arranged on the bottom wall of the pressure tanks (4) in a penetrating manner, the double-propulsion driving mechanism (6) is arranged on the navigation frame (1), the inclination angle elastic deformation analysis mechanism (18) is arranged at one end of the navigation frame (1), the double-propulsion driving mechanism (6) comprises a floating and sinking adjusting mechanism (7) and an extension pushing mechanism (11), the extension pushing mechanism (11) is arranged on the upper wall of the navigation frame (1), the inclination angle elastic deformation analysis mechanism (18) comprises a sundry removing mechanism (19), a camera shooting transmission mechanism (30), a positioning and a removing enhancement mechanism (40), the sundry removing mechanism (19) is arranged on one end of the extension mechanism (19) of the navigation frame (1), the positioning and shoveling mechanism (33) is arranged on two sides of one end, close to the sundry removing mechanism (19), of the navigation frame (1), and the spraying and strengthening mechanism (40) is arranged on one side, far away from the sundry removing mechanism (19), of the navigation frame (1);
The extension pushing mechanism (11) comprises an extension frame (12), an extension column (13), a reset spring (14), a clearing frame (15), a driving magnet (16) and a fixed electromagnet (17), wherein the extension frame (12) is arranged on one side of the buoyancy frame (3), the extension column (13) penetrates through the navigation frame (1) and the buoyancy frame (3) to be slidably arranged in the extension frame (12), and the reset spring (14) is arranged between the extension column (13) and the inner wall of the navigation frame (1);
The cleaning frame (15) is arranged on one side of the extension column (13) far away from the return spring (14), the driving magnet (16) is arranged on the outer side of one end of the extension column (13) close to the buoyancy frame (3), the fixed electromagnet (17) is arranged on the side wall of the extension frame (12) on the outer side of the extension column (13), and the driving magnet (16) and the fixed electromagnet (17) are arranged oppositely;
Debris clearance mechanism (19) are including axis of rotation (20), clear away board (21), torsion spring (22), biax motor (23), steering spindle (24), steering plate (25), pulser (26), spout power pipe (27), pulse metal collapsible tube (28) and one-way control valve (29), the one end that extension post (13) was kept away from in clearance frame (15) is located to axis of rotation (20) symmetry, and axis of rotation (20) rotate and locate to clear away frame (15) inner wall, clear away board (21) and locate between axis of rotation (20), torsion spring (22) are located between clearance board (21) and the clearance frame (15) in the axis of rotation (20) outside, biax motor (23) are located one side of clear away board (21).
2. An underwater vehicle for an offshore wind farm according to claim 1, wherein: the floating and sinking adjusting mechanism (7) comprises a floating and sinking waterproof motor (8), a floating and sinking driving shaft (9) and floating and sinking paddles (10), wherein a plurality of groups of the floating and sinking waterproof motors (8) are arranged on the upper wall and the bottom wall of the navigation frame (1), the floating and sinking driving shaft (9) is arranged at the power end of the floating and sinking waterproof motor (8), and the floating and sinking paddles (10) are arranged at one end, far away from the floating and sinking waterproof motor (8), of the floating and sinking driving shaft (9).
3. An underwater vehicle for an offshore wind farm according to claim 1, wherein: the utility model discloses a pulse metal hose, including drive plate (27), pulse metal hose, pulse generator, pulse metal hose (28) are located in drive plate (21), drive shaft (24) symmetry locates the power end of biax motor (23) both sides, and the one end that biax motor (23) was kept away from to biax motor (24) is rotated to steering shaft (24) is located and is located the drive plate (21) lateral wall, steering plate (25) are located in the steering shaft (24) outside, multiunit pulse generator (26) are located steering plate (25) are kept away from the one end of steering shaft (24), multiunit spray tube (27) run through locate the one end that biax motor (23) was kept away from to drive plate (21), pulse metal hose (28) intercommunication is located between spray tube (27) and pulse generator (26) power end, one-way control valve (29) intercommunication is located spray tube (27) and is kept away from pulse metal hose (28).
