CN217805199U

CN217805199U - Dam inspection underwater vehicle

Info

Publication number: CN217805199U
Application number: CN202222026169.7U
Authority: CN
Inventors: 宋浩铭; 夏文龙; 陈禹潼; 叶铖; 张沈力
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-08-02
Filing date: 2022-08-02
Publication date: 2022-11-15
Anticipated expiration: 2032-08-02

Abstract

The utility model discloses a dam patrol underwater vehicle, which relates to the technical field of dam patrol equipment and comprises a bottom plate, wherein the left side and the right side of the bottom plate are fixedly connected with side plates, the inner sides of the side plates are fixedly provided with a middle plate, the tops of the inner sides of the side plates are fixedly provided with a top plate, the middle parts of the bottom plate and the middle plate are fixedly provided with a cabin connecting plate, and the middle part of the cabin connecting plate is fixedly provided with an equipment cabin; the utility model discloses a brand-new six propeller overall arrangement can realize the motion ability the same with eight propeller overall arrangements of tradition in theory under water, and lateral motion power is more sufficient, satisfies the dam and patrols and examines the demand that generally is lateral motion, and is more nimble under water, and in addition, the centre of rotation of camera coincides basically with the centre of sphere of spherical cover, can prevent effectively that light from producing the distortion because of the refracting index change of ya keli at the in-process of gyration to promote the image acquisition effect.

Description

Dam inspection underwater vehicle

Technical Field

The utility model relates to a dam equipment technical field that patrols and examines especially relates to a dam patrols and examines underwater vehicle.

Background

Because more than 95% of reservoir dams in service in China are built before 1980 s at present and are influenced by various reasons such as aging, diseases and the like, about 1/3 of the reservoir dams have different degrees of danger problems, the dams have important safety due to special properties, so the dam daily maintenance is very important work, one main content in the dam maintenance process is the check of dam body cracks, the internal structural stress of a cement structure is gradually released in the long-term service process of the dams, cracks with different degrees are inevitably generated in the underwater part of a concrete panel of the dams and are gradually spread and enlarged, and if the dams cannot be timely detected and maintained, only one small crack is likely to cause disastrous results originally.

At present, many methods such as a high-density resistivity method, a surface wave exploration method, a transient electromagnetic method, a sound velocity measurement method and the like are used for detecting the cracks on the underwater surface of the dam at home and abroad, but the methods have the common defects that the detection depth is shallow, generally about 10m, the positioning error is large, the deep water part at the lower part of the dam with the depth of hundreds of meters cannot be reached and detected, the dam needs to be manually submerged into the deep water for detection at this time, the manual deep water exploration cost is high, the damage to a human body is large, the life safety hidden danger is large, and the method is obviously determined, so the best method at present is to use an underwater vision robot to observe the cracks so as to judge the health state of the dam.

However, the existing underwater vision robot mostly adopts an eight-propeller structure, so that the robot is large in size and inconvenient and flexible, and therefore an underwater vehicle for inspecting the dam is urgently needed to detect the cracks on the underwater surface of the dam; in addition, the adopted spherical cover can cause the light rays entering the spherical cover to generate distortion, so that the acquired image display effect is poor, and the analysis and judgment on the surface cracks of the dam are influenced.

SUMMERY OF THE UTILITY MODEL

The utility model provides a dam patrols and examines underwater vehicle has solved the great convenient nimble technical problem inadequately of the great machine volume of eight propeller structures.

For solving the technical problem, the utility model provides a pair of underwater vehicle is patrolled and examined to dam, comprising a base plate, the equal fixedly connected with curb plate in the left and right sides of bottom plate, the inboard fixed mounting of curb plate has the medium plate, the inboard top fixed mounting of curb plate has the roof, the middle part fixed mounting of bottom plate and medium plate has the cabin connecting plate, the middle part fixed mounting of cabin connecting plate has the equipment compartment, first slotted hole, second slotted hole and third slotted hole have been seted up respectively to top one side of medium plate, the second water conservancy diversion hole has been seted up to top one side of bottom plate.

Preferably, the first slot hole is fixedly connected with a first propeller, the second slot hole is fixedly connected with a second propeller, the third slot hole is fixedly connected with a third propeller, the side surfaces of the first propeller, the second propeller and the third propeller are fixedly provided with connecting pieces, and the connecting pieces are fixedly arranged at the bottom of the middle plate.

Preferably, the equipment cabin comprises a spherical cover, and the spherical cover is made of acrylic materials.

Preferably, the inside fixed mounting in equipment cabin has the mounting panel, the side fixed mounting of mounting panel has the steering wheel, the fixed rotor plate that is equipped with of output shaft of steering wheel, the side fixed mounting of rotor plate has binocular camera.

Preferably, the center of sphere of the spherical cover coincides with the center of rotation of the binocular camera.

Compared with the prior art, the utility model provides a pair of underwater vehicle is patrolled and examined to dam has following beneficial effect:

the utility model provides an underwater vehicle is patrolled and examined to dam has adopted a brand-new six propeller overall arrangement, can realize the motion ability the same with eight propeller overall arrangements of tradition in theory under water, and lateral motion power is more sufficient, satisfy the dam and patrol and examine the demand that generally is lateral motion, and it is more nimble under water, in addition, the centre of rotation of camera coincides basically with the centre of sphere of spherical cover, can prevent effectively that light from producing the distortion because of the refracting index change of ya keli at the in-process of gyration, thereby promote the image acquisition effect.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic diagram of the middle plate structure of the present invention;

fig. 3 is a schematic view of the middle plate mounting structure of the present invention;

fig. 4 is a schematic structural view of a first propeller of the present invention;

fig. 5 is a schematic view of the internal structure of the equipment cabin of the present invention.

