An underwater detection vehicle

Abstract

The present invention discloses an underwater detection vehicle, comprising a vehicle body and four wheels installed on the vehicle body, a rotating shaft is arranged on the front side of the vehicle body, wheels are installed on both ends of the rotating shaft, a driving mechanism, a hydraulic mechanism and a detection mechanism are arranged on the vehicle body, the driving mechanism outputs power to the wheels on the front side of the vehicle body, and the hydraulic mechanism outputs power to the wheels on the rear side of the vehicle body. By adopting the above technical scheme, the vehicle can be placed in a designated sea area, and the vehicle can be moved according to demand. The direction of the vehicle can also be changed during the movement, so that the detection vehicle can adapt to different terrains, which is simple and practical. In addition, the acoustic probe rod is sunk into the seabed sediment to perform real-time data detection and data transmission. Compared with traditional sampling and detection, the work efficiency is greatly improved, and the seabed sediment deterioration during the sampling process can be avoided, thereby improving the accuracy of data detection.

Description

Technical Field

[0001] The invention relates to the technical field of detection equipment, and in particular to an underwater detection vehicle. Background Art

[0002] Seabed detection and identification has always been a popular subject. With the development of science and technology, detection methods have gradually become richer, and the accuracy and efficiency of detection have been greatly improved. Collecting seabed sediment parameters can provide a basis for establishing ocean models and theories, and it also has important practical value for marine mineral resource development, marine environmental monitoring, military and national defense, and other fields.

[0003] Seabed exploration at home and abroad began as early as the 1980s. There are currently three main types of acoustic measurements for shallow seabed sediments: sampling measurement technology; in-situ measurement technology; and acoustic telemetry. Both sampling measurement technology and in-situ measurement technology are point measurements with low measurement efficiency, but they have laid the foundation for the development of acoustic telemetry technology.

[0004] Due to the immaturity of in-situ measurement technology, most studies adopt sampling measurement. The plug is inserted into the seabed sediment using hydraulics and kept stable. The sound waves are then collected through the collection and storage module. After the measurement is completed, the instrument is retracted via a cable. However, since the sediment samples are hit during the sampling and transportation process, their internal structure changes, and the geographical environment such as humidity and pressure is changed, resulting in the measured acoustic parameters not matching the actual situation. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention proposes an underwater detection vehicle which combines underwater detection equipment and an underwater detection vehicle into one, can be used for seabed bottom detection, has a simple structure, improves detection efficiency, and makes measurement data more accurate.

[0006] In order to solve the above technical problems, the technical solution of the present invention is:

[0007] A kind of underwater detection vehicle comprises a body and four wheels installed on the body, a rotating shaft is arranged on the front side of the body, wheels are installed on both ends of the rotating shaft, a driving mechanism, a hydraulic mechanism and a detection mechanism are arranged on the body, the driving mechanism outputs power to the wheel on the front side of the body, and the hydraulic mechanism outputs power to the wheel on the rear side of the body, the detection mechanism comprises a pulley mounting frame, a pulley, an acoustic probe rod and a hydraulic cylinder, the pulley mounting frame is fixedly mounted on the body, a pulley group consisting of two upper and lower rows of pulleys composed of a plurality of pulleys is arranged on the pulley mounting frame through the rotating shaft, the hydraulic cylinder is fixed on the body, a piston rod is arranged on the power output end of the hydraulic cylinder, two rotatable pulleys are arranged on the piston rod, the traction rope is sequentially wound around the pulleys, and the two ends of the traction rope are respectively fixed to the pulley mounting frame through two fixing columns, and the acoustic probe rod is fixedly connected to the traction rope.

[0008] Preferably, the driving mechanism includes a front motor, a large gear, a small gear, a bearing and a flange coupling, the small gear is fixedly mounted on the rotating shaft, the large gear is meshed with the small gear, one end of the bearing is meshed with the large gear, the other end of the bearing is connected to the flange coupling, and the other end of the flange coupling is connected to the power output end of the front motor.

