A crawling device for a dam underwater detection robot

Abstract

The application relates to the technical field of underwater operation and discloses a crawling device for a dam underwater detection robot, which comprises at least one set of wheel-leg type mechanism, an angle adjusting mechanism and a length adjusting mechanism; the upper end of the length adjusting mechanism is connected with the robot; the wheel-leg type mechanism comprises a shell, a suction unit and a crawling wheel arranged at the lower part of the shell; the suction unit comprises a suction disc arranged at the lower part of the shell and used for enabling the suction disc to be adsorbed on a dam surface through a negative pressure adsorption mode; the length adjusting mechanism is used for adjusting the distance between the wheel-leg type mechanism and the robot body; and the angle adjusting mechanism is used for adjusting the angle of the wheel-leg type mechanism relative to the horizontal dam surface. The application has the beneficial effect that the dam underwater detection robot can be stably adsorbed on the underwater inclined dam surface and the height and angle errors caused by the operation of the two sets of wheel-leg type mechanisms can be compensated.

Description

Technical Field

[0001] This invention relates to the field of underwater operation technology, and specifically to a crawling device for an underwater dam inspection robot. Background Technology

[0002] With the increasing demand for underwater operations, particularly in fields such as underwater resource development and engineering construction, underwater inspections are frequently required. Underwater construction often involves sloping dam surfaces, which, compared to traditional vertical structures, can slow water flow, reduce erosion of riverbanks, promote sediment deposition, and improve river stability. The ability of underwater robots to crawl on sloping dam surfaces is crucial, as navigating deep, strong currents and mixed flow presents significant challenges.

[0003] Robotics has always been a hot research topic for scholars. Underwater robots play an important role in cleaning marine equipment, exploring underwater structures, and maintaining hydraulic equipment. Ports, dams, and other structures all require the ability to crawl and adhere to dam surfaces; however, how to achieve crawling adapted to inclined dam surfaces has always been one of the challenges in underwater robot research. Summary of the Invention

[0004] To address the problems in the prior art, this invention provides a crawling device for an underwater inspection robot for dams. After adjusting the underwater robot's posture, the crawling device can adapt to the inclined dam surface between 0° and 90°, enabling the underwater robot to stably adhere to the inclined dam surface. At the same time, it can compensate for the height and angle errors caused by the operation of the two sets of wheel-leg mechanisms, preventing the underwater robot from detaching from the inclined dam surface under strong current, and improving the stability of the underwater robot's adhesion during operation.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A crawling device for an underwater dam inspection robot includes at least one set of wheel-leg mechanism, angle adjustment mechanism, and length adjustment mechanism. The upper end of the length adjustment mechanism is connected to the robot. The wheel-leg mechanism includes a housing, an adsorption unit, and crawling wheels disposed at the lower part of the housing. The adsorption unit includes a suction cup disposed at the lower part of the housing and a negative pressure pump disposed within the robot body. The suction cup is connected to the negative pressure pump via a telescopic hose, allowing it to adhere to the dam surface by generating negative pressure. The crawling wheels are omnidirectional wheels, automatically adjusting their forward direction under the power of the robot body, and facilitating the adsorption unit's fixed-point adsorption on the inclined dam surface. When the crawling device is in operation, the adsorption unit is locked in position. When floating, the suction cup detaches from the dam surface, and the crawling wheels serve as the load-bearing mechanism for the entire crawling device and the robot, allowing it to crawl and overcome obstacles. The length adjustment mechanism is used to adjust the distance between the wheel-leg mechanism and the robot body; the angle adjustment mechanism is used to adjust the angle of the wheel-leg mechanism relative to the horizontal dam surface.

[0007] Furthermore, the length adjustment mechanism is a spiral length adjustment mechanism, including an external telescopic outer tube, a telescopic inner tube inside the telescopic outer tube, and a bolt. The telescopic outer tube and the telescopic inner tube are threaded together. The telescopic outer tube has a groove, and a threaded hole is opened on the tube wall of the telescopic outer tube corresponding to the groove. The bolt is embedded in the telescopic outer tube through the threaded hole on the tube wall to suppress the rotation of the thread, fix the axial position of the telescopic outer tube and the telescopic inner tube, and prevent axial slippage caused by force.

