Underwater and land slope detecting and cleaning device

Abstract

The invention relates to an underwater and land slope detection and cleaning device, and relates to the technical field of slope maintenance equipment. Comprising a suspension device and a cleaning / detecting device, the suspension device and the cleaning / detecting device are in linkage fit through a flexible rigging; a winch arranged in the cleaning / detecting device drives the cleaning / detecting device to move up and down along the slope track by controlling the tension and length of the flexible rigging; wherein the suspension device provides mechanical support and trajectory constraint, the cleaning / detecting device realizes function execution, and the suspension device and the cleaning / detecting device cooperate to complete positioning, advancing and cleaning / detecting tasks. The device is compact in structure, high in cleaning efficiency, accurate in detection and suitable for underwater and land complex slope scenes.

Description

Technical Field

[0001] This invention relates to the field of slope maintenance equipment technology, specifically to an underwater and land slope detection and cleaning device. Background Technology

[0002] Existing slope cleaning or inspection equipment (such as for solar panels and dams) is mostly designed for single scenarios and is difficult to adapt to complex underwater and terrestrial environments simultaneously. Traditional equipment has a complex structure, is difficult to install, and lacks adaptability to terrain, especially on sloping, slippery, or uneven surfaces, where equipment stability and cleaning efficiency are low. In addition, existing equipment is susceptible to corrosion in underwater environments, lacks flexible integrated inspection and cleaning solutions, and is prone to slippage or unstable adhesion in high-slope scenarios. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an underwater and land slope detection and cleaning device with a compact structure, high cleaning efficiency, and accurate detection, which is suitable for complex underwater and land slope scenarios.

[0004] To achieve the above objectives, the present invention provides an underwater and land slope detection and cleaning device, comprising: a suspension device and a cleaning / detection device; the suspension device and the cleaning / detection device are linked and coordinated by a flexible rigging; the winch built into the cleaning / detection device drives the cleaning / detection device to move up / down along the slope trajectory by controlling the tension and length of the flexible rigging; wherein the suspension device provides mechanical support and trajectory constraints, and the cleaning / detection device performs the functions, and the two work together to complete the positioning, movement and cleaning / detection tasks.

[0005] Furthermore, the suspension device includes a support frame, a guide roller assembly, a flexible suspension rigging, and a lifting ring. The guide roller assembly is rotatably connected to the support frame via a sleeve. One end of the flexible suspension rigging is fixed to the support frame via a lifting ring, and the other end is adjusted in position using a winch.

[0006] Furthermore, the suspension device is mounted on the slope via a monorail, and the guide roller assembly of the suspension device is configured with two different sizes of rollers, which can be adapted to suspension environments of different thicknesses by changing the sleeve.

[0007] Furthermore, the cleaning / inspection device includes a trolley body, a working module, a chassis, and a track drive system; the track drive system is installed on both sides of the trolley body and is driven by a motor to achieve climbing and differential steering capabilities; the chassis is fixedly installed at the bottom of the trolley body; the working module is installed at the front end of the trolley body and is used to perform cleaning or inspection functions.

[0008] Furthermore, the working module employs a high-definition camera, a cleaning component, or a crack detection module; during underwater operations, a high-definition camera is configured to identify structures, sediments in the water, or biological attachments; in dam cleaning applications, a cleaning component is configured to complete the cleaning task; and in dam condition monitoring, a crack detection module is configured for structural integrity analysis.

[0009] Furthermore, the cleaning assembly includes a water supply mechanism and a washing mechanism, with the water supply mechanism installed at the front end of the trolley body and the washing mechanism installed at the lower end of the water supply mechanism.

[0010] Furthermore, the water supply mechanism includes a fixed frame, a water tank, a water pump, an annular pipe, and a nozzle. The fixed frame is connected to the front end of the trolley body, the annular pipe is installed on the fixed frame, the water tank is installed on the trolley body and connected to the annular pipe through the water pump, and the nozzle is installed at the bottom end of the annular pipe.

[0011] Furthermore, the washing mechanism includes a washing roller, a washing roller shaft, and a washing roller support. The washing roller support is installed at the bottom of the fixed frame and is connected to the washing roller via the washing roller shaft.

[0012] Furthermore, the chassis includes a square steel frame and four wear-resistant rollers. The four wear-resistant rollers are mounted on the bottom of the square steel frame via a movable steering mechanism, and the surface of the wear-resistant rollers is patterned.

