CN210555524U - Device for working close to surface of underwater structure - Google Patents
Device for working close to surface of underwater structure Download PDFInfo
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- CN210555524U CN210555524U CN201921176949.1U CN201921176949U CN210555524U CN 210555524 U CN210555524 U CN 210555524U CN 201921176949 U CN201921176949 U CN 201921176949U CN 210555524 U CN210555524 U CN 210555524U
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- carrying frame
- underwater structure
- handrail
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Abstract
The utility model discloses a device for working close to the surface of an underwater structure, which comprises a carrying frame, three propellers and a controller; a working tool is carried in the carrying frame; the carrying frame is provided with an operation surface; the three thrusters are respectively arranged on three side surfaces outside the carrying frame, and the thrusters are not arranged on the working surface; the propelling directions of the three propellers are vertical to the mounting surface of the carrying frame; the controller controls the three propellers to enable the operation surface of the carrying frame to be close to the surface of the underwater structure, and the controller controls the operation appliance to perform underwater operation. The utility model discloses pressing close to underwater structure thing surface that can be stable does benefit to the operation utensil that its carried on and carries out the operation.
Description
Technical Field
The utility model belongs to the technical field of underwater operation, in particular to press close to device of underwater structure surface operation.
Background
The working tool is required to be close to the surface of the underwater structure for inspection or maintenance of the underwater structure. The prior art means is mainly to send a working tool to the vicinity of an underwater structure for operation by a diver or an underwater robot. The mode of adopting the diver has the inefficiency, and the safe risk scheduling problem greatly exists. The underwater robot is adopted, the existing underwater robot is mainly developed aiming at a water body without obstacles, a turbulent flow area is often arranged near an underwater structure in living water, and the posture of the underwater robot near the underwater structure is unstable, so that the underwater robot is not easy to be close to the surface of the underwater structure.
Disclosure of Invention
The utility model provides a press close to device of underwater structure surface operation, the underwater structure surface of pressing close to that can be stable to do benefit to the operation utensil of its carrying and carry out the operation.
The technical scheme of the utility model as follows:
a device for working close to the surface of an underwater structure comprises a carrying frame 10, three propellers 20 and a controller 30;
a working tool G is mounted inside the mounting frame 10; the mounting frame 10 has one work surface;
the three thrusters 20 are respectively installed on three side surfaces outside the mounting frame 10, and the thrusters 20 are not installed on the working surface; the propulsion directions of the three propellers 20 are perpendicular to the mounting surface of the carrying frame;
the controller 30 controls the three propellers 20 so that the working surface of the mounting frame 10 is brought close to the surface of the underwater structure a, and the controller 30 controls the working device G to perform underwater work.
Further, the operation apparatus G comprises a shooting device, a space where the operation apparatus G is located is provided with a water injection port J and a water outlet K, and a sealed space is formed after the operation apparatus G is filled with clear water.
Further, the working surface is a transparent screen 50.
Further, power supply devices are disposed in the three thrusters 20 and the work implement G, respectively.
Further, wireless control modules are provided on the controller 30, the three thrusters 20, and the working implement G, and the controller 30 operates the thrusters 20 and the working implement G in a wireless control manner.
Further, the three thrusters 20 and the working implement G are respectively provided with cables including power lines and signal lines;
the cables of the three thrusters 20 are introduced into the mounting frame 10 through the openings provided on the mounting surface of the mounting frame 10, and the openings are sealed after the cables are provided.
Further, a hollow handrail 40 is installed on the surface of the carrier frame 10, and a handrail opening C is formed at the intersection of the carrier frame 10 and the handrail 40;
the cables of the working implement G and the three thrusters 20 enter the handrail inner cavity D through the handrail opening C, and are led to the working platform E outside the carrying frame 10 from the handrail inner cavity D.
Further, the handrail 40 is installed on the top of the carrying frame 10; the carrying frame 10 is internally provided with a middle partition plate 11, the carrying frame 10 is divided into an upper part and a lower part, the upper part is provided with the working tool G, and the lower part is provided with a counterweight H; the middle partition plate 11 is hollowed with a plurality of partition plate openings B; the three thrusters 20 are mounted on a lower layer portion outside the mounting frame 10, and the cables of the three thrusters 20 pass through the middle partition 11 through the partition opening B; the holding rod hole C and the partition plate hole B are sealed after the cable is arranged.
