A grinding and installation device for an underwater robot in a hydropower station and its construction method

Abstract

The present invention provides a grinding and installation device for an underwater robot in a hydropower station and a construction method thereof, including a rectangular mounting frame detachably connected to the underwater robot, a fixed arm horizontally rotatably arranged on one end of the mounting frame, and a movable arm hinged to the movable end of the fixed arm. An oil cylinder for controlling the rotation angle of the movable arm is arranged inside the fixed arm. An axially telescopic mounting shaft is arranged at the movable end of the movable arm. A propeller and a grinding head driven by a motor to rotate are arranged at the movable end of the mounting shaft. The grinding head is of a disc structure, and cameras are arranged on both sides of the mounting shaft. The present invention has the effects of improving the quality of grinding and polishing and facilitating clear observation and operation of the grinding and installation device.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and particularly to a grinding and installation device for an underwater robot in a hydropower station and a construction method thereof. Background Art

[0002] In the daily maintenance of hydropower stations, underwater operation equipment is required to repair the underwater part of the dam body. For surface cracks in the underwater part, the pitted surface of the trash rack after removing surface attachments, and surface corrosion of underwater steel structures, etc., underwater operation equipment is needed to polish the surface and then perform polishing.

[0003] The operation process of existing underwater operation equipment is observed through a pan-tilt unit with a high-definition device head. During the grinding and polishing process, a lot of dust is usually generated, which hinders the observation of the high-definition camera. The existing treatment method is to set a propeller for cleaning dust on the equipment. The propeller pushes the water near its blades towards the grinding structure to change the water at the grinding structure to ensure the clarity of the water at the grinding structure. However, this method often increases the resistance during the grinding process and impacts the grinding structure, resulting in the deviation of the grinding position. At this time, manual adjustment and compensation are required by the operator. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the present invention provides a grinding and installation device for an underwater robot in a hydropower station and a construction method thereof, which solves the problems in the prior art that dust cleaning increases the resistance during the grinding process and easily causes the deviation of the grinding structure.

[0005] According to an embodiment of the present invention, a grinding and installation device for an underwater robot in a hydropower station includes a rectangular mounting frame detachably connected to the underwater robot, a fixed arm horizontally rotatably arranged on one end of the mounting frame, and a movable arm whose end is hinged to the movable end of the fixed arm. An oil cylinder for controlling the rotation angle of the movable arm is arranged inside the fixed arm. An axially telescopic mounting shaft is arranged at the movable end of the movable arm. A propeller and a grinding head driven by a motor to rotate are arranged at the movable end of the mounting shaft. The grinding head is a disc-shaped structure, and cameras are arranged on both sides of the mounting shaft.

[0006] Preferably, the grinding head and the propeller are coaxially and fixedly arranged.

[0007] Preferably, a cylindrical mounting ring is coaxially and fixedly connected to the end wall of the grinding head and is fixedly connected to the movable end of the mounting shaft through the mounting ring.

[0008] Preferably, the grinding head includes rod-shaped blades evenly distributed at equal angles around its axis. An arc chamfer is arranged at the movable end of the blade, and a drag reduction hole is arranged on the end wall of the blade.

[0009] Preferably, a protective cover is fixedly connected to the movable end of the installation shaft. The propeller is located inside the protective cover, and the grinding head is located at the open end of the protective cover.

[0010] Preferably, the protective cover is frustum-shaped, and the small-diameter end of the protective cover is close to the grinding head.

[0011] Preferably, an adjusting oil cylinder is arranged inside the fixed arm. Two hinge rods are arranged at the fixed end of the movable arm and are respectively connected to the fixed arm and the piston end of the adjusting oil cylinder through the two hinge rods. The cylinder barrel of the adjusting oil cylinder is hinged to one end of the fixed arm close to the installation beam.

[0012] Preferably, an installation rod is arranged at the fixed end of the fixed arm. The cylinder barrel of the adjusting oil cylinder is rotatably connected to the installation rod, and the fixed arm is rotatably arranged on the installation frame through the installation rod.