[0009] Preferably, a steering mechanism is arranged between the hydraulic mechanism and the wheels on the rear side of the vehicle body, and the steering mechanism includes a connecting rod, a steering shaft and a transmission shaft. The two transmission shafts are arranged on the rear side of the vehicle body, and the transmission shaft is in an L-shaped structure. The two wheels are respectively mounted at the two ends of the horizontal axis of the transmission shaft, the vertical axis of the transmission shaft is fixedly connected to one end of the steering shaft, and the other end of the steering shaft is rotatably connected to the two ends of the connecting rod, and the power of the hydraulic mechanism is output to the connecting rod.

[0010] Preferably, the hydraulic mechanism includes a rear motor, an oil tank, a vane pump, an oil pipe, a hydraulic cylinder and a piston. The power output end of the rear motor is fixedly connected to the rotating bearing of the vane pump. The oil outlet of the oil tank is connected to the oil inlet of the vane pump through an oil pipe. The oil outlet of the vane pump is connected to the two oil ports of the hydraulic cylinder through two oil pipes. The two oil ports of the hydraulic cylinder are respectively connected to the oil ports of the piston through oil pipes. The two oil ports of the piston are connected to the oil tank through oil pipes.

[0011] Preferably, the oil tank is provided with an exhaust valve and a pressure compensator, and the oil tank is provided with an oil charging and discharging valve.

[0012] Preferably, a solenoid valve is provided between the vane pump and the hydraulic cylinder, the oil inlet of the solenoid valve is connected to the oil outlet of the vane pump, the solenoid valve is provided with two oil outlets, and the two oil outlets on the solenoid valve are respectively connected to the two oil ports of the hydraulic cylinder.

[0013] Preferably, a one-way valve is provided at the oil outlet of the vane pump, and a pressure sensor and a relief valve are provided on the oil pipe between the one-way valve and the solenoid valve.

[0014] Preferably, a hydraulically controlled one-way valve and a safety valve are provided on the two oil pipes between the solenoid valve and the hydraulic cylinder.

[0015] Preferably, oil damping is provided at the oil port of the hydraulic cylinder.

[0016] Preferably, a displacement sensor is provided on the hydraulic cylinder.

[0017] By adopting the above technical solution, the trolley can be placed in a designated sea area and moved according to needs. The direction of the trolley can also be changed during the movement, so that the detection trolley can adapt to different terrains, which is simple and practical. In addition, the acoustic probe rod is sunk into the seabed for real-time data detection and data transmission. Compared with traditional sampling and detection, it greatly improves work efficiency and can avoid the deterioration of the seabed during the sampling process, thereby improving the accuracy of data detection. The acoustic probe rod can be retracted and released, thereby reducing the height of the overall equipment, reducing the volume and weight of the device, and at the same time achieving the purpose of reducing energy consumption, so that the equipment can insert the probe rod to the specified depth in a relatively narrow space. The arrangement of hydraulic components in the hydraulic mechanism is not constrained by space and can be freely adjusted according to work requirements. The hydraulic system has the advantages of smooth transmission, high transmission efficiency and environmental friendliness. It can also achieve smooth speed regulation and has a large speed regulation range. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0020] Figure 2 for Figure 1 Cross-sectional view at AA in the middle.

[0021] Figure 3 for Figure 1 Cross-sectional view at the middle BB.

[0022] Figure 4 for Figure 1 The structural diagram of the detection mechanism.

[0023] Figure 5It is a schematic diagram of the hydraulic system in the embodiment of the invention.