4. An underwater vehicle for an offshore wind farm as claimed in claim 3, wherein: the camera shooting transmission mechanism (30) comprises a camera shooting frame (31), an underwater camera (32) and an underwater illuminating lamp (46), wherein a plurality of groups of camera shooting frames (31) are arranged on the inner wall of a steering plate (25) at one end, far away from the double-shaft motor (23), of the pulse generator (26), the underwater camera (32) is arranged on one side, close to the pulse generator (26), of the camera shooting frames (31), and the underwater illuminating lamp (46) is arranged on the side wall of the steering plate (25) between the underwater camera (32).
5. An underwater vehicle for an offshore wind farm as claimed in claim 4, wherein: the positioning and shoveling mechanism (33) comprises positioning frames (34), hexagonal columns (35), hexagonal grooves (36), limiting magnetic plates (37), limiting springs (38) and limiting electromagnets (39), wherein the positioning frames (34) are symmetrically arranged on two sides of one end of the navigation frame (1) close to the cleaning frame (15), the positioning frames (34) are slidably arranged on the side wall of the navigation frame (1), the hexagonal columns (35) are slidably arranged on one end of the positioning frames (34) far away from the navigation frame (1), the hexagonal grooves (36) are arranged on one side, far away from the cleaning plates (21), of the rotating shaft (20), and the hexagonal grooves (36) are arranged at one end opening.
6. An underwater vehicle for an offshore wind farm as claimed in claim 5, wherein: the limiting magnetic plate (37) is arranged on one side, far away from the hexagonal groove (36), of the hexagonal column (35), the limiting spring (38) is arranged between the positioning frame (34) on the outer side of the hexagonal column (35) and the limiting magnetic plate (37), the limiting electromagnet (39) is arranged on the side wall of the positioning frame (34) on the outer side of the limiting spring (38), and the limiting magnetic plate (37) and the limiting electromagnet (39) are oppositely arranged.
7. An underwater vehicle for an offshore wind farm as claimed in claim 6, wherein: the spraying enhancement mechanism (40) comprises a propelling waterproof motor (41), a propelling shaft (42) and propelling paddles (43), wherein the propelling waterproof motor (41) is arranged on one side, far away from the locating frame (34), of the navigation frame (1), the propelling shaft (42) is arranged at the power end of the propelling waterproof motor (41), and the propelling paddles (43) are arranged at one end, far away from the propelling waterproof motor (41), of the propelling shaft (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311732374.8A CN117985206B (en) | 2023-12-16 | 2023-12-16 | Underwater vehicle for offshore wind farm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311732374.8A CN117985206B (en) | 2023-12-16 | 2023-12-16 | Underwater vehicle for offshore wind farm |
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| CN117985206A CN117985206A (en) | 2024-05-07 |
| CN117985206B true CN117985206B (en) | 2024-08-09 |
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| CN202311732374.8A Active CN117985206B (en) | 2023-12-16 | 2023-12-16 | Underwater vehicle for offshore wind farm |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111252207A (en) * | 2020-02-20 | 2020-06-09 | 未来海工智能装备(山东)有限公司 | Ship bottom cleaning robot |
| CN113682436A (en) * | 2021-08-25 | 2021-11-23 | 深圳市自然资源和不动产评估发展研究中心(深圳市地质环境监测中心) | Marine ecological environment inspection navigation device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102171836B1 (en) * | 2019-06-14 | 2020-10-30 | 주식회사 코미티아 | Underwater drone for removing marine pollutants |
| WO2021248268A1 (en) * | 2020-06-08 | 2021-12-16 | 天津大学 | Variable-configuration, dual-navigation-state, long-voyage unmanned marine vehicle driven by natural environment fluid |
| CN212423421U (en) * | 2020-06-23 | 2021-01-29 | 上海天行控制科技有限公司 | ROV underwater vehicle six-freedom-degree driving structure |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111252207A (en) * | 2020-02-20 | 2020-06-09 | 未来海工智能装备(山东)有限公司 | Ship bottom cleaning robot |
| CN113682436A (en) * | 2021-08-25 | 2021-11-23 | 深圳市自然资源和不动产评估发展研究中心(深圳市地质环境监测中心) | Marine ecological environment inspection navigation device |
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