[0013] Preferably, a telescopic oil cylinder is arranged inside the movable arm. The cylinder barrel of the telescopic oil cylinder is fixed to the fixed end of the movable arm. The movable end of the telescopic oil cylinder is connected to the telescopic section of the installation shaft. Sliders are fixedly connected to both sides of the telescopic end of the installation shaft. Guide rods are fixedly arranged on the inner side wall of the movable arm, and the sliders are slidably arranged on the guide rods.

[0014] A construction method of a grinding and retrofitting device for an underwater robot in a hydropower station includes the following steps: S1. Coarse adjustment: Determine the relative distance between the grinding position and the grinding head through cameras with two different perspectives, and drive the grinding and retrofitting device close to the grinding position through the underwater robot; S2. Fine adjustment: Adjust the angle of the grinding head through the rotatable fixed arm and the movable arm rotating around the movable end of the fixed arm, so that the grinding head faces the grinding position, and control the movable end of the installation shaft to extend, so that the grinding head contacts the grinding position; S3. Grinding: Control the grinding head and the propeller to rotate at a low speed. The grinding head grinds the grinding position, and the propeller rotates to make the water flow at the grinding head, and pump the turbid water at the grinding head to other places to ensure that the grinding head and the grinding position are clearly visible; S4. Polishing: Control the grinding head and the propeller to rotate at a high speed. The grinding head polishes the grinding position, and the propeller rotates at a high speed to accelerate the water flow speed at the grinding head to ensure that the grinding head and the grinding position are clearly visible; Finally, grind and polish the periphery of the grinding position in sequence.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The original grinding wheel is changed to a grinding head with a cutter head structure. The grinding head is made of metal material and is less affected by water flow impact. The grinding head is installed through the fixed arm, the movable arm and the installation shaft, and it is a rigid connection, which can prevent the grinding head from shifting due to water impact.

[0017] 2. The position adjustment of the grinding head includes the small-angle rotation of the fixed arm, the large-angle rotation of the movable arm, and the telescoping of the mounting shaft, enabling the grinding head to fit multiple grinding positions at different angles, thereby improving the flexibility of the grinding and installation device.

[0018] 3. When the grinding head rotates, the propeller rotates synchronously. While grinding, the propeller changes the water around the grinding position, allowing the camera to obtain a clear image of the grinding head. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the front view of the embodiment of the present invention.

[0020] Figure 2 It is the top view of the embodiment of the present invention.

[0021] Figure 3 It is the bottom view of the embodiment of the present invention.

[0022] Figure 4 It is the side view of the embodiment of the present invention.

[0023] Figure 5 It is the structural schematic diagram of the embodiment of the present invention.

[0024] In the above-mentioned drawings: 1. Mounting frame; 2. Mounting beam; 3. Fixed arm; 4. Movable arm; 5. Adjusting oil cylinder; 6. Mounting shaft; 7. Protective cover; 8. Propeller; 9. Grinding head; 10. Camera; 11. Drag reduction hole; 12. Mounting ring; 13. Telescopic oil cylinder; 14. Guide rod; 15. Slide block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The technical solutions in the present invention will be further described below in conjunction with the drawings and embodiments.

[0026] As Figures 1-5 shown, to improve the stability of the grinding head during grinding and the clarity around the grinding head, the present invention provides a grinding and installation device for an underwater robot in a hydropower station, which is detachably connected to a rectangular mounting frame 1 on the underwater robot, a fixed arm 3 horizontally rotatably arranged on one end of the mounting frame 1, and a movable arm 4 whose end is hinged to the movable end of the fixed arm 3. An oil cylinder for controlling the rotation angle of the movable arm 4 is arranged in the fixed arm 3. A telescopable mounting shaft 6 is arranged at the movable end of the movable arm 4. A propeller 8 and a grinding head 9 driven by a motor to rotate are arranged at the movable end of the mounting shaft 6. The grinding head 9 is a disc-shaped structure, and cameras 10 are arranged on both sides of the mounting shaft 6.

