A mounted underwater robot submachine

Abstract

The invention discloses a carry-on underwater robot submachine, comprising: a submachine body, a storage cabin, and a cable-retracting and -releasing mechanism. The submachine body is stored in the storage cabin, an umbilical cable is arranged on the cable-retracting and -releasing mechanism, and the submachine body is connected to a carrying platform through the umbilical cable. The underwater robot submachine is applied to fine close-up observation and detection of large-diameter water diversion tunnels of underwater buildings of water conservancy and hydropower. The submachine is usually carried on the underwater carrying platform and carried and moved by the carrying platform. When in use, the submachine is released from the carrying platform, and the submachine shares power and data transmission links with the carrying platform through the umbilical cable, and is controlled through surface remote control operation, thereby meeting the close-up detection requirements of long-distance and large-diameter water diversion tunnels.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a mounted underwater robot submachine for application in a large-diameter and long water diversion tunnel. Background Art

[0002] As a key structure of a major engineering project, the water diversion tunnel has the characteristics of long tunnel line, large tunnel diameter, high water pressure and complex surrounding rock geology. After years of operation, typical defects such as cracks, landslides and exposed reinforcement will appear. If not prevented, the safe operation of the project will be seriously affected.

[0003] At present, the inspection of conventional water diversion tunnels still mainly relies on manual emptying inspection. Conventional manual inspection has problems such as untimely detection, missed detection, distortion, etc. The traditional ARV (deep-sea submersible) is only suitable for static water state detection, and the powered ROV (remotely operated unmanned submersible) is only suitable for short tunnels with a flow rate of less than 1 knot. Therefore, it is urgent to develop large-diameter and long water diversion tunnel inspection methods. It is urgent to develop underwater inspection robots that can be carried on other long-distance transport platforms to solve the technical difficulties of close observation of large-diameter and long water diversion tunnels and meet the inspection needs of commonly used large-diameter flat, vertical, inclined and other different types of water diversion tunnels. Summary of the invention

[0004] The inventor provides a carry-on underwater robot sub-machine, which is carried on an underwater carrying platform, shares power and data transmission links with the carrying platform, and is controlled by surface remote control, thus solving the problem of difficulty in detecting large-diameter and long water diversion tunnels.

[0005] The present invention provides a carry-on underwater robot sub-machine, which is installed on a carrying platform. The carry-on underwater robot sub-machine comprises: a sub-machine body, a storage cabin, and a cable retracting and releasing mechanism. The sub-machine body is stored in the storage cabin, an umbilical cable is provided on the cable retracting and releasing mechanism, and the sub-machine body is connected to the carrying platform via the umbilical cable.

[0006] Furthermore, the receiving cabin is arranged on a mounting seat, the mounting seat is fixedly connected to the carrying platform, the mounting seat is provided with an internal cavity, and the cable retracting and releasing mechanism is arranged in the cavity;

[0007] The cable retracting and releasing mechanism comprises: a cable retracting and releasing driving device and a cable retracting and releasing drum, and the umbilical cable is wound around the cable retracting and releasing drum.

[0008] Furthermore, the cable retracting and releasing driving device comprises: a motor arranged at one side of the receiving cabin, and the motor is drivingly connected to the cable retracting and releasing drum via a belt.

[0009] Furthermore, a cable guide tensioning mechanism is provided at one end of the mounting seat, which comprises: a driving roller and a tensioning roller, and the umbilical cable is located between the driving roller and the tensioning roller.

[0010] Furthermore, a first visual camera is provided on the mounting seat, and the first visual camera is used to observe the cable retracting and releasing conditions; a second visual camera is provided in the receiving cabin, and the second visual camera is used to observe the conditions when the sub-machine body is recovered.

[0011] Furthermore, a guide block is provided on the top of the mounting seat, a guide roller is provided at the entrance of the receiving cabin, and a guide wheel is provided on the top of the receiving cabin.

[0012] Furthermore, a power supply control interface is provided on the mounting seat, and the sub-machine body and the cable retracting and releasing mechanism are connected to the carrying platform via the power supply control interface.

[0013] Furthermore, a wire tube is provided on the receiving cabin, a locking mechanism is provided on the wire tube, a locking head is provided on the sub-machine body, and the locking mechanism cooperates with the locking head to lock the sub-machine body after the sub-machine body is recovered.

