Overflow arc gate underwater robot maintenance system

Abstract

The invention relates to a flood overflow arc gate underwater robot maintenance system, which comprises a mobile carrier, and a feeding device, a maintenance robot, a console and a crawling assembly which are arranged on the mobile carrier, and is characterized in that the maintenance robot enters water to maintain a flood overflow arc gate; compared with the prior art, an operator does not need to build auxiliary equipment at the position of the flood overflow arc door for overhauling, the overhauling time is greatly shortened, meanwhile, the personnel risk existing in the overhauling process of the flood overflow arc door is reduced, and therefore the effect that the flood overflow arc door can be overhauled very conveniently is achieved; and through cooperation of the rotating seat, the rotating plate, the rotating motor and the camera, the effect that the inspection speed of the flood overflow arc gate is higher is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of flood spillway arc gate maintenance, and in particular to a flood spillway arc gate underwater robot maintenance system. Background Art

[0002] Spillway gate is a flood discharge facility used in water conservancy projects such as reservoirs and dams. The main function of the spillway gate is to discharge floods that cannot be accommodated by the planned storage capacity to ensure the safety of the dam. Usually, the spillway gate is an open overflow and water discharge structure with a breast wall water inlet. It is generally not often used, but it is an important building in the reservoir hub.

[0003] As an important flood discharge facility of a reservoir dam, the safe and stable operation of the spillway gate is directly related to the safety of the reservoir dam. Since the spillway gate is exposed to the outdoors for a long time and is affected by natural factors such as water scouring, sun and rain, it is easy to suffer from corrosion and wear. Therefore, regular maintenance is required to extend the service life of the equipment. At present, the maintenance of the spillway gate usually requires operators to use stepped curved scaffolding to perform maintenance on the spillway gate.

[0004] When operators use stepped arc scaffolding to inspect and repair the spillway arc gate, not only is the maintenance cost high, but there are also great risks for operators to operate on the spillway arc gate, and it is inconvenient to repair the spillway arc gate. In recent years, underwater robots have gradually been used to replace manual labor. Underwater robots can complete the inspection, cleaning, and repair of the spillway arc gate without direct human contact, which not only reduces labor costs, but also avoids the dangerous environment that operators may face;

[0005] For example, the "self-adsorption underwater detection and repair intelligent device" disclosed in patent publication number CN116198675A adopts a wheeled crawler independent movement mode. Taking into account the adsorption capacity requirements of the device, the wheeled structure is combined with an electromagnetic unit to provide a strong adsorption capacity without affecting the flexibility of movement;

[0006] In the repair work of the spillway arc gate, since the maintenance robot itself carries limited materials and cannot meet the demand for large amounts of materials during the repair process, additional mobile carriers are required to transfer the robot and replenish materials. Therefore, multiple round trips to shore to replenish materials are required during the same operation. In addition, the maintenance robot may not be able to quickly and accurately find the previous operation site after returning, which seriously affects the efficiency and continuity of the repair work. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a spillway arc gate underwater robot maintenance system to solve the above problems.

[0008] The present invention provides the following technical solutions:

[0009] A flood spillway arc gate underwater robot maintenance system, comprising:

[0010] A mobile carrier, comprising a mobile platform and a mobile part, wherein the mobile platform is mounted on the mobile part, the mobile part is used to drive the mobile platform to move, and a placement rack is mounted on the mobile platform;

[0011] A feeding device, comprising a stirring assembly, a conveying pipe and a conveying member, wherein the stirring assembly is mounted on the mobile platform, the conveying pipe is connected to the stirring assembly, and the conveying member is connected to the conveying pipe, so as to convey the material stirred in the stirring assembly through the conveying pipe;

[0012] The maintenance robot comprises a main body, a control component, a driving component and a visual component, wherein the main body is placed on the placement rack, the control component is installed in the main body, the driving component is installed on the main body, the visual component is installed at one end of the main body, and the driving component and the visual component are both electrically connected to the control component, and the discharge port of the conveying pipe is installed on the main body;

[0013] A control console is installed on the moving platform, and the control element and the conveying element are both electrically connected to the control console.

[0014] By adopting the above technical solution, the mobile platform is moved to the vicinity of the spillway arc gate that needs maintenance using the moving parts, and then the maintenance robot is placed in the water. The control console sends instructions to the control parts, so that the driving parts continuously drive the main body to move along the surface of the spillway arc gate in the water, and the situation of the spillway arc gate is transmitted back to the control console through the visual parts, and the situation of the spillway arc gate is checked using the information transmitted back by the visual parts.

[0015] When damage is found in the spillway arc gate, the conveying part is started, and the stirring component then conveys the stirred plugging material along the conveying pipe to the damaged part in front of the maintenance robot, so that the damaged part of the spillway arc gate is repaired with the plugging material.

[0016] By using a maintenance robot to enter the water to inspect the spillway arc gate, there is no need for operators to set up auxiliary equipment at the spillway arc gate for maintenance. This not only greatly reduces the maintenance time, but also reduces the personnel risks during the maintenance of the spillway arc gate, thereby greatly facilitating the maintenance of the spillway arc gate.