[0027] A connecting ear plate is provided at the top of the mounting bracket 1, which is detachably mounted on the underwater robot through bolts, and the mounting bracket 1 is driven to move by the underwater robot; the staff observes underwater through the cameras 10 on both sides of the mounting shaft 6 to determine the position of the grinding head 9 and the location of the grinding position, and aligns the positions. Rotating drive structures are respectively provided on both sides inside the mounting bracket 1, and the fixed ends of the fixed arms 3 are rotatably connected to the rotating drive structures, enabling the fixed arms 3 to rotate in the horizontal direction, and adjusting the position of the grinding head 9 without adjusting the position of the mounting bracket 1.

[0028] As Figures 1-5 shown, to achieve the simultaneous grinding and dust cleaning. The grinding head 9 is coaxially and fixedly arranged with the propeller 8.

[0029] As Figure 1 、 Figure 4 and Figure 5 shown, to fix the grinding head 9 on the mounting shaft 6. A cylindrical mounting ring 12 is coaxially and fixedly connected to the end wall of the grinding head 9 and is fixedly connected to the movable end of the mounting shaft 6 through the mounting ring 12. It is necessary to ensure the stability of the grinding head 9, and the mounting ring 12 is fixedly sleeved on the movable end of the mounting shaft 6 to prevent the grinding head 9 from shaking during grinding or polishing.

[0030] As Figure 3 shown, to reduce the influence of the water flow impact on the grinding head 9. The grinding head 9 includes rod-shaped blades distributed at equal angles around its axis. The movable ends of the blades are provided with arc-shaped chamfers, and resistance-reducing holes 11 are opened on the end walls of the blades. The shape of the grinding head 9 is set to reduce the surface area of the grinding head 9, and then the resistance-reducing holes 11 are arranged. The resistance-reducing holes 11 can allow the water flow to pass through. During the rotation of the grinding head 9 and the propeller 8, the impact of the water flow on the surface of the grinding head 9 can be reduced.

[0031] As Figure 1 and Figure 5 shown, to improve the safety of the propeller 8. A protective cover 7 is fixedly connected to the movable end of the mounting shaft 6. The propeller 8 is located inside the protective cover 7, and the grinding head 9 is located at the open end of the protective cover 7. The propeller 8 is protected by the protective cover 7 to prevent the propeller 8 from touching sundries and being damaged; in addition, the protective cover 7 can guide the water flow direction, determine the flow path of the water flow at the grinding head 9, and improve the efficiency of water replacement and cleaning.

[0032] As Figure 1As shown in the figure, to improve the water adsorption capacity of the propeller 8 at the grinding head 9. The protective cover 7 is frustum-shaped, and the small-diameter end of the protective cover 7 is close to the grinding head 9. The propeller 8 pushes the water inside the protective cover 7, causing the water in this part to flow to the tail end of the protective cover 7 and flow out of the protective cover 7. Then, the water at the front end of the protective cover 7 flows into the protective cover 7. The grinding head 9 is arranged at the front end of the protective cover 7, sucking the turbid water with dust generated by grinding or polishing into the protective cover 7 and then discharging it from the tail end of the protective cover 7. The setting of the diameters at both ends of the protective cover 7 can ensure that there is sufficient adsorption force at the front end of the protective cover 7 for the turbid water.

[0033] As Figure 1 and Figure 2 As shown in the figure, to realize the rotation of the movable arm 4 around the movable end of the fixed arm 3. An adjusting oil cylinder 5 is arranged inside the fixed arm 3. The fixed end of the movable arm 4 is provided with two hinge rods, which are respectively connected to the fixed arm 3 and the piston end of the adjusting oil cylinder 5 through the two hinge rods. The cylinder barrel of the adjusting oil cylinder 5 is hinged to one end of the fixed arm 3 close to the mounting beam 2. By controlling the telescopic movement of the adjusting oil cylinder 5, the piston end of the adjusting oil cylinder 5 pulls the hinge rod, and then pulls the movable arm 4, so that the movable arm 4 rotates around the hinge rod between it and the fixed arm 3, realizing the rotation of the movable arm 4.

