An underwater flaw detection device and a trimming protection mechanism thereof

Abstract

The application relates to the field of underwater flaw detection, and discloses an underwater flaw detection device and a trimming protection mechanism thereof, which comprises a radar body, the radar body is installed in a cabin body, a trimming protection mechanism is installed on the outside of the cabin body, the cabin body and the radar body are balanced, a connecting mechanism is further installed at the bottom of the cabin body, and the connecting mechanism is used for connecting the cabin body with an underwater ground; the radar body is installed in the cabin body, the radar can detect the underwater dam body part, cracks in the underwater dam body can be found in time, early warning and treatment work before a serious accident of the dam body can be facilitated, and meanwhile, the connecting mechanism arranged at the bottom is used for connecting the cabin body with the underwater ground when underwater undercurrent or other fluctuations are encountered, so that the cabin body (i.e. the underwater flaw detection device) is prevented from being taken away, and the situation that the underwater flaw detection action is affected is prevented.

Description

Technical Field

[0001] This invention relates to the field of underwater flaw detection, and more specifically to an underwater flaw detection device and its balancing and protection mechanism. Background Technology

[0002] In recent years, the construction of various water conservancy projects has resulted in a large number of dams across the country. However, after being put into use, these dams often develop cracks due to various reasons. One reason is that the soil used to build the dam may be collapsible, causing settlement after being soaked underwater, leading to cracks. Dam cracks are a common hidden danger in dams, and many major accidents have occurred because these cracks were not detected and addressed in a timely manner. Therefore, strengthening the daily inspection and maintenance of earthen dams and promptly detecting and addressing cracks is a very important task.

[0003] Currently, underwater flaw detection of dam bodies is mostly carried out manually or by specialized underwater robots. The former, manual flaw detection, poses significant safety risks and is prone to accidents, while the latter, underwater robots, are expensive and cannot be afforded by small dams or economically underdeveloped areas. Therefore, both of these methods have their respective drawbacks. Summary of the Invention

[0004] The purpose of this invention is to provide an underwater flaw detection device and its balancing protection mechanism to solve the above-mentioned technical problems.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] An underwater flaw detection device includes a radar body mounted inside a cabin. A balancing protection mechanism is installed on the outside of the cabin to balance the cabin and the radar body. A connecting mechanism is also installed at the bottom of the cabin to connect the cabin to the underwater surface. This invention provides a detection device capable of underwater flaw detection of dam structures, utilizing radar to detect the dam structure and protecting the radar body by mounting it inside the cabin.

[0007] As a further technical solution, the connecting mechanism includes:

[0008] The connecting part is detachably fixed at the middle position of the bottom of the cabin;

[0009] The connecting frame is fixedly installed at the bottom end of the connecting part;

[0010] Two pneumatic telescopic cylinders are symmetrically arranged and both are fixedly installed on the bottom surface of the connecting frame;

[0011] A horizontal plate, which is fixed to the telescopic ends of the two pneumatic telescopic cylinders;

[0012] An insertion rod is installed on the horizontal plate and inserted into the underwater ground under the push of the pneumatic telescopic cylinder and the horizontal plate.

[0013] This invention provides a specific structure for a connecting mechanism that can support the entire cabin when encountering undulating water flow or undercurrents, preventing it from being swept away by the undercurrent or water flow and causing accidental damage.

[0014] As a further technical solution, the connecting frame is also equipped with a catapult assembly, which is used to push the insertion rod deeper into the underwater ground.

[0015] As a further technical solution, the ejection assembly includes:

[0016] A storage spring, which is fixed to the bottom surface of the connecting frame;

[0017] A limiting ring is provided at one end of the insertion rod facing the storage spring, and the outer diameter of the limiting ring is larger than the diameter of the storage spring;

[0018] The horizontal plate has a through hole, and the insertion rod is slidably installed in the through hole. This invention provides a catapult mechanism that can instantly insert itself into the underwater surface when needed for connection.