[0017] The mixing assembly on shore transports materials to the underwater maintenance robot in real time through a conveying pipe to repair the spillway arc gate. There is no need to travel back and forth to shore to replenish materials many times, and the maintenance robot can carry out continuous repairs on the spillway arc gate, thereby improving the efficiency of the repair operation.

[0018] Optionally, a conveying capstan is rotatably connected to the movable platform, and the conveying capstan is located below the placement rack. A driving motor is installed at the axis of one end of the conveying capstan, and the driving motor is used to drive the conveying capstan to rotate. The conveying pipe is wound around the conveying capstan, and a pipe-smoothing fitting is also installed on the placement rack. The pipe-smoothing fitting is used to evenly wind the conveying pipe around the conveying capstan.

[0019] By adopting the above technical scheme, the setting of the conveying capstan is utilized to facilitate the storage of the conveying pipe. During use, the conveying capstan is driven by a driving motor to unwind, thereby facilitating the movement of the maintenance robot in the water. When the damaged part is detected, the conveying pipe connected to the stirring component is connected to the conveying pipe wound on the conveying capstan, and the conveying member can be used to convey the plugging material stirred in the stirring component to the damaged part for sealing.

[0020] Optionally, the pipe-shunting member includes a guide rod, a driving rod, a pipe-shunting block, a driving wheel, a transmission wheel and a transmission belt. The guide rod is fixedly connected to the placement rack, the driving rod is a reciprocating screw, the driving rod is rotatably connected to the placement rack, and the driving rod and the guide rod are arranged parallel to each other, one end of the pipe-shunting block is slidably connected to the guide rod, and the other end is threadedly connected to the driving rod; the driving wheel is coaxially fixedly connected to the rotating shaft of the conveying capstan, the transmission wheel is coaxially fixedly connected to the driving rod, and the transmission belt is respectively wound around the driving wheel and the transmission wheel.

[0021] By adopting the above technical solution, when the driving motor drives the conveying capstan to reel in, the conveying capstan rotates to drive the driving wheel, and the driving wheel rotates through the transmission belt to drive the transmission wheel, and the transmission wheel rotates to drive the driving rod, and the driving rod rotates to drive the pipe block threadedly connected to the driving rod to move back and forth along the length direction of the guide rod, thereby reciprocating the conveying pipe reeled in by the conveying capstan and reeling it on the conveying capstan, so that the conveying pipe is reeled in more evenly by the conveying capstan.

[0022] Optionally, a control cable is connected between the control component and the control console, and a winding component is installed at one end of the placement rack, and the winding component is used to wind up the control cable.

[0023] By adopting the above technical solution, the arrangement of the control cable facilitates power supply and communication between the control component and the control console, while the arrangement of the reel facilitates the arrangement of the control cable.

[0024] Optionally, the winding member includes a winding roller, which is rotatably connected to the placement frame, and the control cable is wound around the winding roller. A winding motor is installed on one side of the winding roller, and the output shaft of the winding motor is coaxially fixedly connected to the rotating shaft of the winding roller. A line-aligning member is also installed on the placement frame, and the line-aligning member is used to evenly wind the control cable around the winding roller.

[0025] By adopting the above technical solution, when the control cable needs to be reeled up, the reeling motor drives the reeling roller to rotate, and the reeling roller rotates to continuously wind the control cable around the reeling roller. At the same time, the line-aligning member makes the control cable wound around the reeling roller more evenly.

[0026] Optionally, the line-aligning member includes a fixed rod, a rotating rod, a line-aligning block, a driving wheel, a driven wheel and a connecting belt. The fixed rod is fixedly connected to the placement frame, the rotating rod is a reciprocating screw, the rotating rod is rotatably connected to the placement frame, and the fixed rod and the rotating rod are arranged parallel to each other, one end of the line-aligning block is slidably connected to the fixed rod, and the other end is threadedly connected to the rotating rod; the driving wheel is coaxially fixedly connected to the rotating shaft of the winding roller, the driven wheel is coaxially fixedly connected to the rotating rod, and the connecting belt is respectively wound around the driving wheel and the driven wheel.

[0027] By adopting the above technical scheme, when the winding motor drives the winding roller to wind up the control cable, the rotation of the winding roller drives the driving wheel to rotate, and the rotation of the driving wheel drives the driven wheel to rotate through the connecting belt, and the rotation of the driven wheel drives the rotating rod to rotate, and the rotation of the rotating rod drives the linear block threadedly connected to the rotating rod to move back and forth along the length direction of the fixed rod, so that the control cable wound on the winding roller moves back and forth and is wound on the winding roller, so that the control cable is wound more evenly on the winding tube.

[0028] Optionally, the visual component includes a rotating seat, a rotating plate, a rotating motor and a camera, the rotating seat is fixedly connected to the main body, the rotating plate is rotatably connected to the rotating seat, the rotating motor is fixedly connected to the rotating seat and the output shaft of the rotating motor is coaxially fixedly connected to the rotating axis of the rotating plate, the camera is fixedly connected to the rotating plate, and the camera faces the discharge port of the conveying pipe.