[0034] As Figure 2 and Figure 5 As shown in the figure, to realize the small-angle rotation of the fixed arm 3. The fixed end of the fixed arm 3 is provided with a mounting rod, the cylinder barrel of the adjusting oil cylinder 5 is rotatably connected to the mounting rod, and the fixed arm 3 is rotatably arranged on the mounting frame 1 through the mounting rod. Sealing chambers are arranged on both inner sides of the mounting frame 1. A motor and a gear structure are arranged in the sealing chamber. The mounting rod is rotatably connected in the sealing chamber and is equipped with a rotating sealing ring. The output shaft of the motor inside the sealing chamber is connected to one end of the mounting rod through meshing gears. The adjustment of the fixed arm 3 is used to adjust the overall length of the fixed arm 3 and the movable arm 4.

[0035] As Figure 1 and Figure 4 As shown in the figure, to ensure the coaxiality of the telescopic movement of the mounting shaft 6. A telescopic oil cylinder 13 is arranged inside the movable arm 4. The cylinder barrel of the telescopic oil cylinder 13 is fixed to the fixed end of the movable arm 4. The movable end of the telescopic oil cylinder 13 is connected to the telescopic section of the mounting shaft 6. Both sides of the telescopic end of the mounting shaft 6 are fixedly connected with sliders 15. Guide rods 14 are fixedly arranged on the inner side wall of the movable arm 4. The sliders 15 are slidably arranged on the guide rods 14. Through the cooperation of the sliders 15 and the guide rods 14, the guide rods 14 serve as the tracks for the movement of the sliders 15 to ensure the axial telescopic movement of the mounting shaft 6. The telescopic oil cylinder 13 drives the mounting shaft 6 to telescopic.

[0036] A construction method of a grinding and installation device for an underwater robot in a hydropower station, comprising the following steps: S1. Coarse adjustment: Determine the relative distance between the grinding position and the grinding head 9 through cameras 10 at two different perspectives, and drive the grinding and installation device close to the grinding position by the underwater robot; S2. Fine adjustment: Adjust the angle of the grinding head 9 by the rotatable fixed arm 3 and the movable arm 4 rotating around the movable end of the fixed arm 3, so that the grinding head 9 faces the grinding position, and control the movable end of the mounting shaft 6 to extend, so that the grinding head 9 contacts the grinding position; S3. Grinding: Control the grinding head 9 and the propeller 8 to rotate at a low speed, the grinding head 9 grinds the grinding position, the propeller 8 rotates, so that the water at the grinding head 9 flows, and the turbid water at the grinding head 9 is pumped away to other places to ensure that the grinding head 9 and the grinding position are clearly visible; S4. Polishing: Control the grinding head 9 and the propeller 8 to rotate at a high speed, the grinding head 9 polishes the grinding position, the propeller 8 rotates at a high speed to accelerate the water flow speed at the grinding head 9, and ensure that the grinding head 9 and the grinding position are clearly visible; Finally, grind and polish the periphery of the grinding position in sequence.