[0019] As a further technical solution, the end of the insertion rod is tapered, and forked rods are provided on both sides of the insertion rod, with the forked rods fixed obliquely to the insertion rod. Under the action of the ejection assembly, the triangular structure formed by the two oblique forked rods and the insertion rod can effectively improve the connection tightness with the underwater ground, enhance the support effect on the hull, and further improve the safety performance of the invention underwater.

[0020] As a further technical solution, the bottom of the hull is also provided with thrust reversers on both sides of the connecting mechanism, which are used to push the hull closer to the underwater ground.

[0021] As a further technical solution, the reverse thrust mechanism includes:

[0022] The motor compartment contains a sealed motor, and the motor compartment is fixedly mounted on the bottom surface of the cabin.

[0023] An impeller is rotatably mounted on a wheel frame, and the impeller shaft is drive-connected to the motor housing. The center of the impeller shaft is perpendicular to the housing. A gap is provided between the upper surface of the wheel frame and the housing. This invention provides a thrust reverser mechanism. When encountering unbalanced currents or other water flow fluctuations, a thrust reverser mechanism is added to the activation connection mechanism. The motor housing in the thrust reverser mechanism provides power to the impeller, causing it to rotate. The rotation of the impeller generates a thrust force towards the underwater surface, thereby quickly reducing the distance between the housing and the underwater surface, which facilitates the faster operation of the connection mechanism.

[0024] As a further technical solution, the hull is designed with pointed ends and a wide middle section; the hull is made of hard anodized aluminum alloy and equipped with sacrificial anodes. By designing the hull with pointed ends and a wide middle section, the contact area between the two ends when encountering undercurrents or water fluctuations is small, which reduces the impact on the hull and is beneficial to the hull's underwater balance.

[0025] A trim protection mechanism, the trim protection mechanism comprising:

[0026] Side frame, on which multiple V-shaped reinforcing plates are provided, and two side frames are provided and symmetrically distributed on both sides of the cabin;

[0027] The connecting shafts are provided in four pairs, symmetrically distributed in pairs in the insertion holes on both sides of the side frame, and the two side frames are fixed by insertion through the connecting shafts on both sides.

[0028] Ear plates are fixedly installed on the upper and lower sides of the corresponding side frame of the cabin;

[0029] The side frame and the ear plate at the corresponding position are detachably fixed by fastening bolts;

[0030] A trim assembly is provided for balancing the cabin. This invention provides a specific structure for a trim protection mechanism that protects the cabin from damage caused by collisions with other objects.

[0031] As a further technical solution, the trimming component includes:

[0032] Two tubes are provided and are respectively fixedly installed on the bottom surface of the side frame;

[0033] Electric actuators are installed at both ends of the tube, and the telescopic ends of the two electric actuators on the same tube are arranged opposite each other.

[0034] A counterweight is installed at the end of the electric push rod and slides within the tube under the push of the electric push rod. This invention provides a specific mechanism for a balancing assembly that allows the hull to regain balance during underwater operation, thereby adjusting the hull's attitude in the water.

[0035] The beneficial effects of this invention are:

[0036] (1) The present invention provides a detection device for underwater flaw detection of dam body. It uses radar to detect dam body and protects the radar body by installing the radar body in the cabin. It also provides a connection mechanism that can connect the cabin to the underwater ground when encountering undercurrents or turbulent water flow, thereby preventing it from being washed away by undercurrents or turbulent water flow to the greatest extent, improving underwater safety and indirectly accelerating the underwater flaw detection process.