[0013] Furthermore, a negative pressure active adsorption mechanism is installed at the bottom of the square steel frame. The negative pressure active adsorption mechanism includes a high-speed motor, an impeller connector, a centrifugal impeller, a suction cup, and a sealing rubber ring. The high-speed motor is fixedly installed on the square steel frame through a motor support. The output end of the high-speed motor is connected to the centrifugal impeller. A suction cup is provided on the periphery of the centrifugal impeller. The sealing rubber ring is connected to the end of the suction cup away from the high-speed motor.

[0014] The beneficial effects of this invention are as follows: (1) Strong adaptability: The combination of monorail suspension and track drive adapts to complex underwater and land slope environments; (2) High-efficiency cleaning: The spray and roller brush work together to achieve high cleaning efficiency, and the dirt collection device prevents secondary pollution; (3) Precise detection: High-definition cameras monitor cracks in real time, improving maintenance efficiency; (4) Easy installation: The lightweight design reduces the difficulty of track installation, and the cost is low, making it suitable for small and medium-sized projects; (5) High durability: The main body of the car is made of 304 stainless steel, which is corrosion resistant and suitable for wet, slippery, salt spray and other environments. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 Schematic diagram of the suspension device; Figure 3 This is a schematic diagram showing the connection between the suspension device and the winch; Figure 4 This is a schematic diagram of the assembly of the trolley body and the track drive system. Figure 5 This is a schematic diagram of the chassis assembly. Figure 6 This is a schematic diagram of the assembly structure of the steering mechanism; Figure 7 This is an exploded view of the negative pressure adsorption system; Figure 8 This is a schematic diagram of the negative pressure adsorption system. Figure 9 This is a schematic diagram of the cleaning component. Figure 10 This is a schematic diagram of the water supply system. Figure 11 This is a schematic diagram of the washing mechanism.

[0016] In the figure: A. Suspension device; B. Cleaning / inspection device; 1. Support frame; 2. Flexible suspension rigging; 3. Lifting ring; 4. Sleeve; 5. Winch; 6. Trolley body; 7. Track drive system; 8. Water supply mechanism; 9. Washing mechanism; 10. Fixing frame; 11. Annular pipe; 12. Cleaning roller; 13. Cleaning roller shaft; 14. Cleaning roller support; 15. Square steel frame; 16. Wear-resistant roller; 17. Movable steering mechanism; 18. Negative pressure active adsorption mechanism; 19. High-speed motor; 20. Impeller connector; 21. Centrifugal impeller; 22. Suction cup; 23. Sealing rubber ring; 24. Motor support; 25. Large wheel; 26. Small wheel. Detailed Implementation

[0017] To achieve the above objectives and effects, the technical means and structure adopted by the present invention will be described in detail with reference to the accompanying drawings, focusing on the features and functions of the preferred embodiments of the present invention.

[0018] like Figure 1 and Figure 2As shown, this invention provides an underwater and land slope inspection and cleaning device, including: a suspension device (A) and a cleaning / inspection device (B); the suspension device (A) and the cleaning / inspection device (B) are linked and coordinated through a flexible rigging; the winch built into the cleaning / inspection device (B) controls the tension and length of the flexible rigging to drive the cleaning / inspection device (B) to move up / down along the slope trajectory; wherein the suspension device (A) provides mechanical support and trajectory constraints, and the cleaning / inspection device (B) performs the functions, and the two work together to complete the positioning, movement and cleaning / inspection tasks. The built-in winch precisely controls the length of the steel rope and adjusts the position of the pulley to adapt to a 30° tilt angle and uneven surfaces.

[0019] Further optimizing the technical solution, the suspension device (A) includes a support frame (1), a guide roller assembly, a flexible suspension rigging (2), and a lifting ring (3). The support frame is made of 304 stainless steel. The guide roller assembly is rotatably connected to the support frame (1) via a sleeve (4). One end of the flexible suspension rigging (2) is fixed to the support frame (1) via a lifting ring (3), and the other end is adjusted in position using a winch (5). The support frame 1 has a cross-section of 60×10mm to ensure structural rigidity and corrosion resistance. The support frame is fixed by an adjustable bracket to ensure stability. The maximum bending stress is 24.4MPa, and the deflection is 0.00305mm, meeting the strength and stiffness requirements.

[0020] To further optimize the technical solution, the suspension device (A) is installed on the slope via a monorail, and the guide roller assembly of the suspension device (A) is configured with two different sizes of rollers (large roller 25 and small roller 26), which can be adapted to different thicknesses of the suspension environment by changing the sleeve. The guide roller assembly includes a load-bearing roller and an anti-derailment roller, which are connected to the support frame via a sleeve (4), and different specifications of sleeves are used to adapt to different slope thicknesses.