[0029] By adopting the above technical solution, the rotating plate is driven to rotate by a rotating motor, thereby controlling the camera to adjust the irradiation angle, which makes it easier for the operator to observe the robot's working environment in a wider range, making the inspection of the spillway arc gate faster. At the same time, the blocking condition of the discharge port can be observed through the camera, resulting in a better blocking effect.

[0030] Optionally, it also includes a cleaning arm, which is installed on the main body, and the cleaning arm and the discharge port of the conveying pipe are located on the same side of the main body, and the cleaning arm is electrically connected to the control component so that the control component controls the cleaning arm to perform cleaning; the cleaning arm includes a hydraulic turntable, a main arm, a small arm and a clamping jaw assembly, the hydraulic turntable is fixedly connected to the main body, the main arm is hinged on the hydraulic turntable, and a main hydraulic cylinder is installed between the main arm and the hydraulic turntable, the small arm is hinged on the main arm, and an auxiliary hydraulic cylinder is installed on the diameter of the small arm and the main arm, and the clamping jaw assembly is fixedly connected to the end of the small arm away from the main arm, and the hydraulic turntable, the main hydraulic cylinder and the auxiliary hydraulic cylinder are all electrically connected to the control component.

[0031] The setting of the cleaning arm facilitates the cleaning of garbage at the damaged part of the spillway arc gate.

[0032] By adopting the above technical solution, the main arm can be driven to rotate by controlling the rotation of the hydraulic turntable using the control component, and then the main hydraulic cylinder is used to control the bending of the main arm and the hydraulic turntable. At the same time, the auxiliary hydraulic cylinder controls the bending of the forearm and the main arm, thereby controlling the clamping claw assembly to move freely at the front end of the machine body.

[0033] Optionally, a blocking plate is provided on one side of the placement rack, and the blocking plate is located directly above the console.

[0034] By adopting the above technical solution, the setting of the shielding plate prevents direct sunlight from shining on the console, thereby facilitating the operator's control of the console. At the same time, the setting of the shielding plate also prevents water droplets on the maintenance robot from falling onto the console and damaging it when the maintenance robot is recovered.

[0035] The crawling assembly includes a magnetic component, a pulley block and an elastic component. The magnetic component and the pulley block are both installed at the bottom of the main body. An elastic component is installed between the pulley block and the main body so that when the magnetic component is adsorbed, the pulley block can move toward the main body to compress the elastic component.

[0036] The present invention has the following beneficial technical effects:

[0037] The present invention uses a maintenance robot to enter the water to perform maintenance on the spillway arc gate through the cooperation of a moving platform, a moving part, a stirring assembly, a conveying pipe, a conveying part, a main body, a control part, a driving part, a visual part and a control console. It does not require an operator to set up auxiliary equipment at the spillway arc gate for maintenance, which not only greatly reduces the maintenance time, but also reduces the personnel risks in the maintenance process of the spillway arc gate, thereby achieving the effect of greatly facilitating the maintenance of the spillway arc gate.

[0038] Through the coordination of the guide rod, driving rod, pipe-adjusting block, driving wheel, transmission wheel and transmission belt, the conveying pipe can be wound more evenly on the conveying capstan.

[0039] Through the coordination of the rotating seat, rotating plate, rotating motor and camera, the inspection speed of the spillway arc gate can be faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the structure of the present invention;

[0041] Figure 2 It is a schematic diagram of the structure of the placement rack and the straight pipe fitting of the present invention;

[0042] Figure 3 It is a schematic structural diagram of the winding member and the line-aligning member of the present invention;

[0043] Figure 4 It is a structural schematic diagram of the maintenance robot of the present invention;

[0044] Figure 5 It is a schematic diagram of the structure of the crawling component of the present invention;

[0045] Figure 6 yes Figure 5 AA direction cross-sectional view.

[0046] The reference numerals in the figure are:

[0047] 1. Mobile carrier; 11. Mobile platform; 12. Mobile parts; 13. Placement rack; 14. Shielding plate; 2. Feeding device; 21. Stirring assembly; 22. Conveying pipe; 23. Conveying parts; 3. Maintenance robot; 31. Main body; 32. Control parts; 33. Driving parts; 34. Visual parts; 341. Rotating seat; 342. Rotating plate; 343. Rotating motor; 344. Camera; 35. Control cable; 4. Control console; 5. Conveying capstan; 51. Driving motor; 6. Pipe straightening parts; 61. Guide rod; 62. Driving rod; 63. Pipe straightening block; 64. Driving wheel; 65. Transmission wheel; 66. Transmission belt; 7. Winding parts; 71. Winding roller; 72. Winding motor; 8. Alignment member; 81. Fixed rod; 82. Rotating rod; 83. Alignment block; 84. Driving wheel; 85. Driven wheel; 86. Connecting belt; 9. Cleaning arm; 91. Hydraulic turntable; 92. Main arm; 93. Forearm; 94. Gripping jaw assembly; 95. Main hydraulic cylinder; 96. Auxiliary hydraulic cylinder; 10. Crawling assembly; 101. Magnetic member; 1011. Spherical bearing; 1012. Joint rod; 1013. Electromagnet; 102. Pulley block; 1021. Sliding rod; 1022. Rolling seat; 1023. Ball; 103. Elastic member; 104. Mounting table; 1041. Mounting groove. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Example:

