An underwater detection device in a turbulent environment

Abstract

The application relates to the technical field of underwater detection, and particularly discloses an underwater detection device in a turbulent environment, characterized in that the device comprises a main body mechanism (4), a frame (41) of the main body mechanism (4) is provided with a detector (43), the detector (43) is used for detecting the outer periphery of a columnar object, a stabilizing mechanism (3) is connected with the main body mechanism (4) and can move along the surface of the columnar object, and a guiding mechanism (5) is installed on the frame (41) and can drive the main body mechanism (4) to move along the surface of the columnar object. The stabilizing mechanism (3) can stabilize the main body mechanism (4) on the surface of the columnar object, and the guiding mechanism (5) can drive the main body mechanism (4) to walk on the surface of the columnar object, so that stable and accurate detection of the columnar object in the turbulent environment can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater detection devices, in particular to an underwater detection device in a turbulent environment. BACKGROUND

[0002] The bridge underwater pier foundation is subjected to water erosion and corrosion for a long time. Due to the complex underwater environment, turbulent water flow and high difficulty of underwater detection, the number of bridge underwater pier foundation diseases is increasing, and the degree is more and more serious.

[0003] The traditional bridge underwater detection method is to use a detection employee with diving qualification to conduct underwater exploration and visual detection. This method has low detection efficiency and poor detection accuracy. Moreover, the underwater water flow of the river is turbulent, which easily interferes with the detection personnel and equipment, resulting in inaccurate detection results. SUMMARY

[0004] The purpose of the present application is to provide an underwater detection device in a turbulent environment to solve the problem that in the prior art, the turbulent water flow in the underwater environment interferes with the detection personnel and equipment, resulting in inaccurate detection results of the columnar object.

[0005] To solve the above technical problems, according to some embodiments, the present application provides an underwater detection device in a turbulent environment, comprising:

[0006] A main body mechanism is installed with a detector on the frame; the detector is used to detect the outer periphery of the columnar object;

[0007] A stabilizing mechanism is connected with the main body mechanism, used to stabilize the main body mechanism on the surface of the columnar object and can move along the surface of the columnar object;

[0008] A guide mechanism is installed on the frame, which can move the main body mechanism along the surface of the columnar object.

[0009] Further, the guide mechanism includes a support arm and a support wheel;

[0010] The frame is provided with a rear sliding groove on the side facing the columnar object; one end of the support arm is slidably connected with the sliding groove, so that the support arm can move outward along the frame, and the other end is rotatably connected with the support wheel;

[0011] A connecting rod, a first motor and a first helical gear are installed inside the support arm; the first motor drives the connecting rod to rotate, and the connecting rod drives the first helical gear to rotate;

[0012] The support wheel is connected with a second helical gear shaft, and the second helical gear is engaged with the first helical gear;

[0013] The support arm is elastically connected with the frame.

[0014] Further, the support wheel is provided with anti-slip lines on the outer periphery.

[0015] Further, the stabilizing mechanism is a strap; the inner side of the strap is used to wrap around the column;

[0016] The frame is provided with a winding mechanism; both ends of the strap are connected with the winding mechanism, and the winding mechanism can move the main body mechanism along the strap by winding or releasing the strap.

[0017] Further, the winding mechanism includes a second motor and a winding wheel, and the first motor is used to drive the winding wheel; the winding mechanism has two groups, one winding wheel of one group of the winding mechanism is connected with one end of the strap, and one winding wheel of the other group of the winding mechanism is connected with the other end of the strap.

[0018] Further, it further comprises:

[0019] The transmission mechanism has a transmission wheel, a transmission belt and a driven gear; the driven gear drives the transmission wheel, and the transmission wheel drives the transmission belt;

[0020] The outer side of the strap is provided with a transmission tooth, and the transmission tooth is engaged with the transmission belt;

[0021] The second motor of one group of the two groups of winding mechanisms is also used to drive a driving gear; the driving gear is engaged with the driven gear;

[0022] The lateral sides of the frame are provided with guide wheels, which are used to guide the strap into or out of the main body mechanism along the guide wheels.