Further, the handrail 40 is made of metal and is fixedly connected with the carrying frame 10 into a whole, and the controller 30 is disposed on the working platform E.
Further, the mounting frame 10 is a rectangular parallelepiped or a square.
The utility model discloses following beneficial effect has:
an underwater robot operation tool in the prior art is mainly developed aiming at a barrier-free water body. When a turbulent area exists near the underwater structure, the underwater robot is unstable in posture near the underwater structure, so that the underwater robot is not easy to be close to the surface of the underwater structure. The utility model discloses the surface that carries on the frame and plans towards underwater structure does not install the propeller, all the other surface mounting propellers make and carry on the frame and receive the thrust effect at the perpendicular line direction of this installation face of installation propeller, when needs carry on the frame and move forward towards which direction, increase the thrust of the propeller of this direction promptly. The propeller configuration ensures that the carrying frame has a thrust action on the surface for mounting the propeller all the time, restricts partial freedom degree of the carrying frame, and ensures that the carrying frame can only move in the direction of partial freedom degree, thus the propeller configuration can overcome the influence of turbulence in all directions under the thrust action of the propeller when encountering turbulence, so that the surface of the carrying frame facing to the underwater structure can be stably attached to the surface of the underwater structure, the attitude is kept stable, and the propeller configuration is favorable for operation in a turbulence area.
When the carrying frame is used for carrying the shooting device to shoot and record the surface of the underwater structure, the surface of the carrying frame facing the underwater structure adopts the transparent screen, clear water is filled in the frame in advance, and then all the surfaces of the carrying frame are sealed, so that when the surface of the carrying frame facing the underwater structure is attached to the surface of the underwater structure, the camera can work in a relatively transparent environment, the shooting device can still obtain a relatively clear view field, and images with high definition can be obtained.
Drawings
Fig. 1 is a front view of the device for working close to the surface of an underwater structure of the present invention;
fig. 2 is a side view of the device for working on the surface of an underwater structure of the present invention.
In the figure, 10-carrying frame, 11-middle partition board, 20-propeller, 30-controller, 40-supporting rod, 50-transparent screen, A-underwater structure, B-partition board opening, C-supporting rod opening, D-supporting rod inner cavity, E-operation platform, F-clamp, G-operation appliance, H-counterweight, J-water injection port and K-water outlet.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
When examining or maintaining underwater structure A, need operation utensil G to press close to underwater structure A surface, in order to overcome the background art prior art defect, realize the utility model discloses an mesh makes operation utensil G press close to underwater structure A surface, and the operation utensil G of being convenient for its carrying carries out the operation. The inventive idea of the present invention is that no thruster is installed on the surface of the carrying frame 10 that is supposed to face the underwater structure a, and the other surface-mounted thrusters form the propulsion of the carrying frame 10 in the direction of the perpendicular line of the mounting surface on which the thruster 20 is installed. This propeller arrangement makes it possible to overcome the effect of turbulence by the thrust of the propeller when the carrying frame 10 encounters turbulence, and to increase the thrust in the forward direction so that the surface of the carrying frame 10 facing the underwater structure a can be stably brought into close proximity to the surface of the underwater structure a.
It will be appreciated by those skilled in the art that there are numerous specific details that may be employed to implement the inventive concepts herein. The present invention is capable of other embodiments and its several details are capable of modifications in various obvious respects, all without departing from the present invention. This document discloses to the public the best possible implementation of the present invention, but many of the common general knowledge in the art, and therefore does not describe here in detail, and does not affect the implementation of the present invention.