[0008] Preferably, a boss is provided on the outside of the telescopic outer tube corresponding to the groove, and the threaded hole is formed on the boss and the tube wall.

[0009] After the underwater robot body adjusts its posture, the two sets of crawling devices have a significant difference in axial distance when the dam surface is tilted during operation. The length of the threaded engagement of the telescopic outer tube and the telescopic inner tube is adjusted to compensate for the height difference between the two sets of crawling devices, ensuring that the adsorption unit can accurately adsorb in the correct position.

[0010] Furthermore, the angle adjustment mechanism is a swing-type angle adjustment mechanism, including a telescopic inner tube disposed inside the telescopic outer tube. The upper part of the telescopic inner tube is located inside the telescopic outer tube, and the lower part is disposed inside the housing. The lower part is connected to the housing through a first pin, and the telescopic inner tube can swing around the first pin. Several inclined positioning plates are disposed inside the housing. The inclined positioning plates are matched with the lower end of the telescopic inner tube to limit the position of the telescopic inner tube.

[0011] Furthermore, the housing also includes a load-bearing wall, and a plurality of the inclined positioning plates array are disposed on the load-bearing wall, and the first pin is also disposed on the load-bearing wall.

[0012] Furthermore, there are three inclined positioning plates, one of which is set in the vertical direction, and the other two are symmetrically arranged to the left and right of the vertical direction. Preferably, the three inclined positioning plates are, from left to right, a +20° inclined positioning plate, a 0° inclined positioning plate, and a -20° inclined positioning plate.

[0013] Furthermore, the lower end of the telescopic inner tube is provided with an external thread, and the bottom of the inclined positioning plate is provided with an internal thread that mates with the external thread of the lower end of the telescopic inner tube. The telescopic inner tube is fixed to the inclined positioning plate by a threaded connection, thus enabling the crawling device to work at a certain tilt angle, allowing the tilt angle of the crawling device to adapt to different degrees of tilted dam surfaces. The crawling device can be mounted horizontally, at a 45° tilt, or vertically on the robot body.

[0014] Furthermore, the crawling device of the present invention also includes a connector for connection with a robot, the connector comprising a male connector disposed on the upper part of the length adjustment mechanism and a female connector disposed on the robot body. Preferably, the connector is a quick-connect connector, and the female connector is configured to be embedded in the robot body to avoid affecting the robot's streamlined shape.

[0015] Furthermore, one end of the male connector is provided with a central prism and an outer connecting post outside the prism, and the other end is connected to the length adjustment mechanism; the female connector includes a central prism hole and an inner connecting post outside the prism hole, the prism and the prism hole are matched, the outer connecting post and the inner connecting post are matched, and are threadedly connected by the internal thread on the inner wall of the outer connecting post and the external thread on the outer wall of the inner connecting post.

[0016] Furthermore, the wheel-leg mechanism also includes a buoyancy block disposed within the shell and fixedly installed on the support frame. The density of the buoyancy block is less than that of water, which increases the buoyancy of the entire wheel-leg mechanism, making the entire crawling device have zero buoyancy in the water, without affecting the center of gravity of the underwater robot body, improving the stability of the device, and thus ensuring the stability of the underwater robot operation.

[0017] Furthermore, the crawling device of the present invention also includes a connecting pipe. The wheel-leg mechanism, the length adjustment mechanism, the angle adjustment mechanism, and the connector connected to the robot are all in at least two sets. The two adjacent sets are connected by the connecting pipe, and the two ends of the connecting pipe are respectively connected to the length adjustment mechanism in the two sets.

[0018] Furthermore, the connecting pipe is provided with internally threaded bosses at both ends, and the length adjustment mechanism is welded with externally threaded connecting posts. The two are connected by threads, and the counter-rotating threaded connection has good tightness, preventing loosening and falling off at the connection, constraining the distance between each set of wheel-leg mechanisms, improving the rigidity of the overall crawling device and the stability of the crawling device in the face of strong flow and mixed flow during operation.

[0019] Furthermore, by changing the length of the connecting pipe or replacing it with a connecting pipe of different lengths, the distance between the wheel-leg mechanisms can be adjusted, making the application range of this crawling device wider.

