CN212321515U - Underwater slope damage detection device - Google Patents
Underwater slope damage detection device Download PDFInfo
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- CN212321515U CN212321515U CN202021558964.5U CN202021558964U CN212321515U CN 212321515 U CN212321515 U CN 212321515U CN 202021558964 U CN202021558964 U CN 202021558964U CN 212321515 U CN212321515 U CN 212321515U
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Abstract
The utility model discloses an underwater slope damage detection device, which comprises an above-water truss platform and an underwater working vehicle, wherein the above-water truss platform comprises crossbearers for crossing two banks of a river, walking wheels are arranged at two ends of the crossbearers, self-walking pulleys are arranged on the crossbearers, windlasses are arranged on the self-walking pulleys, and the tail ends of the windlasses are connected with the underwater working vehicle; the underwater working vehicle comprises a frame, wherein a driven roller and two driving rollers are arranged on the frame, the two driving rollers are respectively provided with a power motor, a vehicle body is arranged on the frame, and a detection damage sensor group for detecting different damage parameters of a side slope is arranged on the front side surface, the two side surfaces and the bottom of the frame; through the cooperation of truss platform on water and underwater working car, it is applicable inside or submarine in the culvert, possess and remove under water, fix a position, visit and decrease, improve and visit and decrease work efficiency, reduce artifical the consuming, do not destroy the structure of aqueduct simultaneously, guarantee to visit and decrease the effect.
Description
Technical Field
The utility model belongs to visit and decrease the mechanical equipment field under water, in particular to side slope is visited and is decreased device under water.
Background
Since the water is supplied to the main line project of central line of north-south water transfer formally, the main line project works uninterruptedly for many years, and serious safety accidents such as sinking, displacement, cracking and the like of a channel plate are easy to happen because the positions of channel slopes, culverts, inverted siphons and the like on two sides are difficult to observe the safety condition of the channel due to the complex underground geographical structure or non-open channels. The device capable of detecting the damage underwater is urgently needed in actual engineering detection, and the device is required to be capable of automatically detecting the damage condition of the channel slope in the closed environment.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems in the prior art and provides an underwater slope damage detection device which is suitable for uninterrupted overflowing; the technical scheme adopted for achieving the purpose is as follows:
an underwater slope damage detection device comprises an above-water truss platform and an underwater working vehicle, wherein the above-water truss platform comprises crossbearers for crossing two banks of a river, walking wheels are arranged at two ends of each crossbearer, a self-walking pulley is arranged on each crossbearer, a winch is arranged on each self-walking pulley, a cable is wound on each winch, and the tail end of each cable is connected with the underwater working vehicle;
the underwater working vehicle comprises a frame, wherein a driven roller and two driving rollers are arranged on the frame, the two driving rollers are respectively provided with a power motor, a vehicle body is arranged on the frame, and a detection damage sensor group for detecting different damage parameters of the side slope is arranged on the front side surface, the two side surfaces and the bottom of the frame.
Preferably, the system also comprises an onshore general operating system, a signal transmission line is arranged in the cable, the upper end of the signal transmission line is in signal connection with the onshore general operating system, and the lower end of the signal transmission line is in signal connection with each sensor of the damage detection sensor group.
Preferably, the system further comprises an onshore general operating system, and each sensor of the detection and damage sensor group is in signal transmission connection with the onshore general operating system in a wired or wireless mode.
Preferably, the cross frame is provided with a guide rail, the self-walking tackle is provided with a power wheel which is connected to the guide rail in a rolling manner, the self-walking tackle is provided with a first stepping motor which is used for rotating the power wheel, the winch is provided with a second stepping motor which is used for driving the mooring rope to be wound and unwound, and the first stepping motor, the second stepping motor and the shore main operating system are in control connection in a wired or wireless manner.
Preferably, a third stepping motor for driving the travelling wheels to rotate is arranged on the transverse frame, and the third stepping motor is in control connection with the shore main operating system in a wired or wireless mode.
Preferably, the crossbearer comprises a plurality of crossbearer sections which are connected in sequence, connecting flanges are arranged at two ends of each crossbearer section, and guide rail sections are arranged on the crossbearer sections.
Preferably, the two driving rollers are arranged at the rear end part of the frame side by side, and the driven roller is arranged in the middle of the front end of the frame.
Preferably, hang through three lift between automobile body and the frame and be connected, the lift is hung including installing the electric putter on the frame, and electric putter's movable rod is vertical upwards to be set up, and the end of movable rod articulates in the automobile body bottom, carries out control connection through wired or wireless mode between electric putter and the bank master operation system.
Preferably, a front-view sonar sensor is installed on the front side surface of the vehicle body, an ultrasonic damage detection device is installed on the front bottom of the vehicle body or the front bottom of the vehicle frame, a plurality of side-scan sonar sensors are installed on both side surfaces of the vehicle body, and the front-view sonar sensor, the ultrasonic damage detection device and the side-scan sonar sensors form a damage detection sensor group.