[0037] (2) This invention provides an ejection mechanism. First, gas is extracted outward using a connected air pipe to maintain a negative pressure state inside the pneumatic telescopic cylinder. At this time, the horizontal plate retracts to compress and store energy in the energy storage spring. When it is necessary to connect to the underwater ground, the air pipe opens to connect with atmospheric pressure. At this time, the pneumatic telescopic cylinder is freed from the negative pressure state and is in a free state. After the energy storage spring is unrestrained, it releases energy instantly, which can push the limiting ring and the insertion rod to extend downward, achieving the effect of instantaneous insertion into the underwater ground. The insertion rod structure is in a retracted state when not in operation, which can effectively save space and prevent accidental collision with underwater organisms that could cause the cabin to shift unexpectedly. At the same time, the energy release of the energy storage spring can instantly push the insertion rod into the underwater ground, resulting in a faster reaction speed and better response when encountering undercurrents or water fluctuations, further enhancing the safety of the cabin and the radar body.

[0038] (3) The present invention provides a reverse thrust mechanism. When encountering unbalanced undercurrents or other water flow fluctuations, a reverse thrust mechanism is added on the basis of the start-up connection mechanism. The motor compartment in the reverse thrust mechanism provides power to the impeller to rotate. The rotation of the impeller generates a reverse thrust force towards the underwater ground, thereby quickly reducing the distance between the cabin and the underwater ground, which is conducive to the connection mechanism playing its role more quickly. Attached Figure Description

[0039] The invention will now be further described with reference to the accompanying drawings.

[0040] Figure 1 This is a three-dimensional structural schematic diagram of the balancing protection mechanism of the present invention;

[0041] Figure 2 This is a front view of the balancing protection mechanism of the present invention;

[0042] Figure 3 This is a partial structural schematic diagram of the underwater flaw detection device of the present invention;

[0043] Figure 4 for Figure 3 A magnified view of the structure at point A in the middle;

[0044] Figure 5 This is a three-dimensional schematic diagram of the radar body in this invention.

[0045] Figure descriptions: 1. Radar body; 2. Cabin; 3. Trim protection mechanism; 31. Side frame; 32. Reinforcing plate; 33. Connecting shaft; 34. Fastening bolt; 35. Trim assembly; 351. Tube body; 352. Electric push rod; 353. Counterweight; 4. Connecting mechanism; 41. Connecting part; 42. Connecting frame; 43. Pneumatic telescopic cylinder; 44. Horizontal plate; 45. Insert rod; 46. Ejection assembly; 461. Storage spring; 462. Limiting ring; 463. Through hole; 47. Fork rod; 5. Reverse thrust mechanism; 51. Motor compartment; 52. Impeller; 53. Wheel frame. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Please see Figure 1-5 As shown, the present invention is an underwater flaw detection device, including a radar body 1, which is installed inside a cabin 2. A balancing protection mechanism 3 is installed on the outside of the cabin 2 to balance the cabin 2 and the radar body 1. A connecting mechanism 4 is also installed at the bottom of the cabin 2 to connect the cabin 2 to the underwater ground.

[0048] This invention provides a detection device for underwater flaw detection of dam bodies. It utilizes radar to detect the dam body and protects the radar body 1 by installing it inside a housing 2. The radar body 1 is connected to the shore via a watertight cable. A balancing protection mechanism 3 is also installed to maintain the balance of the housing 2 and the radar body 1 underwater, facilitating dam body detection. A connecting mechanism 4 is also provided to connect the housing 2 to the underwater surface when encountering undercurrents or undulating currents, thus minimizing the risk of it being swept away by the currents and improving underwater safety while indirectly accelerating the underwater flaw detection process.

[0049] Furthermore, by using radar detection instead of manual inspection, safety is greatly improved. Compared to the high cost of underwater robots, the cost of this invention is relatively low, and it can be used for flaw detection in small and medium-sized dams, making it widely applicable.

[0050] The connecting mechanism 4 includes:

[0051] Connecting part 41, the connecting part 41 is detachably fixed at the middle position of the bottom of the cabin 2;

[0052] Connecting frame 42, which is fixedly disposed at the bottom end of the connecting part 41;

[0053] Two pneumatic telescopic cylinders 43 are symmetrically arranged and both are fixedly installed on the bottom surface of the connecting frame 42;

[0054] A horizontal plate 44 is fixed to the telescopic ends of the two pneumatic telescopic cylinders 43.