[0020] Furthermore, the wheel-leg mechanism, length adjustment mechanism, angle adjustment mechanism, and connector connected to the robot are all in four sets, arranged in front, back, left, and right, with the front two sets forming a pair and the back two sets forming a pair.

[0021] During use, based on the underwater dam surface design drawings and the robot's underwater detection posture, the crawling device is installed on the robot body horizontally, at a 45° angle, or vertically. When the working dam surface of the crawling device is an inclined dam surface, there is a significant difference in the axial distance between the front pair of wheel-leg mechanisms and the rear pair of wheel-leg mechanisms. The lengths of the two pairs of length adjustment mechanisms are adjusted to compensate for the height difference generated by the two sets of wheel-leg mechanisms.

[0022] Furthermore, the connecting pipe is a hollow cylindrical tube, which makes the structure lightweight and can offset part of the weight of the crawling device in water.

[0023] Furthermore, the shell of the wheel-leg mechanism is made of lightweight skin to ensure the overall streamlined configuration, reduce water resistance, and while the structure is lightweight, it can also offset part of the weight of the crawling device in water.

[0024] Furthermore, the bottom of the outer shell is enclosed by a supporting frame as a base plate, and a load-bearing wall is set on the supporting frame. The supporting frame provides rigid support for the adsorption unit, the crawling wheels, and the load-bearing wall. Even further, the supporting frame and the load-bearing wall are integrally formed.

[0025] Furthermore, the adsorption unit adopts a modular installation method, and an appropriate number can be selected and installed on the wheel-leg mechanism as needed. Even further, it is fixed to the support frame using flange connections.

[0026] Furthermore, the adsorption unit utilizes a mixed-flow pump to generate negative pressure adsorption, which can automatically compensate for differences in the height and angle of the adsorption surface to adapt to irregular and uneven dam surfaces.

[0027] Preferably, the crawling wheel is a polyurethane swivel wheel.

[0028] Compared with the prior art, the present invention provides a crawling device for an underwater dam inspection robot, which has the following advantages:

[0029] (1) The crawling device of the present invention ensures that after the posture of the underwater robot is adjusted, it can adapt to the inclined dam surface between 0° and 90°, so that the underwater robot can be stably attached to the underwater inclined dam surface. At the same time, it can compensate for the height and angle errors caused by the operation of the two sets of wheel-leg mechanisms, avoid the underwater robot from leaving the inclined dam surface under the action of strong current, and improve the stability of the underwater robot's attachment during operation.

[0030] (2) The crawling device of the present invention has a simple structure, is easy to manufacture and install, and adopts three loading methods with the robot: horizontal, 45° inclined and vertical. Combined with the setting of the -20°, 0° and 20° inclined positioning plates in the crawling device of the present invention, it can adapt to the 0°~90° inclined dam surface, with excellent length and angle compensation effect and high adsorption strength. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the crawling device adsorbing the dam surface in Embodiment 1 of the present invention;

[0032] Figure 2 This is a front view of a single leg of the crawling device in Embodiment 1 of the present invention;

[0033] Figure 3 This is a schematic diagram of the crawling device vertically loaded onto the adsorption dam surface in Embodiment 1 of the present invention;

[0034] Figure 4 This is a schematic diagram of the crawling device being loaded onto the adsorption dam surface at a 45° angle (15°-35°) in Embodiment 1 of the present invention;

[0035] Figure 5 This is a schematic diagram of the crawling device being loaded onto the adsorption dam surface at a 45° angle (35°-55°) in Embodiment 1 of the present invention;

[0036] Figure 6 This is a schematic diagram of the crawling device being loaded onto the adsorption dam surface at a 45° angle (55°-75°) in Embodiment 1 of the present invention;

[0037] Figure 7 This is a schematic diagram illustrating how the crawling device, equipped with a robot, adapts to dam surfaces with various slopes in Embodiment 1 of the present invention; wherein, Figure 7 a represents the crawling device being at a 0° angle to the horizontal dam surface. Figure 7 b represents the angle between the crawling device and the horizontal dam surface, which is 0° to 15°. Figure 7 c represents the angle between the crawling device and the horizontal dam surface, which is 15° to 35°. Figure 7 d represents the angle between the crawling device and the horizontal dam surface, which is 35° to 55°. Figure 7 e represents the angle between the crawling device and the horizontal dam surface, which is 55° to 75°. Figure 7 f represents the angle between the crawling device and the horizontal dam surface, which is 75° to 90°. Figure 7g represents the angle between the crawling device and the horizontal dam surface, which is 90°.