[0023] Further, both ends of the strap are provided with buckles; the winding wheels of the two groups of winding mechanisms are provided with suction buckles; the buckles and the suction buckles can be magnetically buckled.

[0024] Further, the inner side of the strap is provided with a plurality of rollers, and the rollers enable the strap to move longitudinally along the column.

[0025] Further, the guide mechanism further comprises a supporting leg, a waterproof motor and a universal wheel;

[0026] One end of the supporting leg is connected with the bottom of the frame, and has a first inclination angle with the gravity direction of the frame, and the other end is rotationally connected with the universal wheel; the waterproof motor drives the universal wheel; the universal wheel is used to abut against the surface of the column.

[0027] Further, the guide mechanism further comprises a hydraulic rod and a pressing plate; one end of the hydraulic rod is fixedly connected with the frame, and the other end is connected with the pressing plate, and the pressing plate abuts against the outer side of the strap;

[0028] The hydraulic rod has a second inclination angle with the longitudinal direction of the strap; the hydraulic rod adjusts the position of the pressing plate abutting against the strap to adjust the inclination angle of the strap relative to the column.

[0029] The above technical solutions of the present application have at least the following beneficial technical effects:

[0030] The stabilizing mechanism of the underwater detection device in the turbulent environment of the application makes the main body mechanism stable on the surface of the columnar object, and the guiding mechanism drives the main body mechanism to walk on the surface of the columnar object, so that stable and accurate detection of the columnar object in the turbulent environment can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0032] Figure 1 is a working schematic view of an underwater detection device in a turbulent environment of an embodiment of the application on the outer periphery of a columnar object (an elliptical column pier).

[0033] Figure 2 is a top view of an underwater detection device in a turbulent environment of an embodiment of the application on the outer periphery of a columnar object (a circular column pier);

[0034] Figure 3 is a partial sectional view of the inside of the main body mechanism in an embodiment of the application;

[0035] Figure 4 is a sectional schematic view of the winch mechanism and the transmission mechanism in an embodiment of the application;

[0036] Figure 5 is a right view of an underwater detection device in a turbulent environment of an embodiment of the application on the outer periphery of a columnar object;

[0037] Figure 6 is a structural schematic view of a binding belt in an embodiment of the application;

[0038] wherein, Figures 1 to 6 the correspondence between the reference signs in the drawings and the component names is as follows:

[0039] 1, elliptical column pier; 2, circular column pier;

[0040] 3, stabilizing mechanism; 31, binding belt; 32, transmission tooth; 33, roller; 34, buckle;

[0041] 4, main body mechanism; 41, frame; 42, waterproof motor; 43, detector; 44, sliding groove; 45, guide wheel; 46, supporting leg; 47, universal wheel; 48, hydraulic rod; 49, pressing plate;

[0042] 5. Guide mechanism; 51. Support arm; 52. Support wheel; 53. Anti-slip texture; 54. Spring; 55. First motor; 56. Connecting rod; 57. First helical gear; 58. Second helical gear;

[0043] 6. Hoisting mechanism; 61. Second motor; 62. Drive gear; 63. Reel; 64. Snap hook;

[0044] 7. Transmission mechanism; 71. Driven gear; 72. Transmission wheel; 73. Transmission belt. Detailed Implementation

[0045] Currently, in existing technologies, rapid water flow in underwater environments interferes with testing personnel and equipment, leading to inaccurate test results for columnar objects.

[0046] To address the aforementioned problems, one embodiment of this application provides an underwater detection device for turbulent environments, such as... Figure 1 As shown, it includes: a main body 4, on which a detector 43 is mounted; the detector 43 is mounted on the side facing the column, and the detector 43 is used to detect the outer periphery of the column; wherein, in practical applications, the column can be an elliptical pier 1 or a cylindrical pier 2 of a bridge.