[0024] In the figure, 1. wheel; 2. bearing; 3. flange coupling; 4. front motor; 5. solenoid valve; 6. vane pump; 7. piston; 8. oil pipe; 9. rear motor; 10. steering shaft; 11. transmission shaft; 12. small gear; 13. large gear; 14. hydraulic cylinder; 15. body; 16. pulley; 17. connecting rod; 18. oil tank; 19. acoustic probe; 20. pulley mounting bracket; 21. displacement sensor; 22. oil damping; 23. exhaust valve; 24. safety valve; 25. hydraulically controlled one-way valve; 26. pressure compensator; 27. overflow valve; 28. pressure sensor; 29. ​​one-way valve; 30. oil charging and discharging valve; 31. oil suction filter; 32. piston rod; 33. traction rope; 34. fixing column. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0028] The present invention provides an underwater detection vehicle, such as Figures 1 to 3As shown, it includes a body 15 and four wheels 1 installed on the body, a rotating shaft is provided on the front side of the body 15, and wheels 1 are installed at both ends of the rotating shaft. A driving mechanism, a hydraulic mechanism and a detection mechanism are provided on the body 15, the driving mechanism outputs power to the wheel 1 on the front side of the body 15, and the hydraulic mechanism outputs power to the wheel 1 on the rear side of the body 15. The detection mechanism includes a pulley mounting frame 20, a pulley 16, an acoustic probe rod 19 and a hydraulic cylinder 14, the pulley mounting frame 20 is fixedly mounted on the body, and the pulley mounting frame 20 is provided with an upper and lower row of pulley groups consisting of a plurality of pulleys 16 through a rotating shaft, the hydraulic cylinder 14 is fixed on the body, a piston rod 32 is provided at the power output end of the hydraulic cylinder 14, and two rotatable pulleys 16 are provided on the piston rod 32, the traction rope 33 is sequentially wound around the pulley 16, and the two ends of the traction rope are respectively fixed to the pulley mounting frame 20 through two fixing columns, and the acoustic probe rod 19 is fixedly connected to the traction rope 33.

[0029] According to a further configuration of the present invention, the driving mechanism includes a front motor, a large gear 13, a small gear 12, a bearing 2 and a flange coupling 3, the small gear 12 is fixedly mounted on the rotating shaft, the large gear 13 is meshed with the small gear 12, one end of the bearing 2 is meshed with the large gear 13, the other end of the bearing 2 is connected to the flange coupling 3, and the other end of the flange coupling 3 is connected to the power output end of the front motor 4.

[0030] It can be understood that the stroke amplification mechanism composed of the pulley 16, the hydraulic cylinder 14, and the pulley mounting frame 20, the acoustic probe 19 is set at the front end of the vehicle body 15 through the pulley mounting frame 20, the pulley mounting frame 20 is provided with a pulley 16, the pulley 16 moves with the hydraulic cylinder 14 through the piston rod 32, the acoustic probe 19 is connected between the upper and lower pulleys by a traction rope 33, a group of pulleys is connected to the piston rod, and three groups of pulleys are connected by the traction rope 33 passing through the acoustic probe.

[0031] According to a further configuration of the present invention, the driving mechanism includes a front motor, a large gear 13, a small gear 12, a bearing 2 and a flange coupling 3, the small gear 12 is fixedly mounted on the rotating shaft, the large gear 13 is meshed with the small gear 12, one end of the bearing 2 is meshed with the large gear 13, the other end of the bearing 2 is connected to the flange coupling 3, and the other end of the flange coupling 3 is connected to the power output end of the front motor 4.

[0032] A further configuration of the present invention is that a steering mechanism is arranged between the hydraulic mechanism and the wheel 1 on the rear side of the vehicle body, and the steering mechanism includes a connecting rod 17, a steering shaft 10 and a transmission shaft 11. The two transmission shafts 11 are arranged on the rear side of the vehicle body 15. The transmission shaft 11 is an L-shaped structure. The two wheels are respectively mounted on both ends of the horizontal axis of the transmission shaft 11. The vertical axis of the transmission shaft 11 is fixedly connected to one end of the steering shaft 10, and the other end of the steering shaft 10 is rotatably connected to both ends of the connecting rod 17. The power of the hydraulic mechanism is output to the connecting rod 17.

[0033] In the above technical solution, the structure is simple and the technology is reasonable. By setting a steering mechanism, the rotation direction of the vehicle can be remotely controlled, so that the detection vehicle can adapt to different terrains. It is simple and practical.

[0034] Furthermore, the hydraulic mechanism includes a rear motor 9, an oil tank 18, a vane pump 6, an oil pipe 8, a hydraulic cylinder 14 and a piston 7. The power output end of the rear motor 9 is fixedly connected to the rotating bearing of the vane pump 6. The oil outlet of the oil tank 18 is connected to the oil inlet of the vane pump 6 through the oil pipe 8. The oil outlet of the vane pump 6 is connected to the two oil ports of the hydraulic cylinder 14 through two oil pipes 8. The two oil ports of the hydraulic cylinder 14 are respectively connected to the oil ports of the piston 7 through the oil pipe 8. The two oil ports of the piston 7 are connected to the oil tank 18 through the oil pipe 8.