[0014] Furthermore, the locking mechanism includes: a first mounting plate, a second mounting plate, a cam and two pressing plates, the two pressing plates are located between the first mounting plate and the second mounting plate, the cam is connected to the two pressing plates, and in the locked state, the locking head passes through the first mounting plate, the pressing plate and the second mounting plate in sequence, and the two pressing plates clamp the locking head.

[0015] Furthermore, the locking head is in the shape of a "mushroom head", and a semi-lunar groove is provided at the end of the pressing piece. In the locked state, the two semi-lunar grooves are combined into a locking groove to clamp the locking head.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The carry-on underwater robot sub-machine provided by the present invention is usually carried on a carrier platform. When conducting large-diameter and long water diversion tunnel inspection, the sub-machine body is released from the carrier platform, and the sub-machine body is connected to the carrier platform through an umbilical cable. The two share power and data transmission links, and are controlled by remote control operation on the water surface, thereby solving the problem of difficulty in inspecting large-diameter and long water diversion tunnels. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of the sub-machine of the load-bearing underwater robot provided by the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the sub-machine of the load-bearing underwater robot in Example 1;

[0020] Figure 3 is a schematic diagram of the structure of the mounting base in Example 1;

[0021] Figure 4 It is a structural schematic diagram of the locking mechanism in Example 1;

[0022] Figure 5 This is a schematic diagram of the recovery status of the sub-machine of the load-bearing underwater robot in Example 1.

[0023] Reference numerals:

[0024] 1-mounting seat; 11-power supply control interface; 12-guide block; 13-first visual camera; 2-housing cabin; 21-guide wheel; 22-guide roller; 23-second visual camera; 24-wire tube; 3-cable retracting and releasing mechanism; 31-motor; 32-cable retracting and releasing drum; 33-belt; 4-cable guide tensioning mechanism; 41-active roller; 42-tensioning roller; 5-locking mechanism; 51-pressing plate; 52-cam; 53-first mounting plate; 54-second mounting plate; 55-low-speed motor; 6-submachine body; 61-locking head; 62-manipulator; 63-thruster; 64-underwater lighting; 65-pan-tilt camera; 7-umbilical cable. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0026] Underwater mobile carrying platform: used to carry various equipment and move freely underwater, so that the carried equipment can complete the predetermined functions (such as underwater image acquisition, sample extraction, water quality monitoring, industrial marine pipeline flaw detection and disaster search and rescue fishing, etc.).

[0027] The present invention aims to provide an underwater robot sub-machine, which is used for fine close-up observation and detection of large-diameter water diversion tunnels of underwater water conservancy and hydropower buildings. The sub-machine is usually carried on an underwater carrying platform and moved by the carrying platform. It is released from the carrying platform when in use, shares power and data transmission links with the carrying platform through an umbilical cable, and is controlled by surface remote control, thereby meeting the needs of close-up detection of long-distance and large-diameter water diversion tunnels.

[0028] Example 1

[0029] like Figure 1As shown, the present invention provides a submachine of a mounted underwater robot, comprising: a mounting seat 1, a receiving cabin 2, a submachine body 6, a cable retracting mechanism 3, a cable guide tensioning mechanism 4 and a locking mechanism 5. The umbilical cable 7 on the cable retracting mechanism 3 is connected to the submachine body 6 after passing through the cable guide tensioning mechanism 4. The mounting seat 1 is fixed to the carrying platform by bolts, and a power supply control interface 11 is provided on the mounting seat 1. The umbilical cable 7 on the cable retracting mechanism 3 is connected to the carrying platform through the power supply control interface 11, so as to realize the submachine body 6 and the carrying platform to share power and data transmission. A cavity is provided in the mounting seat 1, and the cable retracting mechanism 3 is placed in the cavity. Specifically, the cable retracting mechanism 3 comprises: a cable retracting drive device and a cable retracting drum 32, the umbilical cable 7 is wound around the cable retracting drum 32, and the cable retracting drive device comprises a motor 31 located on one side of the receiving cabin 2, the motor 31 is connected to the cable retracting drum 32 through a belt 33, and the cable retracting drum 32 is driven to rotate by the rotation of the motor 31, thereby realizing its cable retracting function. The motor 31 is arranged on one side of the receiving cabin 2, and the belt 33 is used to drive the cable reel 32, which can effectively and reasonably utilize the space, and avoid the motor 31 being placed in the cavity to occupy space, resulting in the cable reel 32 becoming smaller or the mounting seat 1 being too large. The mounting seat 1 is also provided with a first visual camera 13, which is used to observe the cable reeling and releasing situation.