[0050] A floodgate underwater robot maintenance system, such as Figure 1-4 As shown:

[0051] The invention comprises a mobile carrier 1, a feeding device 2, a maintenance robot 3, a control console 4 and a crawling assembly 10. The mobile carrier 1 comprises a mobile platform 11 and a mobile member 12, the mobile platform 11 is mounted on the mobile member 12, and a placement rack 13 is mounted on the mobile platform 11. The feeding device 2 comprises a stirring assembly 21, a conveying pipe 22 and a conveying member 23, the stirring assembly 21 is mounted on the mobile platform 11, the conveying pipe 22 is connected to the stirring assembly 21, and the conveying member 23 is connected to the conveying pipe 22.

[0052] The maintenance robot 3 includes a main body 31, a control component 32, a driving component 33 and a visual component 34. The main body 31 is placed on the placement frame 13, the control component 32 is installed in the main body 31, the driving component 33 is installed on the main body 31 for moving underwater, the visual component 34 is installed at one end of the main body 31, and the driving component 33 and the visual component 34 are both electrically connected to the control component 32, and the discharge port of the conveying pipe 22 is installed on the main body 31. The control console 4 is installed on the mobile platform 11, and the control component 32 and the conveying component 23 are both electrically connected to the control console 4. The maintenance robot 3 is used to enter the water to repair the spillway arc gate, which reduces the dangerous operation of the operator, thereby greatly facilitating the repair of the spillway arc gate.

[0053] The moving part 12 in this embodiment is a flatbed truck, and the moving platform 11 is located behind the flatbed truck. When the spillway arc gate needs to be repaired, the operator only needs to drive the flatbed truck to the vicinity of the spillway arc gate to move the maintenance robot 3 into the water for maintenance. The feeding device 2, the maintenance robot 3 and the control console 4 are transported by the flatbed truck, which is convenient for the transfer and storage of the maintenance system.

[0054] The stirring component 21 is close to the front of the moving part 12, that is, the stirring component 21 is close to the center of the moving part 12. Since the stirring component 21 needs to stir the blocking material, the stirring component 21 is set in the center of the moving part 12, so that when the stirring component 21 stirs the blocking material, the flatbed truck as a whole is more stable. The stirring component 21 in this embodiment is a conventional stirring device, so it is not necessary to describe it in detail in this embodiment.

[0055] The conveying member 23 is a screw pump, which is used to convey the plugging material in the conveying pipe 22 connected to the stirring assembly 21, so as to convey the plugging material to the damaged part of the spillway arc gate.

[0056] The control console 4 is installed at the tail of the moving member 12 , and the screen of the control console 4 is arranged away from the stirring assembly 21 , so that the operator can directly operate the control console 4 when located at the tail of the moving member 12 .

[0057] The placement rack 13 is located between the stirring assembly 21 and the control console 4. A shielding plate 14 is provided on one side of the placement rack 13, and the shielding plate 14 is located directly above the control console 4. The shielding plate 14 prevents direct sunlight from shining on the control console 4, thereby facilitating the operator to operate the control console 4. At the same time, the shielding plate 14 also prevents water drops on the maintenance robot 3 from falling onto the control console 4 when the maintenance robot 3 is recovered, thereby damaging the control console 4.

[0058] Reference Figure 1 and Figure 2 A conveying capstan 5 is rotatably connected to the movable platform 11, and the conveying capstan 5 is located below the placement frame 13. A driving motor 51 is installed at the axis of one end of the conveying capstan 5. The driving motor 51 is used to drive the conveying capstan 5 to rotate. The conveying pipe 22 is wound around the conveying capstan 5. The setting of the conveying capstan 5 facilitates the storage of the conveying pipe 22.

[0059] During use, the driving motor 51 is used to drive the conveying winch 5 to unwind, so as to facilitate the movement of the maintenance robot 3 in the water. When the damaged part is checked, the conveying pipe 22 connected to the stirring component 21 is connected to the conveying pipe 22 wound on the conveying winch 5, and the conveying member 23 can be used to convey the sealing material stirred in the stirring component 21 to the damaged part for sealing.

[0060] After use, the conveying capstan 5 is driven by the driving motor 51 to reel in the conveying tube 22 , so that the conveying tube 22 can be wound around the conveying capstan 5 , thereby achieving the effect of facilitating the storage of the conveying tube 22 .