[0055] Insertion rod 45 is installed on the horizontal plate 44 and inserted into the underwater ground under the push of the pneumatic telescopic cylinder 43 and the horizontal plate 44.

[0056] In this embodiment, a specific structure of the connecting mechanism 4 is provided. Specifically, when encountering undulating water flow or undercurrent, air is supplied to the connected pneumatic telescopic cylinder 43 through an air pipe on the shore. The pneumatic telescopic cylinder 43 inflates and extends, causing the connected horizontal plate 44 to move downward. The horizontal plate 44 pushes the central insertion rod 45 to insert into the underwater ground, thus achieving connection with the underwater ground. On the one hand, it can support the entire cabin 2, preventing it from being swept away by undercurrent or water flow and causing accidental damage. On the other hand, it can eliminate the interference of undercurrent or water flow, ensuring the normal detection of the underwater dam, thereby improving detection efficiency. The pneumatic telescopic cylinder 43 can be combined with the watertight cable through an air pipe and extend together to the shore, facilitating the supply of air to the pneumatic telescopic cylinder 43.

[0057] The shape of the connecting part 41 can be designed according to actual needs. The connecting part 41 is detachably fixed to the bottom of the cabin 2, such as by bolts. The connecting mechanism 4 can be mounted as needed, providing options for the underwater flaw detection device. It can be applied to different detection environments, making the use of the present invention more flexible.

[0058] The connecting frame 42 is also equipped with a catapult assembly 46, which is used to push the insertion rod 45 deeper into the underwater surface. The catapult assembly 46 includes:

[0059] A storage spring 461 is fixed to the bottom surface of the connecting frame 42;

[0060] A limiting ring 462 is provided at one end of the insertion rod 45 facing the energy storage spring 461, and the outer diameter of the limiting ring 462 is larger than the diameter of the energy storage spring 461;

[0061] The horizontal plate 44 has a through hole 463, and the insertion rod 45 is slidably installed in the through hole 463. In this embodiment, an ejection mechanism is provided. First, gas is extracted outward using a connected air pipe, maintaining a negative pressure state inside the pneumatic telescopic cylinder 43. At this time, the horizontal plate 44 contracts, compressing and storing energy in the energy storage spring 461. When it is necessary to connect to the underwater ground, the air pipe opens to connect with atmospheric pressure. At this time, the pneumatic telescopic cylinder 43 is released from the negative pressure state and is in a free state. After the energy storage spring 461 is unrestrained, it releases energy instantly, which can push the limiting ring 462 and the insertion rod 45 to extend downward, achieving the effect of instantly inserting into the underwater ground. The pneumatic telescopic cylinder 43 also extends passively. Compared with the pneumatic telescopic cylinder 43 actively driving the insertion rod 45 into the underwater ground, the insertion rod 45 structure is in a retracted state when not in operation, which can effectively save space and prevent accidental collisions with underwater organisms that could cause the cabin 2 to shift unexpectedly. At the same time, the energy release of the energy storage spring 461 can instantly push the insertion rod 45 into the underwater ground, resulting in a faster reaction speed and better response to undercurrents or water fluctuations, further enhancing the safety of the cabin 2 and the radar body 1.

[0062] The end of the insertion rod 45 is tapered, and forked rods 47 are provided on both sides of the insertion rod 45. The forked rods 47 are obliquely fixed to the insertion rod 45. Under the action of the ejection assembly 46, the triangular structure formed by the two oblique forked rods 47 and the insertion rod 45 can effectively improve the connection tightness with the underwater ground, enhance the support effect on the hull 2, and further improve the safety performance of the invention underwater.