[0047] The stabilizing mechanism 3 is connected to the main body mechanism 4 and is used to stabilize the main body mechanism on the surface of the column and move along the surface of the column. The guiding mechanism 5 is mounted on the frame 41 and enables the main body mechanism 4 to move along the surface of the column. That is, the guiding mechanism 5 can actively drive the main body mechanism 4 to move along the surface of the column, thereby driving the stabilizing mechanism 3, which is connected to the frame 41 of the main body mechanism 4, to passively move on the surface of the column and maintain the stability of the active mechanism. As a result, the detector 43 can smoothly detect the column.

[0048] In one embodiment of this application, such as Figure 2 , Figure 3 ,and Figure 5 As shown, the guide mechanism 5 includes a support arm 51 and a support wheel 52; the frame 41 is used to open a rear sliding groove 44 on the side facing the column; one end of the support arm 51 is slidably connected to the sliding groove 44, so that the support arm 51 can move outward along the frame 41, that is, it can move away from the frame 41 and move towards the column; the other end is rotatably connected to the support wheel 52; preferably, in the working state, the support arm 51 is perpendicular to the surface of the column, so that the support wheel 52 can move forward or backward.

[0049] The support arm 51 is internally provided with a connecting rod 56, a first motor 55 and a first helical gear 57; the first motor 55 drives the connecting rod 56 to rotate, and the connecting rod 56 drives the first helical gear 57 to rotate; the connecting rod 56 and the first motor 55 can also be installed on the outside, but are easily eroded by river water, and thus are preferably installed inside the support arm 51.

[0050] The support wheel 52 is connected with a second helical gear 58, and the second helical gear 58 is engaged with the first helical gear 57; the first motor 55 drives the connecting rod 56 to rotate, and the connecting rod 56 drives the first helical gear 57 to rotate; the first helical gear 57 drives the second helical gear 58 to rotate, and the second helical gear 58 drives the support wheel 52 to rotate, so as to achieve the purpose of enabling the main body mechanism 4 to walk on the surface of the columnar object.

[0051] The support arm 51 is elastically connected with the frame 41. Optionally, the sliding groove 44 is provided with a spring 54, one end of which is connected with the bottom of the sliding groove 44, and the other end of which is connected with the support arm 51. The support arm 51 slides in the sliding groove 44 through the spring 54, so that the support wheel 52 can dynamically adjust the extension distance and has little effect on the up-and-down movement.

[0052] Preferably, the support arm 51 is at least two; when the support arm 51 is two, they are respectively located on the lateral sides of the detector 43, so as to ensure that the position of the detector 43 relative to the surface of the columnar object tends to be average during the movement of the main body mechanism 4; wherein the walking direction of the support wheel 52 is preferably set as walking along the lateral direction of the columnar object.

[0053] In an embodiment of the present application, as shown in Figure 3 The outer periphery of the support wheel 52 is provided with anti-skid lines 53, so that the support wheel 52 can stably walk on the surface of the columnar object.

[0054] In an embodiment of the present application, as shown in Figure 3 The inner side of the binding belt 31 is used to wrap around and abut against the columnar object; in order to prevent the binding belt 31 from being rolled up with the turbulent flow, the binding belt 31 is set to have a certain hardness; and the width of the binding belt 31 is set according to the size of the circumference of the columnar object; the frame 41 is provided with a winch mechanism 6; both ends of the binding belt 31 are connected with the winch mechanism 6, and the winch mechanism 6 can enable the main body mechanism 4 to move along the binding belt 31 by winding or releasing the binding belt 31. When installing the detection device, the binding belt 31 is first wrapped around and abutted against the surface of the columnar object, and both ends of the binding belt 31 are wound into the frame 41 to tighten the binding belt 31, so that the main body mechanism 4 and the binding belt 31 are relatively fixed on the surface of the columnar object.