[0061] The placement rack 13 is also provided with a pipe fitting 6, which includes a guide rod 61, a driving rod 62, a pipe fitting block 63, a driving wheel 64, a transmission wheel 65 and a transmission belt 66. The guide rod 61 is fixedly connected to the placement rack 13, the driving rod 62 is a reciprocating screw, the driving rod 62 is rotatably connected to the placement rack 13, and the driving rod 62 and the guide rod 61 are arranged parallel to each other, one end of the pipe fitting block 63 is slidably connected to the guide rod 61, and the other end is threadedly connected to the driving rod 62; the driving wheel 64 is coaxially fixedly connected to the rotating shaft of the conveying capstan 5, the transmission wheel 65 is coaxially fixedly connected to the driving rod 62, and the transmission belt 66 is respectively wound around the driving wheel 64 and the transmission wheel 65. The arrangement of the pipe fitting 6 allows the conveying pipe 22 to be more evenly wound around the conveying capstan 5.

[0062] When the driving motor 51 drives the conveying capstan 5 to reel in, the conveying capstan 5 rotates to drive the driving wheel 64, and the driving wheel 64 rotates through the transmission belt 66 to drive the transmission wheel 65 to rotate, and the transmission wheel 65 rotates to drive the driving rod 62 to rotate. The driving rod 62 rotates to drive the pipe block 63 threadedly connected to the driving rod 62 to move back and forth along the length direction of the guide rod 61, so that the conveying pipe 22 reeled in by the conveying capstan 5 is reciprocated and reeled on the conveying capstan 5, so that the conveying pipe 22 is reeled in more evenly on the conveying capstan 5.

[0063] A control cable 35 is connected between the control component 32 and the console 4. The maintenance robot 3 in this embodiment is not only controlled by the control cable 35, but also powered by the control cable 35. The setting of the control cable 35 facilitates power supply and communication between the control component 32 and the console 4.

[0064] In order to facilitate the storage of the control cable 35, a winding member 7 is installed at one end of the placement frame 13, and the winding member 7 includes a winding roller 71, which is rotatably connected to the placement frame 13, and the control cable 35 is wound on the winding roller 71. A winding motor 72 is installed on one side of the winding roller 71, and the output shaft of the winding motor 72 is coaxially fixedly connected with the rotating shaft of the winding roller 71. When the control cable 35 is stored, the winding motor 72 drives the winding roller 71 to rotate, and the winding roller 71 rotates continuously to wind the control cable 35 on the winding roller 71, thereby completing the storage of the control cable 35.

[0065] Reference Figure 3A line-aligning member 8 is also installed on the placement rack 13, and the line-aligning member 8 includes a fixed rod 81, a rotating rod 82, a line-aligning block 83, a driving wheel 84, a driven wheel 85 and a connecting belt 86. The fixed rod 81 is fixedly connected to the placement rack 13, and the rotating rod 82 is a reciprocating screw. The rotating rod 82 is rotatably connected to the placement rack 13, and the fixed rod 81 and the rotating rod 82 are arranged parallel to each other. One end of the line-aligning block 83 is slidably connected to the fixed rod 81, and the other end is threadedly connected to the rotating rod 82; the driving wheel 84 is coaxially fixedly connected to the rotating shaft of the winding roller 71, and the driven wheel 85 is coaxially fixedly connected to the rotating rod 82. The connecting belt 86 is respectively wound around the driving wheel 84 and the driven wheel 85. The arrangement of the line-aligning member 8 makes the control cable 35 wound around the winding roller 71 more evenly.

[0066] When the winding motor 72 drives the winding roller 71 to wind up the control cable 35, the winding roller 71 rotates to drive the driving wheel 84 to rotate, and the driving wheel 84 rotates through the connecting belt 86 to drive the driven wheel 85 to rotate, and the driven wheel 85 rotates to drive the rotating rod 82 to rotate. The rotation of the rotating rod 82 drives the linear block 83 threadedly connected to the rotating rod 82 to move back and forth along the length direction of the fixed rod 81, so that the control cable 35 wound on the winding roller 71 moves back and forth and is wound on the winding roller 71, so that the control cable 35 is wound more evenly on the winding tube.

[0067] Reference Figure 4 The driving member 33 of the maintenance robot 3 is a driving blade. In this embodiment, 8 driving blades are arranged, of which 4 driving blades are arranged vertically to facilitate the body 1 to float and dive, and the other 4 driving blades are distributed horizontally to facilitate the body 1 to turn and move forward in the water.

[0068] The visual component 34 includes a rotating seat 341, a rotating plate 342, a rotating motor 343 and a camera 344. The rotating seat 341 is fixedly connected to the main body 31, the rotating plate 342 is rotatably connected to the rotating seat 341, the rotating motor 343 is fixedly connected to the rotating seat 341, and the output shaft of the rotating motor 343 is coaxially fixedly connected to the rotating shaft of the rotating plate 342. The camera 344 is fixedly connected to the rotating plate 342, and the camera 344 faces the discharge port of the conveying pipe 22. The overflow arc gate is inspected by using the visual transmission of the camera 344, so that the inspection of the overflow arc gate is simpler and more convenient.