The reference numbers in the figures: 1. a base plate; 2. a side plate; 3. a middle plate; 4. a top plate; 5. a cabin connecting plate; 6. an equipment compartment; 11. a second flow guide hole; 31. a first slot; 32. a second slot; 33. a third slot; 34. a connecting member; 35. a first propeller; 36. a second propeller; 37. a third propeller; 60. a spherical cap; 61. mounting a plate; 62. a steering engine; 63. a rotating plate; 64. binocular camera.

Detailed Description

Embodiment one, given by fig. 1-5, the utility model discloses a bottom plate 1, the equal fixedly connected with curb plate 2 in the left and right sides of bottom plate 1, the inboard fixed mounting of curb plate 2 has medium plate 3, the inboard top fixed mounting of curb plate 2 has roof 4, the middle part fixed mounting of bottom plate 1 and medium plate 3 has cabin connecting plate 5, the middle part fixed mounting of cabin connecting plate 5 has equipment cabin 6, first slotted hole 31 has been seted up respectively to top one side of medium plate 3, second slotted hole 32 and third slotted hole 33, second water conservancy diversion hole 11 has been seted up to top one side of bottom plate 1, the first propeller 35 of the inside fixedly connected with of first slotted hole 31, the inside fixedly connected with second propeller 36 of second slotted hole 32, the inside fixedly connected with third propeller 37 of third slotted hole 33, first propeller 35, second propeller 36, the equal fixed mounting in side of third propeller 37 has connecting piece 34, connecting piece 34 fixed mounting is in the bottom of medium plate 3.

In this embodiment: the first propeller 35, the second propeller 36 and the third propeller 37 are M080 models, are high-power brushless motors, support power supply voltage of 12V-24V, and have maximum forward thrust of 6.8KGF and rated power of 360W under 24V work; the top plate 4 and the bottom plate 1 are both provided with slotted holes for guiding flow, and the top surface of the top plate 4 is a wing-shaped surface; the bending angles of the connecting pieces 34 are different so as to meet the actual required angle; preferably, the third propeller 37 at the front side of the aircraft forms an angle of 60 degrees with the median plate 3, the first propeller 35 at the rear side of the aircraft forms an angle of 45 degrees with the median plate 3, and the second propeller 36 at the middle part of the aircraft is vertically arranged with the median plate 3, so that the aircraft is controlled to move in multiple angles.

In the second embodiment, on the basis of the first embodiment, as shown in fig. 5, the equipment cabin 6 includes a spherical cover 60, the spherical cover 60 is made of an acrylic material, an installation plate 61 is fixedly installed inside the equipment cabin 6, a steering engine 62 is fixedly installed on a side surface of the installation plate 61, an output shaft of the steering engine 62 is fixedly sleeved with a rotating plate 63, a binocular camera 64 is fixedly installed on a side surface of the rotating plate 63, and a center of sphere of the spherical cover 60 coincides with a center of rotation of the binocular camera 64.

In this embodiment: the steering engine 62 adopts an RDS3115 digital steering engine, can output 30kg of torque, and can perform stable and accurate angle control on the binocular camera 64; the spherical cover 60 is made of acrylic material, so that the light transmission is good, the protection is strong, and the weight is light; the equipment cabin 6 is also internally provided with equipment required by navigation, such as a circuit board, a battery and the like.

The working principle is as follows: the adopted brand-new six-propeller layout can realize the same movement capacity as the traditional eight-propeller layout theoretically under water, the transverse movement power is more sufficient, the requirement that the dam is generally transversely moved in inspection is met, the underwater movement is more flexible, in addition, the center of rotation of the binocular camera 64 basically coincides with the center of sphere of the spherical cover 60, the distortion of light caused by the change of the refractive index of acrylic can be effectively prevented in the rotation process, and the image acquisition effect is improved.

Claims

1. The utility model provides a dam patrols and examines underwater vehicle, includes bottom plate (1), its characterized in that: the equal fixedly connected with curb plate (2) in the left and right sides of bottom plate (1), the inboard fixed mounting of curb plate (2) has middle plate (3), the inboard top fixed mounting of curb plate (2) has roof (4), the middle part fixed mounting of bottom plate (1) and middle plate (3) has cabin connecting plate (5), the middle part fixed mounting of cabin connecting plate (5) has equipment cabin (6), first slotted hole (31), second slotted hole (32) and third slotted hole (33) have been seted up respectively to top one side of middle plate (3), second water conservancy diversion hole (11) have been seted up to top one side of bottom plate (1).

2. The dam inspection underwater vehicle according to claim 1, wherein a first propeller (35) is fixedly connected to the inside of the first slotted hole (31), a second propeller (36) is fixedly connected to the inside of the second slotted hole (32), a third propeller (37) is fixedly connected to the inside of the third slotted hole (33), connecting pieces (34) are fixedly mounted on the side surfaces of the first propeller (35), the second propeller (36) and the third propeller (37), and the connecting pieces (34) are fixedly mounted on the bottom of the middle plate (3).

3. The dam inspection underwater vehicle according to claim 1, characterized in that said equipment pod (6) comprises a spherical cap (60), said spherical cap (60) being made of acrylic material.

4. The dam inspection tour underwater vehicle according to claim 1, wherein a mounting plate (61) is fixedly mounted inside the equipment cabin (6), a steering engine (62) is fixedly mounted on the side surface of the mounting plate (61), a rotating plate (63) is fixedly sleeved on an output shaft of the steering engine (62), and a binocular camera (64) is fixedly mounted on the side surface of the rotating plate (63).

5. The dam inspection underwater vehicle according to claim 3, wherein the center of sphere of the spherical cap (60) coincides with the center of gyration of the binocular camera (64).