[0021] Further optimizing the technical solution, the cleaning / inspection device (B) includes a trolley body (6), a working module, a chassis, and a track drive system (7). The trolley body shell is made of 304 stainless steel. The track drive system (7) is installed on both sides of the trolley body (6) and is driven by a motor to achieve climbing and differential steering capabilities. The chassis is fixedly installed at the bottom of the trolley body (6). The working module is installed at the front end of the trolley body (6) and is used to realize cleaning or inspection functions. The trolley body shell is made of 2mm thick 304 stainless steel, with a smooth surface and corrosion resistance. It is equipped with high-strength alloy axles and a shock-absorbing device. The tracks are made of wear-resistant rubber alloy, 80mm wide, with anti-slip teeth on the surface and a Kevlar reinforcement layer to enhance grip.

[0022] To further optimize the technical solution, the working module adopts a high-definition camera, a cleaning component, or a crack detection module; when operating underwater, a high-definition camera is configured to identify structures, sediments or biological attachments in the water, and the camera has a wide-angle imaging function to record dirt and crack information on the surface of the solar panel; in dam cleaning applications, a cleaning component is configured to complete the cleaning task; in dam condition monitoring, a crack detection module is configured for structural integrity analysis.

[0023] To further optimize the technical solution, the cleaning component includes a water supply mechanism (8) and a washing mechanism (9). The water supply mechanism (8) is installed at the front end of the trolley body (6), and the washing mechanism (9) is installed at the lower end of the water supply mechanism (8).

[0024] Further optimizing the technical solution, the water supply mechanism includes a fixed frame (10), a water tank, a water pump, an annular pipe (11), and a nozzle. The nozzle sprays cleaning liquid in a fan shape. The fixed frame is connected to the front end of the trolley body (6). The annular pipe (11) is installed on the fixed frame (10). The water tank is installed on the trolley body (6) and is connected to the annular pipe (11) through the water pump. The nozzle is installed at the bottom end of the annular pipe (11).

[0025] To further optimize the technical solution, the washing mechanism (9) includes a washing roller (12), a washing roller shaft (13), and a washing roller support (14). The washing roller support (14) is installed at the bottom of the fixed frame (10), and the washing roller support (14) is connected to the washing roller (12) through the washing roller shaft (13).

[0026] To further optimize the technical solution, the chassis includes a square steel frame (15) and four wear-resistant rollers (16). The four wear-resistant rollers (16) are mounted on the bottom of the square steel frame (15) via a movable steering mechanism (17), and the surface of the wear-resistant rollers (16) is patterned. The cleaning roller 12 uses wear-resistant elastic bristles and is equipped with a dirt collection device to prevent secondary pollution.

[0027] To further optimize the technical solution, a negative pressure active adsorption mechanism (18) is installed at the bottom of the square steel frame (15). The negative pressure active adsorption mechanism (18) includes a high-speed motor (19), an impeller connector (20), a centrifugal impeller (21), a suction cup (22), and a sealing rubber ring (23). The high-speed motor (19) is fixedly installed on the square steel frame (15) through a motor support (24). The output end of the high-speed motor (19) is connected to the centrifugal impeller (21). A suction cup (22) is provided on the periphery of the centrifugal impeller (21). The sealing rubber ring (23) is connected to the end of the suction cup (22) away from the high-speed motor (19). After the negative pressure active adsorption mechanism is started, a negative pressure adsorption area is formed to ensure that the equipment is firmly attached to the slope. The high-speed motor forms a negative pressure through the centrifugal impeller and the air guide chamber. The suction cup and the sealing rubber ring are used to adapt to a 30° slope. The high-speed motor has a built-in power adjustment module to dynamically adjust the adsorption intensity.

[0028] This invention uses a built-in winch to adjust the position, combined with a track drive system and negative pressure adsorption technology, to adapt to underwater and sloping, uneven surfaces on land. It has a compact structure, is easy to install, and combines efficient cleaning, accurate detection, and high slope stability.

[0029] Working principle of the invention: Install the suspension device (A) at the top of the slope and adjust the winch to tighten the steel cable. The cleaning / inspection device (B), suspended by the steel cable, activates the adsorption system to create negative pressure, keeping the device stationary on the slope. The track drive system and chassis then move the trolley body. A water supply system moistens the dirt, a scrubbing mechanism removes residue, and a high-definition camera (or sensor) detects cracks in real time. During underwater operations, the IP67 waterproof design ensures safe operation. After completion, the winch retracts the steel cable, and the trolley body returns to its initial position.