[0069] When the camera 344 inspects the spillway arc gate, the rotating motor 343 is used to drive the rotating plate 342 to rotate, thereby controlling the camera 344 to adjust the irradiation angle, so that the operator can observe the robot's working environment in a wider range, making the inspection of the spillway arc gate faster. At the same time, when the maintenance robot 3 is repairing the spillway arc gate, it can also observe the blocking condition of the discharge port through the camera 344, so that the blocking effect of the blocking material is more perfect.

[0070] When the damaged part of the spillway arc gate is penetrated, water will seep through the spillway arc gate, causing the garbage in the water flow to be blocked at the damaged part. When the damaged part is blocked, the garbage needs to be cleaned. Therefore, in this embodiment, a cleaning arm 9 is also installed on the main body 31, and the cleaning arm 9 and the discharge port of the conveying pipe 22 are located on the same side of the main body 31. The provision of the cleaning arm 9 facilitates the cleaning of garbage at the damaged part of the spillway arc gate.

[0071] The cleaning arm 9 includes a hydraulic turntable 91, a main arm 92, a small arm 93 and a clamping claw assembly 94. The hydraulic turntable 91 is fixedly connected to the main body 31, the main arm 92 is hinged on the hydraulic turntable 91, and a main hydraulic cylinder 95 is installed between the main arm 92 and the hydraulic turntable 91. The small arm 93 is hinged on the main arm 92, and an auxiliary hydraulic cylinder 96 is installed between the small arm 93 and the main arm 92. The clamping claw assembly 94 is fixedly connected to one end of the small arm 93 away from the main arm 92. The hydraulic turntable 91, the main hydraulic cylinder 95 and the auxiliary hydraulic cylinder 96 are all electrically connected to the control component 32. The control component 32 is used to control the actions of the hydraulic turntable 91, the main hydraulic cylinder 95 and the auxiliary hydraulic cylinder 96, so as to control the cleaning arm 9 to clean up the garbage at the damaged part of the spillway arc gate. The clamping claw assembly 94 can adopt a structure such as a two-finger clamping claw or a three-finger clamping claw.

[0072] The main arm 92 can be driven to rotate by controlling the hydraulic turntable 91 to rotate through the control component 32, and then the main hydraulic cylinder 95 is used to control the bending of the main arm 92 and the hydraulic turntable 91. At the same time, the auxiliary hydraulic cylinder 96 controls the bending of the forearm 93 and the main arm 92, so as to control the clamping claw assembly 94 to move freely at the front end of the machine body, and then the clamping claw assembly 94 is used to clamp the garbage at the damaged part of the spillway arc gate, thereby completing the cleaning of the garbage at the damaged part of the spillway arc gate.

[0073] The crawling assembly 10 includes a magnetic member 101, a pulley block 102 and an elastic member 103. The magnetic member 101 and the pulley block 102 are both installed at the bottom of the main body 31, and the elastic member 103 is installed between the pulley block 102 and the main body 31. In the process of repairing the damaged area of ​​the spillway arc gate, it is only necessary to control the robot to reach the damaged area of ​​the spillway arc gate for repair, thereby greatly reducing the risk of repairing the spillway arc gate.

[0074] A plurality of mounting platforms 104 are installed at the bottom of the main body 31. In this embodiment, the main body 31 is arranged in a rectangular shape, so there are four mounting platforms 104, which are distributed in a rectangular shape at the bottom of the main body 31. A plurality of mounting grooves 1041 are opened on the mounting platform 104, and the magnetic attraction member 101 and the pulley block 102 are respectively installed in the mounting grooves 1041.

[0075] The arrangement of the mounting platform 104 and the mounting groove 1041 enables the magnetic component 101 and the pulley block 102 to be modularly assembled during installation and disassembly, thereby realizing modular installation of the magnetic component 101 and the pulley block 102, facilitating maintenance and replacement of the magnetic component 101 and the pulley block 102, and improving the durability and ease of maintenance of the robot.

[0076] The magnetic elements 101 and the pulley blocks 102 on the same mounting platform 104 are staggered around the axis of the mounting platform 104. In this embodiment, six mounting slots 1041 are provided on the same mounting platform 104, so three magnetic elements 101 and three pulley blocks 102 are installed on each mounting platform 104. The staggered magnetic elements 101 and the pulley blocks 102 help the robot to distribute suction more evenly on the spillway arc gate, thereby improving the adsorption stability of the main body 31 and the balance of movement.

[0077] Reference Figure 5 and Figure 6 The magnetic attraction member 101 includes a joint bearing 1011, a joint rod 1012 and an electromagnet 1013. The joint bearing 1011 is installed in the installation groove 1041. The joint rod 1012 is connected to the joint bearing 1011 and extends away from the main body 31. The electromagnet 1013 is fixedly connected to the side of the joint rod 1012 away from the main body 31. The setting of the joint bearing 1011 allows the joint rod 1012 to change its angle slightly, thereby controlling the angle of the electromagnet 1013 when it fits with the spillway arc gate, so that the electromagnet 1013 can be firmly adsorbed on the surface of the spillway arc gate, improving the stability and safety of the robot.