[0035] In the above technical solution, the steering of the trolley is controlled by a hydraulic mechanism. It can be seen that the arrangement of the hydraulic components in the hydraulic mechanism is not constrained by space, and can be freely adjusted according to work requirements. It is more flexible to use and more adaptable to the harsh environment of the seabed. The hydraulic mechanism has the advantages of smooth transmission, high transmission efficiency and environmental friendliness. It can also achieve smooth speed regulation and has a large speed regulation range.

[0036] Further, such as Figure 5 As shown, the oil tank 18 is provided with an exhaust valve 23 and a pressure compensator 26, and the oil tank 18 is provided with an oil charging and discharging valve 30. It can be understood that by setting the exhaust valve 23 and the pressure compensator 26, the pressure in the oil tank 18 can be accurately controlled, thereby meeting the working requirements of the hydraulic mechanism. The passage, through the opening and closing of the oil charging and discharging valve 30, is also used to meet the working requirements of the hydraulic mechanism. It can be imagined that when the piston 7 is working, the oil tank 18 supplies oil through the vane pump 6, and provides oil pressure for the operation of the piston 7 through the hydraulic cylinder. At this time, the oil discharge valve is opened and the oil filling valve is closed to avoid the return of oil and the loss of pressure of the piston 7. At the same time, as the oil is discharged in the oil tank, the pressure in the oil tank decreases, and then the pressure compensator 26 is opened to ensure the pressure in the oil tank. Similarly, when the oil is returned, the oil filling valve is opened and the oil discharge valve is closed. At this time, the air pressure in the oil tank 18 increases, and then the air pressure in the oil tank is reduced by exhausting the air through the exhaust valve.

[0037] Furthermore, a solenoid valve 5 is provided between the vane pump 6 and the hydraulic cylinder 14, the oil inlet of the solenoid valve 5 is connected to the oil outlet of the vane pump 6, and the solenoid valve 5 is provided with two oil outlets, which are respectively connected to the two oil ports of the hydraulic cylinder 14. A one-way valve 29 is provided at the oil outlet of the vane pump 6, and a pressure sensor 28 and a relief valve 27 are provided on the oil pipe 8 between the one-way valve 29 and the solenoid valve 5. A hydraulic one-way valve 25 and a safety valve 24 are provided on both oil pipes 8 between the solenoid valve 5 and the hydraulic cylinder 14. An oil damper 22 is provided at the oil port of the hydraulic cylinder 14. A displacement sensor 21 is provided on the hydraulic cylinder 14.

[0038] In the above technical solution, the solenoid valve 5 is provided to realize the branching of the oil outlet of the oil tank 18 and to perform precise control; in addition, the one-way valve 29 is provided to enable the oil pipe 8 to achieve one-way oil flow. The pressure sensor 28 is provided to monitor the pressure in the oil pipe 8, thereby ensuring the safety of the entire hydraulic mechanism.

[0039] It is understandable that the vehicle body is also provided with a control system for controlling the operation of the electromagnetic valve 5, the one-way valve 29, the overflow valve 27, the safety valve 24, the hydraulic one-way valve 25, the hydraulic cylinder 24, the front motor and the rear motor. In addition, a wireless communication system for data transmission with a ground station is also provided.

[0040] It should be noted that the control system and the wireless communication system are both relatively conventional and mature existing technologies, and therefore are not within the scope of protection of the present invention. In order to ensure that the specification is fully disclosed, the existing technologies can be directly applied. Therefore, they are not specifically described and illustrated in this embodiment.