[0063] The bottom of the hull 2 ​​is also provided with thrust reversers 5 on both sides of the connecting mechanism 4. The thrust reversers 5 are used to push the hull 2 ​​closer to the underwater surface. The thrust reversers 5 include:

[0064] Motor compartment 51, in which a motor is sealed and installed, and the motor compartment 51 is fixedly installed on the bottom surface of the cabin 2;

[0065] Impeller 52 is rotatably mounted on wheel frame 53, and the wheel shaft of impeller 52 is connected to the motor housing 51 for transmission. The center of the wheel shaft of impeller 52 is perpendicular to the housing 2. There is a gap between the upper surface of wheel frame 53 and housing 2. In this embodiment, a reverse thrust mechanism 5 is provided. When encountering unbalanced undercurrents or other water flow fluctuations, a reverse thrust mechanism 5 is added on the basis of activating the connecting mechanism 4. The motor housing 51 in the reverse thrust mechanism 5 provides power to the impeller 52 to rotate. The rotation of the impeller 52 generates a reverse thrust towards the underwater ground, thereby quickly reducing the distance between the cabin 2 and the underwater ground, which is beneficial for the connecting mechanism 4 to function more quickly. At the same time, the reverse thrust generated by the impeller 52 can provide the cabin 2 with the thrust to adhere to the underwater ground, thereby preventing the cabin 2 from being affected by undercurrents and water flow, which may lead to detection errors. At the same time, when retrieving the invention, the impeller 52 can rotate in the opposite direction under the drive of the motor housing 51, thereby providing an upward thrust, allowing the cabin 2 to return to the water surface more quickly, improving the recovery speed of the cabin 2 and the invention, and saving time.

[0066] The chamber 2 is designed with a structure that is pointed at both ends and wide in the middle. The chamber 2 is made of hard anodized aluminum alloy and is equipped with sacrificial anodes. By designing the chamber 2 with a structure that is pointed at both ends and wide in the middle, the contact area at both ends when encountering undercurrents or water fluctuations is small, which can reduce the impact on the chamber 2 and is conducive to the balance of the chamber 2 underwater. The use of hard anodized aluminum alloy and the presence of sacrificial anodes can enhance the corrosion resistance of the chamber 2.

[0067] A trimming protection mechanism 3 is used on the underwater flaw detection device, the trimming protection mechanism 3 comprising:

[0068] Side frame 31, on which multiple V-shaped reinforcing plates 32 are provided, and two side frames 31 are provided and symmetrically distributed on both sides of the cabin 2;

[0069] Four connecting shafts 33 are provided and are symmetrically distributed in pairs in the insertion holes on both sides of the side frame 31. The two side frames 31 are connected and fixed by the connecting shafts 33 on both sides.

[0070] Ear plates are fixedly provided on the upper and lower sides of the corresponding side frame 31 of the cabin 2;

[0071] The side frame 31 and the ear plate at the corresponding position are detachably fixed by fastening bolts 34;

[0072] A trimming assembly 35 is used to balance the cabin 2. In this embodiment, a specific structure of a trimming protection mechanism 3 is provided. Two side frames 31 are spliced ​​together by a connecting shaft 33, and the ear plates on the cabin 2 and the side frames 31 are fixed together by fastening bolts 34, so that the side frames 31 and the cabin 2 form an integral structure. On the one hand, the integral structure of the side frames 31 can protect the cabin 2 from damage caused by collisions with other objects; on the other hand, the detachable trimming protection mechanism 3 can be easily transported separately, improving the convenience of carrying; and the V-shaped reinforcing plates 32 with different included angles on the side frames 31 can enhance the structural strength of the side frames 31 and improve the protection capability of the cabin 2.