[0078] The pulley block 102 includes a sliding rod 1021, a rolling seat 1022, and a ball 1023. The sliding rod 1021 is slidably connected in the mounting groove 1041. The rolling seat 1022 is fixedly connected to the side of the sliding rod 1021 away from the main body 31. The ball 1023 is installed in the rolling seat 1022, and the side of the ball 1023 away from the main body 31 passes out from the rolling seat 1022. The part of the ball 1023 passing out from the rolling seat 1022 is in contact with the overflow arc gate, so that when the robot approaches the overflow arc gate, the main body 31 is not likely to collide with the overflow arc gate, the overall movement of the robot is more flexible, the friction is reduced, and the movement efficiency is improved.

[0079] In order to prevent the pulley block 102 from obstructing the magnetic component 101 during the adsorption of the magnetic component 101, resulting in a gap between the magnetic component 101 and the spillway arc gate and weakening the magnetic adsorption effect, an elastic member 103 is provided to reduce the obstruction of the pulley block 102 to the adsorption of the magnetic component 101. At the same time, the elastic member 103 can also play a buffering role when the pulley block 102 contacts the spillway arc gate.

[0080] The elastic member 103 includes a return spring 1031, which is sleeved on the rolling rod, and one end of the return spring 1031 abuts on the rolling seat 1022, and the other end abuts on the mounting platform 104. The arrangement of the return spring 1031 allows the return spring 1031 to be compressed under the adsorption of the magnetic member 101 when the robot needs to be positioned on the spillway arc gate, so that the gap between the magnetic member 101 and the spillway arc gate is smaller, and the magnetic member 101 can be more stably adsorbed on the spillway arc gate.

[0081] The moving platform 11 is moved to the vicinity of the spillway arc gate that needs to be repaired by using the moving part 12, and then the maintenance robot 3 is placed in the water, and the control console 4 is operated to send instructions to the control part 32 through the control console 4, so that the driving part 33 continuously drives the main body 31 to move along the surface of the spillway arc gate in the water, and controls the field of view of the camera 344 by controlling the rotating motor 343, and transmits the situation of the spillway arc gate through the field of view of the camera 344 back to the control console 4, and uses the information transmitted back by the camera 344 to check the situation of the spillway arc gate.

[0082] When the spillway arc gate is found to be damaged, the control component 32 is used to control the actions of the hydraulic turntable 91, the main hydraulic cylinder 95 and the auxiliary hydraulic cylinder 96, so that the garbage at the damaged part is cleaned up by the cooperation of the hydraulic turntable 91, the main arm 92, the small arm 93 and the clamping claw assembly 94. Then the conveying component 23 is started, and the stirring assembly 21 conveys the stirred plugging material along the conveying pipe 22 to the damaged part in front of the maintenance robot 3, so that the damaged part of the spillway arc gate is repaired by the plugging material.

[0083] The maintenance robot 3 is used to enter the water to perform maintenance on the spillway arc gate. There is no need for operators to set up auxiliary equipment at the spillway arc gate for maintenance. This not only greatly reduces the maintenance time, but also reduces the personnel risks during the maintenance of the spillway arc gate, thereby greatly facilitating the maintenance of the spillway arc gate.

[0084] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A floodgate underwater robot maintenance system, characterized in that: include: Mobile vehicle (1); A feeding device (2), comprising a stirring component (21), a conveying pipe (22) and a conveying member (23), wherein the stirring component (21) is mounted on the mobile carrier (1), the conveying pipe (22) is connected to the stirring component (21), and the conveying member (23) is connected to the conveying pipe (22) so as to convey the material stirred in the stirring component (21) through the conveying pipe (22); The maintenance robot (3) comprises a main body (31), a control component (32), a driving component (33) and a visual component (34), wherein the control component (32) is installed in the main body (31), the driving component (33) is installed on the main body (31), the visual component (34) is installed at one end of the main body (31), and the driving component (33) and the visual component (34) are both electrically connected to the control component (32), and the discharge port of the conveying pipe (22) is installed on the main body (31); A control console (4) is installed on the mobile vehicle (1), and the control component (32) and the conveying component (23) are both electrically connected to the control console (4).

2. The floodgate underwater robot maintenance system according to claim 1 is characterized in that: The mobile carrier (1) comprises a mobile platform (11) and a mobile member (12); the mobile platform (11) is mounted on the mobile member (12); the mobile member (12) is used to drive the mobile platform (11) to move; a placement rack (13) is mounted on the mobile platform (11); and the placement rack (13) is used to place the main body (31).

3. The floodgate underwater robot maintenance system according to claim 2 is characterized in that: A conveying capstan (5) is rotatably connected to the movable platform (11), and the conveying capstan (5) is located below the placement rack (13). A driving motor (51) is installed at the axis of one end of the conveying capstan (5), and the driving motor (51) is used to drive the conveying capstan (5) to rotate. The conveying pipe (22) is wound around the conveying capstan (5), and a pipe-smoothing member (6) is also installed on the placement rack (13), and the pipe-smoothing member (6) is used to evenly wind the conveying pipe (22) around the conveying capstan (5).