[0030] One end of the mounting base 1 is provided with a cable guide tensioning mechanism 4, which includes: an active roller 41 and a plurality of tensioning rollers 42, and the umbilical cable 7 is located between the active roller 41 and the tensioning roller 42. During the process of cable retracting and releasing, the active roller 41 and the tensioning roller 42 are used to apply an outward lateral tension to the umbilical cable 7, so that during the process of cable retracting and releasing, the umbilical cable 7 is in a tensioned state and will not be tangled or arranged ineffectively.

[0031] like Figure 2 and 3 As shown, a guide roller 22 is provided at the entrance of the storage cabin 2, and a guide wheel 21 is provided on the top of the storage cabin 2 to ensure that the sub-machine body 6 can enter the correct track during the recovery process, thereby improving the convenience of recovering the sub-machine body 6. A guide block 12 is provided on the top of the mounting seat 1 to ensure that the sub-machine body 6 will not move left and right and vertically in the cabin. A wire tube 24 is provided at one end of the storage cabin 2 close to the guide cable tensioning mechanism 4, and the umbilical cable 7 passes through the wire tube 24 to be connected to the sub-machine body 6. A locking mechanism 5 is provided on the wire tube 24, and a locking head 61 is provided on the sub-machine body 6. The locking mechanism 5 cooperates with the locking head 61 to lock the sub-machine body 6 after the sub-machine body 6 is recovered. Specifically, as Figure 4As shown, the locking mechanism 5 includes: a first mounting plate 53, a second mounting plate 54, a cam 52 and two pressing plates 51. The two pressing plates 51 are located between the first mounting plate 53 and the second mounting plate 54. The cam 52 is connected to the two pressing plates 51. The locking head 61 is in the shape of a "mushroom head". A semi-moon groove is provided at the end of the pressing plate 51. In the locked state, the two semi-moon grooves merge into a locking groove. The locking head passes through the first mounting plate 53, the locking groove and the second mounting plate 53 in sequence. The two pressing plates 51 cooperate to clamp the locking head 61. When the submachine body 6 is recovered, the surface operator adjusts the position and posture of the submachine body 6, and cooperates with the cable retracting mechanism 3 and the cable guide tensioning mechanism 4 to retract the submachine body 6 into the storage cabin 2. When the submachine body 6 is in place, the locking head 61 automatically pushes open the two pressing plates 51 at a fitting angle. Since the locking head 61 is in a "mushroom head" shape, it will be resisted by the two pressing plates 51 when retreating and cannot be withdrawn, so that the locking head 61 is firmly stuck. When the submachine body 6 is released, the cam 52 is driven to rotate by the low-speed motor 55. When the cam 52 rotates to a high position, the two pressing plates 51 are stretched open, and the locking head 61 is no longer stuck. At this time, the pusher 63 on the submachine body 6 and the cable retracting mechanism 3 cooperate to complete the release of the submachine body 6.

[0032] like Figure 5 As shown, when the submachine body 6 is in working state, the surface operator transmits the control signal to the power supply control interface 11 through the control link of the carrying platform, and the submachine body 6 obtains power through the power supply control interface 11. The locking mechanism 5 receives the control command to open, releases the locking head 61, and the submachine body 6 is driven out of the storage cabin 2 through the thruster 63. At the same time, the cable guide tensioning mechanism 44 always keeps the umbilical cable 7 in a tensioned state, and the cable retracting and releasing mechanism 3 releases the umbilical cable 7 synchronously. The surface operator can grasp the movement state of the submachine body 6 and the cable retracting and releasing situation in real time according to the image pictures of the first visual camera 13 and the second visual camera 23. After the submachine body 6 is released, the surface operator can operate the submachine body 6 for fine close observation and detection. Similarly, when the sub-machine body 6 is in the recovery state, the surface operator operates the sub-machine body 6 according to the image feedback from the first visual camera 13 and the second visual camera 23, adjusts the position and posture, and cooperates with the cable retracting and releasing mechanism 3 and the cable guide tensioning mechanism 4 to recover the sub-machine body 2 into the storage cabin 2 through the umbilical cable 7. When the sub-machine body 6 is recovered into place, the locking mechanism 5 locks the locking head 61 to complete the recovery of the sub-machine body 6. At this time, the sub-machine body 6 is connected to the carrying platform through the mounting seat 1.