[0073] The trim assembly 35 includes:

[0074] Two tube bodies 351 are provided and are respectively fixedly installed on the bottom surface of the side frame 31;

[0075] Electric push rod 352, electric push rod 352 is installed at both ends of tube body 351, and the telescopic ends of the two electric push rods 352 on the same tube body 351 are arranged opposite each other;

[0076] A counterweight 353 is installed at the end of the electric push rod 352 and slides within the tube 351 under the push of the electric push rod 352. In this embodiment, a specific mechanism for the balancing assembly 35 is provided. During underwater operation, an existing attitude detector can be selected as needed to detect whether the cabin 2 is balanced. This technology is relatively mature in the prior art, so it will not be described in detail here. Only the result is obtained, and the balancing assembly 35 is activated based on the result. For example, when the cabin 2 is tilted, the electric push rod 352 on the corresponding downward side is extended, pushing the connected counterweight 353 to move towards the center within the tube 351, reducing the counterweight on the downward side, causing the cabin 2 to regain balance, thereby achieving the effect of adjusting the attitude of the cabin 2 in the water and keeping the cabin 2 as balanced as possible, preparing for subsequent radar flaw detection.

[0077] Working principle of the invention:

[0078] When encountering undulating currents or undercurrents, air is supplied to the connected pneumatic telescopic cylinder 43 through an air pipe on the shore. The pneumatic telescopic cylinder 43 inflates and extends, causing the connected horizontal plate 44 to move downwards. The horizontal plate 44 pushes the central insertion rod 45 to insert into the underwater ground, thus achieving connection with the underwater ground. On the one hand, this can support the entire hull 2, preventing it from being swept away by undercurrents or water currents and causing accidental damage. On the other hand, it can eliminate the interference of undercurrents or water currents, ensuring the normal detection of the underwater dam, thereby improving detection efficiency. The pneumatic telescopic cylinder 43 can be combined with the watertight cable through an air pipe and extended to the shore together, facilitating the supply of air to the pneumatic telescopic cylinder 43.

[0079] The shape of the connecting part 41 can be designed according to actual needs. The connecting part 41 is detachably fixed to the bottom of the cabin 2, such as by bolts. The connecting mechanism 4 can be mounted as needed, providing options for the underwater flaw detection device. It can be applied to different detection environments, making the use of the present invention more flexible.

[0080] The system can also first use the connected air pipe to extract gas outwards, keeping the pneumatic telescopic cylinder 43 under negative pressure. At this time, the horizontal plate 44 contracts, compressing and storing energy in the energy storage spring 461. When it is necessary to connect to the underwater ground, the air pipe opens to connect with atmospheric pressure. At this time, the pneumatic telescopic cylinder 43 is released from the negative pressure state and is in a free state. After the energy storage spring 461 is unrestrained, it releases energy instantly, which can push the limiting ring 462 and the insertion rod 45 to extend downwards, achieving the effect of instantly inserting into the underwater ground. The pneumatic telescopic cylinder 43 also extends passively. Compared with the pneumatic telescopic cylinder 43 actively driving the insertion rod 45 into the underwater ground, the insertion rod 45 structure is in a retracted state when not in operation, which can effectively save space and prevent accidental collisions with underwater organisms that could cause the cabin 2 to shift unexpectedly. At the same time, the energy release of the energy storage spring 461 can instantly push the insertion rod 45 into the underwater ground, resulting in a faster reaction speed and better response to undercurrents or water fluctuations, further enhancing the safety of the cabin 2 and the radar body 1.

[0081] Based on the activation connection mechanism 4, a reverse thrust mechanism 5 is added. The motor housing 51 in the reverse thrust mechanism 5 provides power to the impeller 52 to rotate. The rotation of the impeller 52 generates a reverse thrust towards the underwater ground, thereby quickly reducing the distance between the cabin 2 and the underwater ground, which is conducive to the connection mechanism 4 playing its role more quickly. At the same time, the reverse thrust generated by the impeller 52 can provide the cabin 2 with the thrust to fit against the underwater ground, thereby preventing the cabin 2 from being affected by the current and water flow, which may lead to detection errors. At the same time, when retrieving the invention, the impeller 52 can rotate in the opposite direction under the drive of the motor housing 51, thereby providing an upward thrust, allowing the cabin 2 to return to the water surface more quickly, improving the recovery speed of the cabin 2 and the invention, and saving time.