4. The floodgate underwater robot maintenance system according to claim 3 is characterized by: The pipe-sliding member (6) comprises a guide rod (61), a driving rod (62), a pipe-sliding block (63), a driving wheel (64), a transmission wheel (65) and a transmission belt (66); the guide rod (61) is fixedly connected to the placement frame (13); the driving rod (62) is a reciprocating screw rod; the driving rod (62) is rotatably connected to the placement frame (13); the driving rod (62) and the guide rod (61) are arranged parallel to each other; one end of the pipe-sliding block (63) is slidably connected to the guide rod (61), and the other end is threadedly connected to the driving rod (62); the driving wheel (64) is coaxially fixedly connected to the rotating shaft of the conveying capstan (5); the transmission wheel (65) is coaxially fixedly connected to the driving rod (62); and the transmission belt (66) is respectively wound around the driving wheel (64) and the transmission wheel (65).

5. The floodgate underwater robot maintenance system according to claim 2 is characterized in that: A control cable (35) is connected between the control component (32) and the control console (4), and a winding component (7) is installed at one end of the placement rack (13), and the winding component (7) is used to wind up the control cable (35).

6. The floodgate underwater robot maintenance system according to claim 5 is characterized by: The winding member (7) includes a winding roller (71), the winding roller (71) is rotatably connected to the placement frame (13), the control cable (35) is wound around the winding roller (71), a winding motor (72) is installed on one side of the winding roller (71), the output shaft of the winding motor (72) is coaxially fixedly connected to the rotating shaft of the winding roller (71), and a line-aligning member (8) is also installed on the placement frame (13), and the line-aligning member (8) is used to evenly wind the control cable (35) around the winding roller (71).

7. The floodgate underwater robot maintenance system according to claim 6 is characterized by: The line-aligning member (8) comprises a fixed rod (81), a rotating rod (82), a line-aligning block (83), a driving wheel (84), a driven wheel (85) and a connecting belt (86); the fixed rod (81) is fixedly connected to the placement frame (13); the rotating rod (82) is a reciprocating screw rod; the rotating rod (82) is rotatably connected to the placement frame (13); the fixed rod (81) and the rotating rod (82) are arranged parallel to each other; one end of the line-aligning block (83) is slidably connected to the fixed rod (81) and the other end is threadedly connected to the rotating rod (82); the driving wheel (84) is coaxially fixedly connected to the rotating shaft of the winding roller (71); the driven wheel (85) is coaxially fixedly connected to the rotating rod (82); and the connecting belt (86) is respectively wound around the driving wheel (84) and the driven wheel (85).

8. The floodgate underwater robot maintenance system according to claim 1 is characterized by: The crawling assembly (10) further comprises a magnetic component (101), a pulley block (102) and an elastic component (103), wherein the magnetic component (101) and the pulley block (102) are both mounted at the bottom of the main body (31), and an elastic component (103) is mounted between the pulley block (102) and the main body (31), so that when the magnetic component (101) is adsorbed, the pulley block (102) can move toward the main body (31) to compress the elastic component (103).

9. The floodgate underwater robot maintenance system according to claim 1, characterized in that: The visual component (34) comprises a rotating seat (341), a rotating plate (342), a rotating motor (343) and a camera (344); the rotating seat (341) is fixedly connected to the main body (31); the rotating plate (342) is rotatably connected to the rotating seat (341); the rotating motor (343) is fixedly connected to the rotating seat (341) and the output shaft of the rotating motor (343) is coaxially fixedly connected to the rotating shaft of the rotating plate (342); the camera (344) is fixedly connected to the rotating plate (342), and the camera (344) faces the discharge port of the conveying pipe (22).

10. The floodgate underwater robot maintenance system according to claim 1, characterized in that: It also includes a cleaning arm (9) mounted on the main body (31), the cleaning arm (9) and the discharge port of the conveying pipe (22) are located on the same side of the main body (31), and the cleaning arm (9) is electrically connected to the control component (32) so that the control component (32) controls the cleaning arm (9) to perform cleaning; The cleaning arm (9) comprises a hydraulic turntable (91), a main arm (92), a small arm (93) and a clamping claw assembly (94); the hydraulic turntable (91) is fixedly connected to the main body (31); the main arm (92) is hinged on the hydraulic turntable (91); a main hydraulic cylinder (95) is installed between the main arm (92) and the hydraulic turntable (91); the small arm (93) is hinged on the main arm (92); an auxiliary hydraulic cylinder (96) is installed between the small arm (93) and the main arm (92); the clamping claw assembly (94) is fixedly connected to one end of the small arm (93) away from the main arm (92); the hydraulic turntable (91), the main hydraulic cylinder (95) and the auxiliary hydraulic cylinder (96) are all electrically connected to the control component (32).

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