Fig. 1 is the utility model discloses a press close to the front view of the device of underwater structure thing surface operation, fig. 2 is the utility model discloses a press close to side view of the device of underwater structure thing surface operation. As shown in fig. 1 and 2, the apparatus for working close to the surface of an underwater structure includes a mounting frame 10, three propellers 20, and a controller 30. The working implement G is mounted inside the mounting frame 10, and the mounting frame 10 has one working surface. The three propellers 20 are attached to three side surfaces outside the mounting frame 10, respectively, and the propellers 20 are not attached to the work surface. The propulsion directions of the three propellers 20 are perpendicular to the mounting surface of the mounting frame. The controller 30 controls the three propellers 20 so that the working surface of the mounting frame 10 is brought close to the surface of the underwater structure a, and the controller 30 controls the working tool G to perform underwater work.
The working implement G is provided inside the mounting frame 10, and the mounting frame 10 has a working surface which is brought close to the surface of the underwater structure a during underwater work. In order to be stably close to the surface of the underwater structure a, the three thrusters 20 are respectively installed on three sides of the outside of the carrying frame 10, the thrusters 20 are not installed on the working surface, that is, one of the four sides constituting the carrying frame 10 is set as the working surface, and the thrusters 20 are respectively installed on the outside of the other three sides. The propulsion direction of the propeller 20 is perpendicular to the mounting surface of the mounting frame. The controller 30 controls the three propellers 20 to perform work, and when it is necessary to advance the mounting frame 10 in any direction, the controller 30 increases the thrust of the propeller 20 in any direction. In the underwater work, the controller 30 increases the thrust force toward the surface of the underwater structure a to bring the work surface on which the frame 10 is mounted close to the surface of the underwater structure a, and controls the work implement G to perform the underwater work.
In the present embodiment, the thruster 20 is not installed on the surface of the carrying frame 10 to be faced to the underwater structure a, and the thrusters 20 are installed on the other surfaces, so that the carrying frame 10 is subjected to a thrust action in the direction perpendicular to the installation surface on which the thruster 20 is installed, and when it is necessary to advance the carrying frame 10 in which direction, the thrust of the thruster 20 in the direction is increased. The propeller 20 is disposed so that the mounting frame 10 always has a thrust action on the surface on which the propeller 20 is mounted, and the partial degree of freedom of the mounting frame 10 is restricted so that the mounting frame 10 can move only in the direction of the partial degree of freedom, whereby the influence of turbulence in each direction can be overcome by the thrust action of the propeller 20 when the surface of the mounting frame 10 facing the underwater structure a comes into close proximity to the surface of the underwater structure a stably.
In the present embodiment, the working surface is a vertical surface, but the top or bottom of the mounting frame 10 may be used as the working surface, so that the surface of the underwater structure a in the horizontal direction can be worked.
The working device G can comprise equipment such as a camera and a recorder, and is provided with a water filling port J and a water outlet K in the space, and a sealed space is formed after the working device G is filled with clear water. The mounting frame 10 can mount various working tools G that need to work on the surface of the underwater structure a, and the present embodiment mounts a camera device that is commonly used. In order to make the camera device obtain a clear view field, the space where the camera device is located in the carrying frame 10 is sealed and filled with clear water. Therefore, the mounting frame 10 is provided with a water inlet J and a water outlet K for water injection and water discharge.
The work surface is a transparent screen 50. When carrying the shooting and recording equipment, the working surface of the carrying frame 10 facing the surface of the underwater structure A can adopt the transparent screen 50 for shooting and recording. The size of the transparent screen 50 should not affect the operation of the camcorder device.
The three thrusters 20 and the work implement G are provided with power supply devices therein, respectively. The pusher 20 and the working implement G may be self-contained with a power source, such as a battery or lithium battery. Thus, an external power supply is not required, and a power supply line can be omitted.
The controller 30, the three thrusters 20, and the work implement G are provided with wireless control modules, and the controller 30 operates the thrusters 20 and the work implement G in a wireless control manner. The controller 30, the propeller 20 and the working tool G may be provided with a wireless control module, and the controller 30 may operate the propeller 20 and the working tool G in a wireless remote control manner.
The three thrusters 20 and the working implement G have cables, respectively, which include power lines and signal lines. Cables of the three thrusters 20 may be introduced into the inside of the mounting frame 10 through openings provided in the mounting surface of the mounting frame 10, and the openings are sealed after the cables are provided. The controller 30 is connected with and controls the propeller 20 through the signal line of the propeller 20 to generate a thrust force along the direction of the perpendicular line of the installation surface, and simultaneously, the controller 30 is connected with and controls the operation of the operation tool G through the signal line of the operation tool G, namely, controls the camera equipment to perform operation on the surface of the underwater structure a through the transparent screen in the embodiment.