Claims

1. A construction method of a grinding and retrofitting device for an underwater robot in a hydropower station, characterized in that: An abrasive machining and installation device for an underwater robot of a hydropower station. The abrasive machining and installation device includes a rectangular mounting frame (1) detachably connected to the underwater robot, a fixed arm (3) horizontally rotatably arranged on a mounting beam (2) at one end of the mounting frame (1), and a movable arm (4) with its end hinged to the movable end of the fixed arm (3). An oil cylinder for controlling the rotation angle of the movable arm (4) is arranged inside the fixed arm (3). An axially telescopic mounting shaft (6) is arranged at the movable end of the movable arm (4). A propeller (8) driven by a motor to rotate and an abrasive head (9) are arranged at the movable end of the mounting shaft (6). The abrasive head (9) is of a disc structure, and cameras (10) are arranged on both sides of the mounting shaft (6). The construction method includes the following steps: S1. Coarse adjustment: Determine the relative distance between the abrasive position and the abrasive head (9) through cameras (10) at two different perspectives, and drive the abrasive machining and installation device close to the abrasive position by the underwater robot. S2. Fine adjustment: Adjust the angle of the abrasive head (9) through the rotatable fixed arm (3) and the movable arm (4) rotating around the movable end of the fixed arm (3) so that the abrasive head (9) faces the abrasive position, and control the movable end of the mounting shaft (6) to extend so that the abrasive head (9) contacts the abrasive position. S3. Abrasive machining: Control the abrasive head (9) and the propeller (8) to rotate at a low speed. The abrasive head (9) performs abrasive machining on the abrasive position, and the propeller (8) rotates to make the water flow at the abrasive head (9), and pump the turbid water at the abrasive head (9) to other places to ensure the clear visibility of the abrasive head (9) and the abrasive position. S4. Polishing: Control the abrasive head (9) and the propeller (8) to rotate at a high speed. The abrasive head (9) polishes the abrasive position, and the propeller (8) rotates at a high speed to accelerate the water flow speed at the abrasive head (9) to ensure the clear visibility of the abrasive head (9) and the abrasive position. Finally, perform abrasive machining and polishing on the periphery of the abrasive position in sequence.

2. The construction method of a grinding and installation device for an underwater robot in a hydropower station according to claim 1, characterized in that: The abrasive head (9) and the propeller (8) are coaxially and fixedly arranged.

3. The construction method of a grinding and retrofitting device for an underwater robot in a hydropower station according to claim 1, characterized in that: A cylindrical mounting ring (12) is coaxially and fixedly connected to the end wall of the abrasive head (9) and is fixedly connected to the movable end of the mounting shaft (6) through the mounting ring (12).

4. The construction method of a grinding and retrofitting device for an underwater robot in a hydropower station according to claim 3, characterized in that: The abrasive head (9) includes rod-shaped blades equally angularly distributed around its axis. The movable ends of the blades are provided with arc-shaped chamfers, and resistance-reducing holes (11) are formed in the end walls of the blades.

5. The construction method of a grinding and retrofitting device for an underwater robot in a hydropower station according to claim 1, characterized in that: A protective cover (7) is fixedly connected to the movable end of the mounting shaft (6). The propeller (8) is located inside the protective cover (7), and the abrasive head (9) is located at the open end of one end of the protective cover (7).

6. The construction method of a grinding and installation device for an underwater robot in a hydropower station according to claim 5, characterized in that: The protective cover (7) is in the shape of a frustum of a cone, and the small-diameter end of the protective cover (7) is close to the abrasive head (9).

7. The construction method of a grinding and installation device for an underwater robot in a hydropower station as described in claim 1, characterized in that: An adjusting oil cylinder (5) is arranged inside the fixed arm (3). Two hinge rods are arranged at the fixed end of the movable arm (4) and are respectively connected to the fixed arm (3) and the piston end of the adjusting oil cylinder (5) through the two hinge rods. The cylinder barrel of the adjusting oil cylinder (5) is hinged to one end of the fixed arm (3) close to the mounting beam (2).

8. The construction method of the grinding and retrofitting device for an underwater robot in a hydropower station according to claim 7, characterized in that: The fixed end of the fixed arm (3) is provided with a mounting rod, the cylinder of the adjusting oil cylinder (5) is rotatably connected to the mounting rod, and the fixed arm (3) is rotatably arranged on the mounting frame (1) through the mounting rod.

9. The construction method of a grinding and retrofitting device for an underwater robot in a hydropower station according to claim 1, characterized in that: A telescopic oil cylinder (13) is arranged inside the movable arm (4). The cylinder of the telescopic oil cylinder (13) is fixed to the fixed end of the movable arm (4). The movable end of the telescopic oil cylinder (13) is connected to the telescopic section of the mounting shaft (6). Both sides of the telescopic end of the mounting shaft (6) are fixedly connected with sliders (15). A guide rod (14) is fixedly arranged on the inner side wall of the movable arm (4), and the sliders (15) are slidably arranged on the guide rod (14).

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