[0055] In an embodiment of the present application, as shown in Figure 3 and Figure 4As shown, the winding mechanism 6 includes a second motor 61 and a winding wheel 63, and the first motor 55 is used to drive the winding wheel 63; the winding mechanism 6 has two groups, one group of winding wheels 63 of the winding mechanism 6 is connected with one end of the band 31, and the other group of winding wheels 63 of the winding mechanism 6 is connected with the other end of the band 31. The first motor 55 drives the winding wheel 63 to wind the band 31 on the winding wheel 63. When the detection device is installed, both of the winding wheels 63 receive the band 31, and the band 31 is tightened to stabilize the body mechanism 4 on the columnar surface; when the body mechanism 4 needs to be detected to walk, one group of winding wheels 63 of the winding mechanism 6 receives one end of the band 31, and the other winding mechanism 6 releases the other end of the band 31, so that the body mechanism 4 walks along the band 31; when the detection device is disassembled, both of the winding wheels 63 release the band 31 until the band 31 is separated from the body mechanism 4.

[0056] In an embodiment of the present application, in order to ensure the speed and frequency when the band 31 is received into or released from the body mechanism 4, the detection device further comprises: a transmission mechanism 7 having a transmission wheel 72, a transmission belt 73 and a driven gear 71; the driven gear 71 drives the transmission wheel 72, and the transmission wheel 72 drives the transmission belt 73; the outer side of the band 31 is provided with a transmission tooth 32, and the transmission tooth 32 is engaged with the transmission belt 73; the second motor 61 of one group of the two groups of winding mechanisms 6 is further used to drive a driving gear 62; the driving gear 62 is engaged with the driven gear 71; and the band 31 is stably introduced or led out through the transmission mechanism 7.

[0057] The lateral sides of the frame 41 are provided with guide wheels 45 for guiding the band 31 to be introduced or led out of the body mechanism 4. On the side with the transmission mechanism 7, the guide wheels 45 and the transmission belt 73 sandwich the band 31 to prevent the band 31 from disengaging from the transmission belt 73.

[0058] In an embodiment of the present application, as shown in Figure 6 both ends of the band 31 are provided with buckles 34; the winding wheels 63 of the two groups of winding mechanisms 6 are each provided with a suction buckle 64; and the buckle 34 and the suction buckle 64 can be magnetically buckled. The magnetic buckling is more convenient: when the winding mechanism 6 needs to receive the band 31, the buckle 34 and the suction buckle 64 are buckled to each other after the initial pulling force is borne, and then the band 31 is easily wound on the winding wheel 63; when the winding mechanism 6 needs to release the band 31, after the end of the band 31 is turned, a force slightly greater than the initial pulling force is applied to the band 31 to make the band 31 disengage from the winding wheel 63, and the disassembly is completed.

[0059] In an embodiment of the present application, as shown in Figure 6As shown, the inner side of the binding belt 31 is provided with a plurality of groups of rollers 33, which enable the binding belt 31 to move longitudinally along the column. When it is necessary to move the detection device in the vertical direction, the plurality of groups of rollers 33 can facilitate the movement of the binding belt 31 up and down on the surface of the column.

[0060] In an embodiment of the present application, as shown in Figure 5 The guiding mechanism 5 further comprises a supporting leg 46, a waterproof motor 42 and a universal wheel 47. One end of the supporting leg 46 is connected to the bottom of the frame 41 and has a first inclination angle with the direction of gravity of the frame 41, and the other end is rotationally connected to the universal wheel 47. The waterproof motor 42 drives the universal wheel 47. The universal wheel 47 is used to abut against the surface of the column. The main body mechanism 4 of the detection device has gravity. The supporting leg 46 can prevent the main body mechanism 4 from tilting on the surface of the column and serve as a support. The waterproof motor 42 and the universal wheel 47 are installed on the supporting leg 46 and can support the main body mechanism 4 to walk in various directions on the surface of the column.