[0082] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. An underwater flaw detection device, characterized in that, Includes a radar body (1), which is installed inside the cabin (2). A balancing protection mechanism (3) is installed on the outside of the cabin (2) to balance the cabin (2) and the radar body (1). A connecting mechanism (4) is also installed at the bottom of the cabin (2) to connect the cabin (2) to the underwater ground. The connecting mechanism (4) includes: The connecting part (41) is detachably fixed at the middle position of the bottom of the cabin (2); A connecting frame (42) is fixedly disposed at the bottom end of the connecting part (41); Two pneumatic telescopic cylinders (43) are symmetrically arranged and both are fixedly installed on the bottom surface of the connecting frame (42); A horizontal plate (44) is fixed to the telescopic ends of the two pneumatic telescopic cylinders (43); Insert rod (45), which is installed on the horizontal plate (44) and inserted into the underwater ground under the push of the pneumatic telescopic cylinder (43) and the horizontal plate (44); The connecting frame (42) is also provided with a catapult assembly (46), which is used to push the insertion rod (45) into the underwater ground; The ejection assembly (46) includes: A storage spring (461) is fixed to the bottom surface of the connecting frame (42); The insertion rod (45) is provided with a limiting ring (462) at one end facing the energy storage spring (461), and the outer diameter of the limiting ring (462) is larger than the diameter of the energy storage spring (461); A through hole (463) is provided on the horizontal plate (44), and the insertion rod (45) is slidably installed in the through hole (463); The end of the insertion rod (45) is tapered, and the two sides of the insertion rod (45) are provided with forks (47), which are inclined and fixed on the insertion rod (45).

2. The underwater flaw detection device according to claim 1, characterized in that, The bottom of the cabin (2) is provided with a thrust reverser (5) on both sides of the connecting mechanism (4). The thrust reverser (5) is used to push the cabin (2) close to the underwater ground.

3. The underwater flaw detection device according to claim 2, characterized in that, The reverse thrust mechanism (5) includes: Motor compartment (51), in which a motor is sealed and installed, and the motor compartment (51) is fixedly installed on the bottom surface of the cabin (2); Impeller (52), the impeller (52) is rotatably mounted on the wheel frame (53), and the wheel shaft of the impeller (52) is connected to the motor compartment (51) for transmission. The center of the wheel shaft of the impeller (52) is perpendicular to the compartment (2). There is a gap between the upper surface of the wheel frame (53) and the compartment (2).

4. The underwater flaw detection device according to claim 1, characterized in that, The cabin (2) is configured with a structure that is pointed at both ends and wide in the middle; the cabin (2) is made of aluminum alloy hard anodized material and is equipped with a sacrificial anode.

5. A balancing protection mechanism (3), characterized in that, The trim protection mechanism (3) is used on the underwater flaw detection device according to any one of claims 1-4, and the trim protection mechanism (3) comprises: Side frame (31), on which multiple V-shaped reinforcing plates (32) are provided, and two side frames (31) are provided and symmetrically distributed on both sides of the cabin (2); Connecting shaft (33), four connecting shafts (33) are provided, and they are symmetrically distributed in pairs in the insertion holes on both sides of the side frame (31). The two side frames (31) are connected and fixed by the connecting shafts (33) on both sides. Ear plates are fixedly provided on the upper and lower sides of the cabin (2) corresponding to the side frame (31); The side frame (31) and the ear plate at the corresponding position are detachably fixed by fastening bolts (34); A trim assembly (35) is used to balance the cabin (2).

6. The balancing protection mechanism (3) according to claim 5, characterized in that, The trim assembly (35) includes: Two tube bodies (351) are provided and are respectively fixedly installed on the bottom surface of the side frame (31); Electric push rod (352), both ends of the tube body (351) are equipped with electric push rods (352), and the telescopic ends of the two electric push rods (352) on the same tube body (351) are arranged opposite each other; A counterweight (353) is installed at the end of the electric push rod (352) and slides inside the tube (351) under the push of the electric push rod (352).

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