[0041] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments including components are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. An underwater detection vehicle, comprising a vehicle body (15) and four wheels (1) mounted on the vehicle body, wherein a rotating shaft is arranged at the front side of the vehicle body (15), and wheels (1) are mounted at both ends of the rotating shaft, characterized in that: The vehicle body (15) is provided with a driving mechanism, a hydraulic mechanism and a detection mechanism. The driving mechanism outputs power to the wheel (1) at the front side of the vehicle body (15), and the hydraulic mechanism outputs power to the wheel (1) at the rear side of the vehicle body (15). The detection mechanism comprises a pulley mounting frame (20), a pulley (16), an acoustic probe rod (19), a traction rope (33) and a hydraulic cylinder (14). The pulley mounting frame (20) is fixedly mounted on the vehicle body. The pulley mounting frame (20) is provided with a pulley block consisting of a plurality of pulleys (16) in two upper and lower rows via a rotating shaft. The hydraulic cylinder (14) ) is fixed on the vehicle body, a piston rod (32) is provided at the power output end of the hydraulic cylinder (14), two rotatable pulleys (16) are provided on the piston rod (32), the traction rope (33) is wound around the pulleys (16) in sequence, and the two ends of the traction rope are respectively fixed to the pulley mounting frame (20) through two fixing columns, and the acoustic probe (19) is fixedly connected to the traction rope (33); the driving mechanism comprises a front motor, a large gear (13), a small gear (12), a bearing (2) and a flange coupling (3), the small gear (12) is fixedly mounted on the rotating shaft, The large gear (13) meshes with the small gear (12), one end of the bearing (2) meshes with the large gear (13), the other end of the bearing (2) is connected to the flange coupling (3), and the other end of the flange coupling (3) is connected to the power output end of the front motor (4); a steering mechanism is arranged between the hydraulic mechanism and the wheel (1) at the rear side of the vehicle body, the steering mechanism comprises a connecting rod (17), a steering shaft (10) and a transmission shaft (11), two transmission shafts (11) are arranged at the rear side of the vehicle body (15), the transmission shaft (11) is in an L-shaped structure, the two wheels are respectively mounted at the two ends of the horizontal axis of the transmission shaft (11), the vertical axis of the transmission shaft (11) is fixedly connected to one end of the steering shaft (10), the other end of the steering shaft (10) is rotatably connected to the two ends of the connecting rod (17), and the power of the hydraulic mechanism is output to the connecting rod (17); the hydraulic mechanism comprises a rear motor (9), An oil tank (18), a vane pump (6), an oil pipe (8), a hydraulic cylinder (14) and a piston (7); the power output end of the rear motor (9) is fixedly connected to the rotary bearing of the vane pump (6); the oil outlet of the oil tank (18) is connected to the oil inlet of the vane pump (6) through the oil pipe (8); the oil outlet of the vane pump (6) is connected to two oil ports of the hydraulic cylinder (14) through two oil pipes (8); the two oil ports of the hydraulic cylinder (14) are respectively connected to the oil ports of the piston (7) through the oil pipes (8); and the two oil ports of the piston (7) are connected to the oil tank (18) through the oil pipes (8).

2. The underwater detection vehicle according to claim 1, characterized in that: The oil tank (18) is provided with an exhaust valve (23) and a pressure compensator (26), and the oil tank (18) is provided with an oil charging and discharging valve (30).

3. The underwater detection vehicle according to claim 1, characterized in that: An electromagnetic valve (5) is provided between the vane pump (6) and the hydraulic cylinder (14); an oil inlet of the electromagnetic valve (5) is connected to an oil outlet of the vane pump (6); two oil outlets are provided on the electromagnetic valve (5); the two oil outlets on the electromagnetic valve (5) are respectively connected to two oil ports of the hydraulic cylinder (14).

4. The underwater detection vehicle according to claim 3, characterized in that: A one-way valve (29) is provided at the oil outlet of the vane pump (6), and a pressure sensor (28) and a relief valve (27) are provided on the oil pipe (8) between the one-way valve (29) and the solenoid valve (5).

5. The underwater detection vehicle according to claim 3, characterized in that: A hydraulically controlled one-way valve (25) and a safety valve (24) are provided on the two oil pipes (8) between the solenoid valve (5) and the hydraulic cylinder (14).

6. The underwater detection vehicle according to claim 1, characterized in that: An oil damper (22) is provided at the oil passage of the hydraulic cylinder (14).

7. The underwater detection vehicle according to claim 1, characterized in that: The hydraulic cylinder (14) is provided with a displacement sensor (21).

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