[0038] Figure 8 This is a cross-sectional view of the quick-connect joint in the crawling device of Embodiment 1 of the present invention;

[0039] Figure 9 for Figure 8 A schematic diagram of the structure of the female quick-connect coupling that matches the Zhonggong quick-connect coupling;

[0040] Figure 10 This is a schematic diagram of the adsorption unit in Example 2;

[0041] Figure 11 This is a cross-sectional view of the underwater negative pressure pump of the adsorption unit in Example 2;

[0042] Figure 12 This is a cross-sectional view of the suction cup and displacement compensation component in the adsorption unit of Example 2.

[0043] Meaning of the reference numerals in the diagram:

[0044] 1. Wheel-leg mechanism; 2. Connecting pipe; 3. Male connector; 4. Telescopic outer pipe; 5. Telescopic inner pipe; 6. First pin; 7. Buoyancy block; 8. Load-bearing wall; 9. Adsorption unit; 10. Shell; 11. Suction cup; 12. Crawling wheel; 13. Robot; 14. Female connector; 31. Prism; 32. Outer connecting column; 141. Prism hole; 142. Inner connecting column; 1-1. Motor support plate; 1-2. Watertight compartment; 1-3. Gear motor; 1-4. Small bevel gear; 1-5. Large bevel gear; 1-6. Ceramic thrust bearing; 1-7. Connecting rod; 1-8. First dustproof ring; 1-9. Inlet check valve; 1-10. Outlet check valve; 1-11. Negative pressure pump piston; 1-12. First glyph ring; 1-13. Second pin; 1-14. Negative pressure pump cylinder 1-15. First filter device; 1-16. Gearbox; 1-17. Dynamic sealing ring; 1-18. Pressure-resistant pipe fixing sleeve; 1-19. Pressure-resistant pipe; 1-20. Hydraulic cylinder pipe joint; 1-21. Hydraulic cylinder piston; 1-22. Second Glyd ring; 1-23. Second dustproof ring; 1-24. Return spring; 1-25. Hydraulic cylinder; 1-26. Guide limit sleeve; 1-27. Piston rod; 1-28. Third dustproof ring; 1-29. Ball joint cover plate; 1-30. Ball joint joint; 1-31. Preload spring; 1-32. Suction cup support frame; 1-33. Suction cup inlet pipe joint; 1-35. Second filter device; 1-36. Water-permeable flexible pad; 1-37. Filter membrane; 1-38. Telescopic hose; 1-39. Waterproof electromagnetic reversing valve. Detailed Implementation

[0045] 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. Example 1

[0046] like Figure 1 and Figure 2 As shown, this invention proposes a crawling device for an underwater dam inspection robot 13, comprising at least one set of wheel-leg mechanism 1, angle adjustment mechanism, and length adjustment mechanism; the upper end of the length adjustment mechanism is connected to the robot 13; the wheel-leg mechanism 1 includes a housing 10, an adsorption unit 9, and crawling wheels 12 disposed at the lower part of the housing 10; the adsorption unit 9 includes a suction cup 11 disposed at the lower part of the housing 10, used to adsorb the suction cup 11 onto the dam surface by generating negative pressure adsorption through a negative pressure pump; the crawling wheels 12 are omnidirectional wheels, which automatically adjust their forward direction under the power of the robot 13 body, and facilitate the adsorption unit 9 to adsorb onto the inclined dam surface at a fixed point; when the crawling device is in operation, the adsorption unit 9 is locked in position; when floating, the suction cup detaches from the dam surface, and the crawling wheels 12 serve as the load-bearing mechanism for the entire crawling device and the robot 13 to crawl and overcome obstacles. The length adjustment mechanism is used to adjust the distance between the wheel-leg mechanism 1 and the robot 13 body; the angle adjustment mechanism is used to adjust the angle of the wheel-leg mechanism 1 relative to the horizontal dam surface.