[0033] Further, in this embodiment, the sub-machine body 6 includes a sub-machine frame, a propeller 63, an electronic cabin, a manipulator 62, a pan-tilt camera 65, an underwater lighting lamp 64, a sub-machine positioning sonar, a buoyancy material and other parts. The sub-machine frame is the equipment bearing body of the sub-machine robot, and is made of ultra-high molecular polyethylene, which has the advantages of super wear resistance, shock absorption and high chemical stability; the propeller 63 is provided with 6, including 4 horizontal propellers and 2 vertical propellers, with a maximum speed of 3 knots, and has automatic orientation and depth setting functions. The electronic cabin is a watertight and pressure-resistant carrier of the robot control system, equipped with a real-time controller, a high-precision three-dimensional electronic compass, a depth gauge, a temperature and humidity sensor, an insulation monitor, etc., to monitor the working status of the sub-machine in real time. The manipulator 62 can perform simple clamping operations and on-site sampling. The pan-tilt camera 65 is a four-fold optical zoom, 1080P resolution network high-definition camera, equipped with a pan-tilt, and can be adjusted by ±75° pitch. The underwater lighting is 2 sets of high-brightness LED lights, with a single set brightness of 4000 lumens. The sub-machine positioning sonar is a circular scanning pipeline sonar, which has the functions of tunnel detection and sub-machine interface positioning. The buoyancy material is glass beads, which can withstand a pressure of 10Mpa, the buoyancy coefficient is 0.51, and the water absorption rate is less than 1%. At the same time, the buoyancy block is designed in a streamlined shape to reduce the resistance in the water, which is conducive to the movement of the sub-machine robot in all directions.

[0034] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A sub-machine of a mounted underwater robot, characterized in that: include: A sub-machine body, a storage cabin, and a cable-retracting and -releasing mechanism, wherein the sub-machine body is stored in the storage cabin, an umbilical cable is arranged on the cable-retracting and -releasing mechanism, and the sub-machine body is connected to the carrying platform via the umbilical cable; The receiving cabin is arranged on a mounting seat, the mounting seat is fixedly connected to the carrying platform, the mounting seat is provided with an internal cavity, and the cable retracting and releasing mechanism is arranged in the cavity; The cable retracting and releasing mechanism comprises: a cable retracting and releasing driving device and a cable retracting and releasing drum, and the umbilical cable is wound on the cable retracting and releasing drum; The receiving cabin is provided with a wire tube, the wire tube is provided with a locking mechanism, the sub-machine body is provided with a locking head, the locking mechanism cooperates with the locking head to lock the sub-machine body after the sub-machine body is recovered; The locking mechanism includes: a first mounting plate, a second mounting plate, a cam and two pressing plates, the two pressing plates are located between the first mounting plate and the second mounting plate, the cam is connected to the two pressing plates, and in the locked state, the locking head passes through the first mounting plate, the pressing plate and the second mounting plate in sequence, and the two pressing plates clamp the locking head.

2. The sub-machine of the load-carrying underwater robot according to claim 1, characterized in that: The cable retracting and releasing driving device comprises: a motor arranged at one side of the receiving cabin, and the motor is drivingly connected to the cable retracting and releasing drum through a belt.

3. The load-carrying underwater robot sub-machine according to claim 1, characterized in that: One end of the mounting seat is provided with a cable guide tensioning mechanism, which comprises: a driving roller and a tensioning roller, and the umbilical cable is located between the driving roller and the tensioning roller.

4. The load-carrying underwater robot sub-machine according to claim 1, characterized in that: The mounting seat is provided with a first visual camera, and the first visual camera is used to observe the cable retracting and releasing conditions; the storage cabin is provided with a second visual camera, and the second visual camera is used to observe the conditions when the sub-machine body is recovered.

5. The load-carrying underwater robot sub-machine according to claim 1, characterized in that: A guide block is provided on the top of the mounting seat, a guide roller is provided at the entrance of the receiving cabin, and a guide wheel is provided on the top of the receiving cabin.

6. The load-carrying underwater robot sub-machine according to claim 1, characterized in that: The mounting seat is provided with a power supply control interface, and the sub-machine body and the cable retracting and releasing mechanism are connected to the carrying platform via the power supply control interface.

7. The load-carrying underwater robot sub-machine according to claim 1, characterized in that: The locking head is in the shape of a "mushroom head", and a semi-lunar groove is provided at the end of the pressing plate. In the locked state, the two semi-lunar grooves are combined into a locking groove to clamp the locking head.

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