[0061] In an embodiment of the present application, as shown in Figure 5 The guiding mechanism 5 further comprises a hydraulic rod 48 and a pressing plate 49. One end of the hydraulic rod 48 is fixedly connected to the frame 41, and the other end is connected to the pressing plate 49, which abuts against the outer side of the binding belt 31. The hydraulic rod 48 has a second inclination angle with the longitudinal direction of the binding belt 31. The hydraulic rod 48 adjusts the position of the pressing plate 49 abutting against the binding belt 31 to adjust the inclination angle of the binding belt 31 relative to the column. The hydraulic rod 48 is connected to the control system. When the main body mechanism 4 needs to move upward, the hydraulic rod 48 pushes the pressing plate 49 to a position below the longitudinal direction of the binding belt 31, so that the upper part of the binding belt 31 is inclined outward, which is easier to move upward. When the main body mechanism 4 needs to move downward, the hydraulic rod 48 pushes the pressing plate 49 to a position above the longitudinal direction of the binding belt 31, so that the lower part of the binding belt 31 is inclined outward, which is easier to move downward.

[0062] The working process of the detection device is as follows:

[0063] Installation: At the water position, the binding belt 31 is wrapped around the column of the bridge, and then the clamping buckles 34 at both ends of the binding belt 31 are respectively buckled with the suction buckles 64 of the winding wheels 63 of the two winding mechanisms 6, and then the two second motors 61 are controlled to make the binding belt 31 and the main body mechanism 4 tighten and abut against the surface of the column, and the supporting arm 51 compresses the spring 54, so that the supporting wheel 52 has a certain pressure when abutting against the column.

[0064] Detection: control waterproof motor 42 drive universal wheel 47 to body mechanism 4 to move down into the water surface, at this time, the bandage 31 under the action of a plurality of groups of roller 33 with it to move down. After reaching the preset position, drive the first motor 55 to support the wheel 52 along the columnar surface transverse walking, and through the detector 43 to the columnar detection; when you need to continue to move down, control the hydraulic rod 48 drive the pressure plate 49 on the bandage 31 on the position of the bandage 31 to move down easily, at the same time control waterproof motor 42 drive universal wheel 47 to walk down. Thus realize the effect of full range of no dead angle detection on the surface of the elliptical column pier 1 or cylindrical pier 2, improve the integrity and accuracy of the detector 43 detection; has the advantage of being able to stable operation.

[0065] Dismantling: control hydraulic rod 48 drive the pressure plate 49 on the bandage 31 on the position, make the upper part of the bandage 31 outwardly inclined, make it easy to move up; at the same time, control waterproof motor 42 drive universal wheel 47 to walk up, until the main body mechanism 4 out of the water surface. Then control two second motor 61 drive winding wheel 63 release the both ends of the bandage 31, until the disengagement of the main body mechanism 4, complete the disassembly.

[0066] It should be understood that the above specific embodiments of the present application are only used for illustrative or explanatory purposes of the principles of the present application, and do not constitute a limitation of the present application. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present application shall be included in the protection scope of the present application. In addition, the claims attached to the present application are intended to cover all changes and modifications falling within the scope and boundary of the appended claims, or the equivalent form of such scope and boundary.