Holes are drilled near the positions of the carrier frame 10 where the pushers 20 are installed, cables of the pushers 20 can be led into the interior of the carrier frame 10 through the holes in the carrier frame 10, and then the holes are sealed by glue or the like.
A hollow handrail 40 is installed on the surface of the carrying frame 10, and a handrail opening C is arranged at the intersection of the carrying frame 10 and the handrail 40. The cables of the working device G and the three propellers 20 enter the handrail inner cavity D through the handrail opening C and are led to the working platform E outside the carrying frame 10 from the handrail inner cavity D. In order to lead out the cables of the propeller 20 and the working tool G from the carrier frame 10, the present embodiment installs a hollow handrail 40 on the surface of the carrier frame 10, and the crossing portion of the carrier frame 10 and the handrail 40 has a handrail opening C. The cables of the propeller 20 and the working tool G enter the handrail inner cavity D through the handrail opening C and extend to the working platform E from the handrail inner cavity D.
The handrail 40 is mounted on top of the carrier frame 10. The mounting frame 10 has a center partition 11 therein, and the mounting frame 10 is divided into upper and lower portions, the upper portion is mounted with the work implement G, and the lower portion is mounted with the counterweight H. The middle partition board 11 is hollowed with a plurality of partition board openings B. Three propeller 20 is installed in the outside lower floor part of carrying frame 10, and the cable of three propeller 20 passes middle part baffle 11 through baffle trompil B, holds up and seals after pole trompil C and the baffle trompil B set up the cable.
The handrail 40 can be installed on the surface of the carrier frame 10, and the installation position can be set according to actual requirements, although it is more common that the handrail 40 is installed on the top surface of the carrier frame 10. A middle partition plate 11 can be arranged in the horizontal direction at the lower position of the middle part of the carrying frame 10, the carrying frame 10 is divided into two parts by the middle partition plate 11, the upper part can be provided with a video recording device, and the lower part can be provided with a balance weight H. At 11 a plurality of baffle trompils B of fretwork of middle part baffle, propeller 20 installs and carries on frame 10 lower floor part outside, and after propeller 20's cable introduced to inside from carrying on frame 10 outside, rethread baffle trompil B got into 11 tops of middle part baffle. In order to seal the space where the upper part of the carrying frame 10 is located by the video camera, the partition plate opening B and the handrail opening C can be sealed after penetrating through the cable, and can be sealed by gluing and the like.
Through setting up middle part baffle 11, will carry on frame 10 and divide into two parts about, for video-recording equipment keeps apart a working space, the better operation of video-recording equipment of being convenient for.
The handrail 40 is made of metal and is fixedly connected with the carrying frame 10 into a whole. The handrail 40 can be made of rigid material such as metal, and is fixedly connected with the carrying frame 10 into a whole. As shown in fig. 2, the operator of the work platform E can hold directly or by means of the clamp F, and by holding the handrail 40, the passive range of movement of the detection device is restricted. The carrying frame 10 can be lowered, lifted, and moved left and right in combination with the use of the propeller 20. The handrail 40 can be lengthened as desired.
The controller 30 may also be provided on the work platform E. For example, the controller 30 is a computer operated by an operator on the work platform E.
The mounting frame 10 may be a rectangular parallelepiped or a square. In the present embodiment, the mounting frame 10 has a rectangular parallelepiped or square shape, but may have another shape such as a prism. When the underwater structure A is used, the surface of the underwater structure A is divided into a plurality of vertical detection strips. The strap width is slightly smaller than the effective working range of the work implement G to be carried. The mounting frame 10 is placed along the centerline of the detection tape.
During operation, an operator can also hold the holding rod 40 by hand, and further adjust the propelling directions and powers of the different propellers 20 according to the deformation of the holding rod 40 impacted by water flow, so that the holding rod 40 is basically kept in a vertical state. In this state, the carrying frame 10 is driven to sink by slowly lowering the holding bar 40, and the carried working tool G is operated to perform the work.