[0047] In one specific embodiment of this example, the length adjustment mechanism is a spiral length adjustment mechanism, including an external telescopic outer tube 4, a telescopic inner tube 5 disposed inside the telescopic outer tube 4, and a bolt. The telescopic outer tube 4 and the telescopic inner tube 5 are threadedly connected. The telescopic outer tube 4 has a groove, and a threaded hole is opened on the tube wall of the telescopic outer tube 4 corresponding to the groove. The bolt is embedded in the telescopic outer tube 4 through the threaded hole on the tube wall to suppress the rotation of the thread, fix the axial position of the telescopic outer tube 4 and the telescopic inner tube 5, and prevent axial slippage caused by force.

[0048] Preferably, a boss is provided on the outside of the telescopic outer tube 4 corresponding to the groove, and a threaded hole is opened on the boss and the tube wall.

[0049] After the underwater robot 13 body adjusts its posture, the two sets of crawling devices have a significant difference in axial distance when the dam surface is tilted during operation. The length of the threaded engagement of the telescopic outer tube 4 and the telescopic inner tube 5 is adjusted to compensate for the height difference generated by the two sets of crawling devices, ensuring that the adsorption unit 9 can accurately adsorb in the correct position.

[0050] In one specific embodiment of this example, the angle adjustment mechanism is a swing-type angle adjustment mechanism, including a telescopic inner tube 5 disposed inside the telescopic outer tube 4. The upper part of the telescopic inner tube 5 is located inside the telescopic outer tube 4, and the lower part is disposed inside the housing 10. The lower part is connected to the housing 10 through a first pin 6, and the telescopic inner tube 5 can swing around the first pin 6. A plurality of inclined positioning plates are disposed inside the housing 10. The inclined positioning plates are matched with the lower end of the telescopic inner tube 5 to limit the position of the telescopic inner tube 5.

[0051] The housing 10 also includes a load-bearing wall 8, an array of inclined positioning plates is arranged on the load-bearing wall 8, and the first pin 6 is also arranged on the load-bearing wall 8.

[0052] Preferably, there are three inclined positioning plates, one set in the vertical direction and the other two symmetrically arranged to the left and right of the vertical direction. Preferably, the three inclined positioning plates are a +20° inclined positioning plate, a 0° inclined positioning plate and a -20° inclined positioning plate from left to right.

[0053] In one specific implementation of this embodiment, such as Figure 2 and Figure 7 As shown, the lower end of the telescopic inner tube 5 is provided with an external thread, and the bottom of the inclined positioning plate is provided with an internal thread that mates with the external thread of the lower end of the telescopic inner tube 5. The telescopic inner tube 5 is fixed to the inclined positioning plate by the threaded connection, thus enabling the crawling device to be adjusted and fixed at a certain tilt angle, allowing the crawling device to adapt to different degrees of tilt on the dam surface. The crawling device can be mounted horizontally, at a 45° tilt, or vertically on the robot 13 body. When installed horizontally (referring to the installation angle of the crawling device relative to the robot 13, such as...), the crawling device can be mounted horizontally, at a 45° tilt, or vertically on the robot 13 body. Figure 7 a and Figure 7 As shown in b), the angle is compensated by the permeable flexible pad at the bottom of the suction cup 11 and the -20° angle adjustment mechanism (i.e., the corresponding telescopic inner tube 5 is fixed on the -20° inclined positioning plate) to adapt to the 0°-15° inclined dam surface (as shown in b). Figure 7 (as shown in b). When installed at a 45° angle, the angle adjustment mechanism is mounted on a -20° angled positioning plate, and is adjusted by the bottom permeable flexible pad of the suction cup 11 and compensation in the height direction to adapt to the 15°-35° (45°-20°±10°) inclined dam surface (as shown in b). Figure 7 (As shown in c); the angle adjustment mechanism is mounted on a 0° inclined positioning plate, and is connected to the bottom permeable flexible pad of suction cup 11 to adapt to the inclined dam surface of 35°-55° (45°±10°) (as shown in c). Figure 7 (As shown in d); the angle adjustment mechanism is mounted on a +20° inclined positioning plate, and is adjusted by the bottom permeable flexible pad of suction cup 11 and compensation in the height direction to adapt to the inclined dam surface of 55°-75° (45°+20°±10°) (as shown in d). Figure 7(As shown in e). When installed vertically, the angle adjustment mechanism is mounted on a -20° inclined positioning plate, and is adapted to a 75°-90° inclined dam surface through the bottom permeable flexible pad of suction cup 11 and compensation in the height direction (as shown in e). Figure 7 (as shown in f), the angle adjustment mechanism is mounted on a 0° inclined positioning plate, and is adapted to a 90° vertical dam surface via a water-permeable flexible pad at the bottom of the suction cup 11 (as shown in f). Figure 7 (as shown in g).