Claims

1. An underwater detection device in a turbulent environment, characterized in that, The utility model relates to a kind of column detection device, including: Main body mechanism (4), the frame (41) of which is equipped with detector (43);Said detector (43) is used to detect the outer periphery of columnar object; Stabilizing mechanism (3) is connected with the main body mechanism (4), for stabilizing the main body mechanism on the surface of columnar object, and can move along the surface of columnar object;Said stabilizing mechanism (3) is a bandage (31);The inner side of the bandage (31) is used to surround and adhere to the columnar object;The frame (41) is equipped with winch mechanism (6);Two ends of the bandage (31) are connected with the winch mechanism (6), and the winch mechanism (6) can make the main body mechanism (4) move along the bandage (31) by accommodating or releasing the bandage (31);The winch mechanism (6) includes second motor (61) and winding wheel (63), and the second motor (61) is used to drive the winding wheel (63);The winch mechanism (6) has two groups, wherein one end of the winding wheel (63) of one group of the winch mechanism (6) is connected with the bandage (31), and the other end of the winding wheel (63) of the other group of the winch mechanism (6) is connected with the bandage (31); Guiding mechanism (5) is installed on the frame (41), and the main body mechanism (4) can move along the surface of columnar object; Transmission mechanism (7) has transmission wheel (72), transmission belt (73) and driven gear (71);The driven gear (71) drives the transmission wheel (72), and the transmission wheel (72) drives the transmission belt (73); The outer side of the bandage (31) is equipped with transmission teeth (32), and the transmission teeth (32) are engaged with the transmission belt (73); The second motor (61) of one group of the two groups of winch mechanism (6) is also used to drive driving gear (62);The driving gear (62) is engaged with the driven gear (71); The lateral sides of the frame (41) are equipped with guide wheels (45), for guiding the bandage (31) into or out of the main body mechanism (4) along the guide wheels (45).

2. The underwater detection apparatus in a turbulent environment according to claim 1, wherein, The guiding mechanism (5) includes support arm (51) and support wheel (52); The side of the frame (41) for facing the columnar object is provided with sliding groove (44);One end of the support arm (51) is slidably connected with the sliding groove (44), so that the support arm (51) can move outward along the frame (41), and the other end is rotatably connected with the support wheel (52); The support arm (51) is internally provided with connecting rod (56), first motor (55) and first helical gear (57);The first motor (55) drives the connecting rod (56) to rotate, and the connecting rod (56) drives the first helical gear (57) to rotate; The support wheel (52) is connected with second helical gear (58) shaft, and the second helical gear (58) is engaged with the first helical gear (57); The support arm (51) is elastically connected with the frame (41).

3. The underwater detection apparatus in a turbulent environment according to claim 2, wherein, The outer periphery of the support wheel (52) is provided with anti-skid lines (53).

4. The underwater detection apparatus in a turbulent environment of claim 1, wherein, The two ends of the binding belt (31) are provided with buckles (34); the winding wheels (63) of the two groups of winding mechanisms (6) are provided with suction buckles (64); the buckles (34) and the suction buckles (64) can be magnetically buckled.

5. The underwater detection apparatus in a turbulent environment of claim 1, wherein, The inner side of the binding belt (31) is provided with a plurality of groups of rollers (33), which enable the binding belt (31) to move longitudinally along the columnar object.

6. The underwater detection apparatus in a turbulent environment of claim 1, wherein, The guiding mechanism (5) further comprises a supporting leg (46), a waterproof motor (42) and a universal wheel (47); One end of the supporting leg (46) is connected with the bottom of the frame (41) and has a first inclination angle with the direction of gravity of the frame (41), and the other end is rotationally connected with the universal wheel (47); the waterproof motor (42) drives the universal wheel (47); the universal wheel (47) is used for abutting against the surface of the columnar object.

7. The underwater detection apparatus in a turbulent environment of claim 1, wherein, The guiding mechanism (5) further comprises a hydraulic rod (48) and a pressing plate (49); one end of the hydraulic rod (48) is fixedly connected with the frame (41), and the other end is connected with the pressing plate (49); the pressing plate (49) abuts against the outer side of the binding belt (31); The hydraulic rod (48) has a second inclination angle with the longitudinal direction of the binding belt (31); the hydraulic rod (48) adjusts the position of the pressing plate (49) abutting against the binding belt (31) through telescopic adjustment, so as to adjust the inclination angle of the binding belt (31) relative to the columnar object.

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