Preferably, the vehicle body is a streamlined shell.
The utility model discloses the beneficial effect who has does: the underwater damage detection device can be suitable for the inside or the bottom of a culvert through the matching effect of the above-water truss platform and the underwater working vehicle, has the functions of underwater movement, positioning and damage detection, improves the damage detection working efficiency, reduces the labor consumption, does not damage the structure of the aqueduct, and ensures the damage detection effect; on the other hand, different sensors can be matched and replaced on the underwater working vehicle according to actual needs, and the vehicle body and the vehicle frame are connected through three or four lifting suspensions, so that the rapid adjustment of the posture and the gravity center position of the underwater working vehicle is realized through three-point determination of a plane principle to adapt to slope detection operation with different gradient ratios, and the walking stability is also ensured.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a right side view of the aquatic truss platform of FIG. 1;
fig. 3 is a schematic structural view of the underwater working vehicle.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 3, the present invention comprises an above-water truss platform 2 and an underwater vehicle 3, wherein the above-water truss platform 2 comprises a cross frame 22 for crossing two banks of a river, walking wheels 24 are arranged at two ends of the cross frame 22, a self-walking tackle 26 is arranged on the cross frame 22, a winch 28 is arranged on the self-walking tackle 26, a cable 21 is wound on the winch 28, and the end of the cable 21 is connected with the underwater vehicle 3;
the underwater working vehicle 3 comprises a frame 37, a driven roller 38 and two driving rollers 36 are arranged on the frame 37, the other driving roller is shielded and not shown, the two driving rollers 36 are respectively provided with a power motor, the two driving rollers 36 are arranged at the rear end part of the frame 37 side by side, the driven roller 38 is arranged in the middle of the front end of the frame 37, the driven roller 38 can also be replaced by a universal wheel, a vehicle body 34 is arranged on the frame 37, the vehicle body 34 is a streamline shell, and a detection damage sensor group for detecting different damage parameters of the side slope 1 is arranged on the front side surface, two side surfaces and the bottom of the vehicle body 34.
In order to achieve the onshore remote control effect, the utility model also comprises an onshore main operating system, a signal transmission line is arranged in the mooring rope 21, the upper end of the signal transmission line is in signal connection with the onshore main operating system, and the lower end of the signal transmission line is in signal connection with each sensor of the damage detection sensor group; and signal transmission connection can be carried out between each sensor of the detection and damage sensor group and the shore main operating system in a wired or wireless mode.
As shown in fig. 2, a guide rail 29 is provided on the cross frame 22, a power wheel 25 connected to the guide rail 29 in a rolling manner is provided on the self-traveling block 26, a first stepping motor 23 for rotating the power wheel 25 is provided on the self-traveling block 26, a second stepping motor 27 for winding and unwinding the rope 21 is provided on the winch 28, and the first stepping motor 23 and the second stepping motor 27 are connected to the shore main operating system in a wired or wireless manner.
And a third stepping motor for driving the traveling wheels to rotate 24 is arranged on the transverse frame 22, and the third stepping motor is in control connection with the shore main operating system in a wired or wireless mode.
In order to facilitate assembly and disassembly transportation, the cross frame 22 comprises a plurality of cross frame sections which are connected in sequence, connecting flanges are arranged at two ends of each cross frame section, and guide rail sections are arranged on the cross frame sections.
More steady when walking in order to adapt to on the slope 1 of slope, hang through three or four lifts between automobile body 34 and the frame 37 and be connected, the lift is hung including installing the electric putter on frame 37, and electric putter's movable rod is vertical upwards to be set up, and the end of movable rod articulates in automobile body 34 bottom, and electric putter and bank carry out control connection through wired or wireless mode between the total operating system.
A front sonar sensor 32 is mounted on the front side surface of the vehicle body 34, an ultrasonic damage detection device 31 is mounted on the front bottom surface of the vehicle body 34 or the front bottom surface of the vehicle frame 37, a plurality of side-scan sonar sensors 33 are mounted on both side surfaces of the vehicle body 34, and the front sonar sensor 32, the ultrasonic damage detection device 31, and the side-scan sonar sensors 33 constitute a damage detection sensor group.