[0054] In one specific implementation of this embodiment, such as Figure 8 and Figure 9 As shown, the crawling device of the present invention also includes a connector for connection with the robot 13. The connector includes a male connector 3 disposed on the upper part of the length adjustment mechanism and a female connector 14 disposed on the robot 13 body. Preferably, the connector is a quick-connect connector, and the female connector 14 is configured to be embedded in the robot 13 body to avoid affecting the streamlined shape of the robot 13.

[0055] like Figure 8 As shown, one end of the male connector 3 is located at the center of the prism 31 and the outer connecting post 32 is located outside the prism 31, and the other end is connected to the length adjustment mechanism. Figure 9 As shown, the female connector 14 includes a prism hole 141 located in the center and an inner connecting post 142 located outside the prism hole 141. The prism 31 is matched with the prism hole 141, and the outer connecting post 32 is matched with the inner connecting post 142. The inner connecting post 32 is threadedly connected to the outer connecting post 142 by the internal thread on the inner wall of the outer connecting post 32 and the external thread on the outer wall of the inner connecting post 142.

[0056] The connector uses threaded axial restraint and is embedded in the length adjustment mechanism, allowing for manual locking and unlocking. Preferably, the connecting end prism 31 of the connector is a hexagonal prism to restrain the torsion of the crawling device, improve its torsional resistance, and ensure its stability. The female connector 14 is recessed into the outer shell of the robot 13, without disrupting the streamlined shape of the robot 13's shell. In addition to its adjustable installation angle and simple installation, the connector of this invention also has excellent sealing performance, effectively preventing leakage.

[0057] In one specific embodiment of this example, the wheel-leg mechanism 1 further includes a buoyancy block 7 disposed within the housing 10 and fixedly installed on the support frame, so that the entire crawling device has zero buoyancy in the water, does not affect the center of gravity of the underwater robot 13, improves the stability of the device, and thus ensures the stability of the underwater robot 13 during operation.

[0058] In one specific embodiment of this invention, the crawling device of the present invention further includes a connecting pipe 2, a wheel-leg mechanism 1, a length adjustment mechanism, an angle adjustment mechanism, and a connector connected to the robot 13, each having at least two sets, with adjacent sets connected through the connecting pipe 2, and both ends of the connecting pipe 2 connected to the length adjustment mechanisms in the two sets respectively.

[0059] The connecting pipe 2 has internally threaded bosses at both ends, and the length adjustment mechanism is welded with externally threaded connecting posts. The two are connected by threads, and the counter-rotating threaded connection has good tightness, preventing loosening and falling off at the connection, constraining the distance between each set of wheel-leg mechanisms 1, improving the rigidity of the overall crawling device and the stability of the crawling device in the face of strong flow and mixed flow during operation.

[0060] By changing the length of the connecting pipe 2 or replacing it with a connecting pipe of different lengths, the distance between the wheel-leg mechanisms 1 can be adjusted, making the application range of this crawling device wider.

[0061] In one specific embodiment of this example, the wheel-leg mechanism 1, the length adjustment mechanism, the angle adjustment mechanism, and the connector connected to the robot 13 are all in four sets, arranged in front, back, left, and right, with the front two sets forming a pair and the back two sets forming a pair.