Based on the above embodiments, the present invention can be implemented by those skilled in the art with many modifications and variations, which are within the scope of the present invention.
Claims (10)
1. The device for working close to the surface of an underwater structure is characterized by comprising a carrying frame (10), three propellers (20) and a controller (30);
a working tool (G) is mounted inside the mounting frame (10); the carrying frame (10) is provided with a working surface;
the three propellers (20) are respectively installed on three side surfaces outside the carrying frame (10), and the propellers (20) are not installed on the working surface; the propelling directions of the three propellers (20) are vertical to the mounting surface of the carrying frame;
the controller (30) controls the three propellers (20) to enable the working surface of the carrying frame (10) to be close to the surface of the underwater structure (A), and the controller (30) controls the working tool (G) to carry out underwater operation.
2. The device for working close to the surface of an underwater structure according to claim 1, wherein the working implement (G) comprises a camera device, the working implement (G) is located in a space with a water filling port (J) and a water outlet port (K), and a sealed space is formed after the working implement (G) is filled with clear water.
3. An apparatus for working in close proximity to a surface of an underwater structure as claimed in claim 2 wherein the work surface is a transparent screen (50).
4. An arrangement for working in close proximity to a surface of an underwater structure according to claim 2, wherein power supply equipment is provided in each of said three thrusters (20) and said working implement (G).
5. An arrangement for working in close proximity to a surface of an underwater structure according to claim 4, wherein wireless control modules are provided on said controller (30), said three thrusters (20) and said working implement (G), said controller (30) operating said thrusters (20) and said working implement (G) in a wireless control mode.
6. An apparatus for working next to a surface of an underwater structure according to claim 2, wherein the three thrusters (20) and the working implement (G) are provided with cables respectively including power and signal lines;
the cables of the three propellers (20) penetrate through the holes formed in the mounting surface of the carrying frame (10) and are led into the carrying frame (10), and the holes are sealed after the cables are arranged.
7. The device for working close to the surface of an underwater structure as claimed in claim 6, wherein a hollow handrail (40) is installed on the surface of the carrying frame (10), and a handrail opening (C) is formed at the intersection part of the carrying frame (10) and the handrail (40);
the cables of the working appliance (G) and the three propellers (20) enter a handrail inner cavity (D) through the handrail opening (C) and are led to a working platform (E) outside the carrying frame (10) from the handrail inner cavity (D).
8. An apparatus for working in close proximity to a surface of an underwater structure according to claim 7, wherein the handrail (40) is mounted on top of the carrier frame (10); the carrying frame (10) is internally provided with a middle clapboard (11) which divides the carrying frame (10) into an upper part and a lower part, the upper part is provided with the working tool (G), and the lower part is provided with a counterweight (H); the middle partition plate (11) is hollowed out with a plurality of partition plate openings (B); the three thrusters (20) are mounted on a lower layer part outside the carrying frame (10), and the cables of the three thrusters (20) pass through the middle partition (11) through the partition opening (B); the holding rod hole (C) and the clapboard hole (B) are sealed after the cable is arranged.
9. The device for working close to the surface of an underwater structure as claimed in claim 8, wherein the handrail (40) is made of metal and is fixedly connected with the carrying frame (10) into a whole, and the controller (30) is arranged on the working platform (E).
10. An arrangement for working in close proximity to the surface of an underwater structure according to any of claims 1 to 9 wherein the carrying frame (10) is a cuboid or cube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921176949.1U CN210555524U (en) | 2019-07-24 | 2019-07-24 | Device for working close to surface of underwater structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921176949.1U CN210555524U (en) | 2019-07-24 | 2019-07-24 | Device for working close to surface of underwater structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210555524U true CN210555524U (en) | 2020-05-19 |
Family
ID=70674333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921176949.1U Active CN210555524U (en) | 2019-07-24 | 2019-07-24 | Device for working close to surface of underwater structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210555524U (en) |
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2019
- 2019-07-24 CN CN201921176949.1U patent/CN210555524U/en active Active
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