When the utility model works, the self-walking pulley 26 drives the underwater vehicle 3 to move through the cable 21 to preliminarily limit the working position when two-dimensional movement is carried out, and then the underwater vehicle 3 is controlled to walk through remote control or wired control; in the walking process, the respective power motors of the two driving rollers 36 are mutually matched to act to realize the flexible steering of the underwater working vehicle 3, and on the other hand, the three electric push rods for lifting suspension are properly adjusted according to the different gradients of the side slope 1 to change the posture and the gravity center position of the vehicle body 34 so as to ensure that the whole body is relatively stable; in the course of the work, forward-looking sonar sensor 32 is used for judging apart from pool wall, the place of the place ahead barrier and the deposit degree of depth, prevents the collision of underwater working car 3 and pool wall, and ultrasonic wave is visited damage device 31 and side scan sonar sensor 33 and is detected the subsidence of side slope 1, damage such as displacement, fracture, gives the on-shore total operating system pending reference through wired or wireless mode transmission with the testing result simultaneously.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: it is to be understood that modifications may be made to the above-described arrangements in the embodiments or equivalents may be substituted for some of the features of the embodiments, but such modifications or substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The underwater slope damage detection device is characterized by comprising an above-water truss platform and an underwater working vehicle, wherein the above-water truss platform comprises crossbearers for crossing two banks of a river, walking wheels are arranged at two ends of each crossbearer, self-walking pulleys are arranged on the crossbearers, windlasses are arranged on the self-walking pulleys, cables are wound on the windlasses, and the tail ends of the cables are connected with the underwater working vehicle;
the underwater working vehicle comprises a frame, wherein a driven roller and two driving rollers are arranged on the frame, the two driving rollers are respectively provided with a power motor, a vehicle body is arranged on the frame, and a detection damage sensor group for detecting different damage parameters of the side slope is arranged on the front side surface, the two side surfaces and the bottom of the frame.
2. The underwater slope damage detection device of claim 1, further comprising an onshore general operating system, wherein a signal transmission line is disposed in the cable, the upper end of the signal transmission line is in signal connection with the onshore general operating system, and the lower end of the signal transmission line is in signal connection with each sensor of the damage detection sensor group.
3. The underwater slope damage detection device according to claim 1, further comprising an onshore general operating system, wherein each sensor of the damage detection sensor group is connected with the onshore general operating system in a wired or wireless manner through signal transmission.
4. The underwater slope damage detection device as claimed in claim 1, wherein a guide rail is provided on the cross frame, a power wheel connected to the guide rail in a rolling manner is provided on the self-traveling block, a first stepping motor for rotating the power wheel is provided on the self-traveling block, a second stepping motor for winding and unwinding the mooring rope is provided on the winch, and the first stepping motor and the second stepping motor are in control connection with the shore main operating system in a wired or wireless manner.
5. The underwater slope damage detection device as claimed in claim 4, wherein a third stepping motor for driving the traveling wheels to rotate is arranged on the cross frame, and the third stepping motor is in control connection with the shore main operation system in a wired or wireless mode.
6. The underwater slope damage detection device as claimed in claim 5, wherein the crossbearers comprise a plurality of crossbearer sections connected in sequence, connecting flanges are arranged at two ends of each crossbearer section, and guide rail sections are arranged on each crossbearer section.
7. The underwater slope damage detection device according to any one of claims 1 to 6, wherein two driving rollers are located side by side at the rear end of the frame, and the driven roller is located at the middle of the front end of the frame.
8. The underwater slope damage detection device according to claim 7, wherein the vehicle body is connected with the frame through three lifting suspensions, each lifting suspension comprises an electric push rod installed on the frame, a movable rod of each electric push rod is vertically arranged upwards, the tail end of each movable rod is hinged to the bottom of the vehicle body, and the electric push rods are in control connection with a main shore operation system in a wired or wireless mode.
9. The underwater slope damage detection device according to claim 8, wherein a forward looking sonar sensor is installed on the front side surface of the vehicle body, an ultrasonic damage detection device is installed on the front bottom of the vehicle body or the front bottom of the vehicle frame, a plurality of side scan sonar sensors are installed on both side surfaces of the vehicle body, and the forward looking sonar sensor, the ultrasonic damage detection device and the side scan sonar sensors form a damage detection sensor group.
10. The underwater slope damage detection device of claim 8 wherein the car body is a streamlined shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021558964.5U CN212321515U (en) | 2020-07-31 | 2020-07-31 | Underwater slope damage detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021558964.5U CN212321515U (en) | 2020-07-31 | 2020-07-31 | Underwater slope damage detection device |
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| Publication Number | Publication Date |
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| CN212321515U true CN212321515U (en) | 2021-01-08 |
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| CN202021558964.5U Active CN212321515U (en) | 2020-07-31 | 2020-07-31 | Underwater slope damage detection device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111751450A (en) * | 2020-07-31 | 2020-10-09 | 郑州迈控光电科技有限公司 | Underwater slope damage detection device |
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2020
- 2020-07-31 CN CN202021558964.5U patent/CN212321515U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111751450A (en) * | 2020-07-31 | 2020-10-09 | 郑州迈控光电科技有限公司 | Underwater slope damage detection device |
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