[0030] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. An underwater and land slope detection and cleaning device, characterized in that, include: The device consists of a suspension device (A) and a cleaning / inspection device (B). The suspension device (A) and the cleaning / inspection device (B) are linked together by a flexible rigging. The winch built into the cleaning / inspection device (B) controls the tension and length of the flexible rigging, thereby moving the cleaning / inspection device (B) up and down along the slope trajectory. The suspension device (A) provides mechanical support and trajectory constraints, while the cleaning / inspection device (B) performs the functions. Together, they complete the positioning, movement, and cleaning / inspection tasks.

2. The underwater and land slope detection and cleaning device as described in claim 1, characterized in that, The suspension device (A) includes a support frame (1), a guide roller assembly, a flexible suspension sling (2) and a lifting ring (3). The guide roller assembly is rotatably connected to the support frame (1) through a sleeve (4). One end of the flexible suspension sling (2) is fixed to the support frame (1) through the lifting ring (3), and the other end is adjusted in position with the help of a winch (5).

3. The underwater and land slope detection and cleaning device as described in claim 2, characterized in that, The suspension device (A) is mounted on the slope via a monorail, and the guide roller assembly of the suspension device (A) is configured with two different sizes of rollers, which can be adapted to different thickness suspension environments by changing the sleeve.

4. The underwater and land slope detection and cleaning device as described in claim 1, characterized in that, The cleaning / inspection device (B) includes a trolley body (6), a working module, a chassis, and a track drive system (7); the track drive system (7) is installed on both sides of the trolley body (6) and is driven by a motor to achieve climbing and differential steering capabilities; the chassis is fixedly installed at the bottom of the trolley body (6); the working module is installed at the front end of the trolley body (6) and is used to realize cleaning or inspection functions.

5. The underwater and land slope detection and cleaning device as described in claim 4, characterized in that, The working module employs a high-definition camera, a cleaning component, or a crack detection module; during underwater operations, a high-definition camera is configured to identify structures, underwater sediments, or biological deposits; in dam cleaning applications, a cleaning component is configured to complete the cleaning task. A crack detection module is configured in the dam condition monitoring system for structural integrity analysis.

6. The underwater and land slope detection and cleaning device as described in claim 5, characterized in that, The cleaning assembly includes a water supply mechanism (8) and a washing mechanism (9). The water supply mechanism (8) is installed at the front end of the trolley body (6), and the washing mechanism (9) is installed at the lower end of the water supply mechanism (8).

7. The underwater and land slope detection and cleaning device as described in claim 6, characterized in that, The water supply mechanism includes a fixed frame (10), a water tank, a water pump, an annular pipe (11), and a nozzle. The fixed frame is connected to the front end of the trolley body (6). The annular pipe (11) is installed on the fixed frame (10). The water tank is installed on the trolley body (6) and is connected to the annular pipe (11) through the water pump. The nozzle is installed at the bottom end of the annular pipe (11).

8. The underwater and land slope detection and cleaning device as described in claim 7, characterized in that, The washing mechanism (9) includes a washing roller (12), a washing roller shaft (13), and a washing roller support (14). The washing roller support (14) is installed at the bottom of the fixed frame (10), and the washing roller support (14) is connected to the washing roller (12) through the washing roller shaft (13).

9. The underwater and land slope detection and cleaning device as described in claim 4, characterized in that, The chassis includes a square steel frame (15) and four wear-resistant rollers (16). The four wear-resistant rollers (16) are mounted on the bottom of the square steel frame (15) via a movable steering mechanism (17), and the surface of the wear-resistant rollers (16) is patterned.

10. The underwater and land slope detection and cleaning device as described in claim 9, characterized in that, The bottom end of the square steel frame (15) is equipped with a negative pressure active adsorption mechanism (18). The negative pressure active adsorption mechanism (18) includes a high-speed motor (19), an impeller connector (20), a centrifugal impeller (21), a suction cup (22), and a sealing rubber ring (23). The high-speed motor (19) is fixedly installed on the square steel frame (15) through a motor support (24). The output end of the high-speed motor (19) is connected to the centrifugal impeller (21). A suction cup (22) is provided on the periphery of the centrifugal impeller (21). The sealing rubber ring (23) is connected to the end of the suction cup (22) away from the high-speed motor (19).

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