[0062] In use, such as Figures 3 to 6 As shown, based on the underwater dam surface design drawings and the underwater detection posture of robot 13, the crawling device is installed on the robot 13 body in a horizontal, 45° tilt, or vertical manner. When the working dam surface of the crawling device is an inclined dam surface, there is a significant difference in the axial distance between the front pair of wheel-leg mechanisms 1 and the rear pair of wheel-leg mechanisms 1. The lengths of the two pairs of length adjustment mechanisms are adjusted to compensate for the height difference generated by the two sets of wheel-leg mechanisms 1.

[0063] In one specific embodiment of this example, the connecting pipe 2 is a hollow cylindrical pipe, which is lightweight and can offset part of the weight of the crawling device in water.

[0064] In one specific embodiment of this example, the housing 10 of the wheel-leg mechanism 1 is made of lightweight skin to ensure the overall streamlined configuration, reduce water resistance, and while making the structure lightweight, it can also offset part of the weight of the crawling device in the water.

[0065] In one specific embodiment of this invention, a support frame is used as a base plate to enclose the bottom of the outer shell. The support frame provides rigid support for the adsorption unit 9 and the crawling wheels 12. Furthermore, the support frame and the load-bearing wall 8 are integrally formed.

[0066] In one specific embodiment of this invention, the adsorption unit 9 is installed in a modular manner, and an appropriate number can be selected and installed on the wheel-leg mechanism 1 as needed. Furthermore, it is fixed to the support frame using flange connections.

[0067] In one specific embodiment of this example, the adsorption unit 9 uses a mixed-flow pump to generate negative pressure adsorption, which can automatically compensate for the height and angle differences of the adsorption surface to adapt to irregular and uneven dam surfaces.

[0068] In one specific embodiment of this example, the crawling wheel 12 is a polyurethane omnidirectional wheel. Example 2

[0069] The difference between Example 2 and Example 1 is that Example 2 proposes an adsorption unit with the following specific structure:

[0070] like Figure 10 As shown, the adsorption unit 9 of the present invention includes an underwater negative pressure pump, a suction cup 11, a displacement compensation component, and a waterproof electromagnetic reversing valve 1-39.

[0071] Among them, the underwater negative pressure pump is the power generation device for achieving negative pressure adsorption in adsorption unit 9. Specifically, such as... Figure 11 As shown, the underwater negative pressure pump includes: a watertight chamber 1-2, a gearbox 1-16 fixedly connected to the watertight chamber 1-2, and a negative pressure pump cylinder 1-14 fixedly connected to the gearbox 1-16.

[0072] A reduction motor 1-3 is installed inside the watertight chamber 1-2. A small bevel gear 1-4 and a large bevel gear 1-5 meshing with the small bevel gear 1-4 are installed inside the gearbox 1-16. A negative pressure pump piston 1-11 and a connecting rod 1-7 connected to the negative pressure pump piston 1-11 are installed inside the negative pressure pump cylinder body 14. The motor shaft of the reduction motor 1-3 is connected to the small bevel gear 1-4, which meshes with the large bevel gear 1-5. The large bevel gear 1-5 is connected to the connecting rod 1-7. When the reduction motor 1-3 starts, the motor shaft drives the small bevel gear 1-4 to rotate, which in turn drives the large bevel gear 1-5 to rotate, thereby driving the negative pressure pump piston 1-11 to reciprocate.

[0073] The negative pressure pump piston 1-11 is connected to the connecting rod 1-7 by a second pin 1-13.

[0074] The negative pressure pump cylinder 1-14 is equipped with an inlet check valve 1-9 and an outlet check valve 1-10 at its end. The gearbox 1-16 is equipped with a first filter device 1-15 at its top, so that one end of the negative pressure pump piston 1-11 is connected to the inlet and outlet check valves, and the other end is connected to the external water area through the first filter device 1-15, which balances the water pressure at both ends of the negative pressure pump piston 1-11, so that the negative pressure pump can work normally at different depths of water.

[0075] To prevent water entering the gearbox 1-16 from the first filter device 1-15 from entering the watertight chamber 1-2, a rotary dynamic seal is used between the small bevel gear 1-4 and the watertight chamber 1-2.

[0076] More specifically, such as Figure 11 As shown, a dynamic sealing ring 1-17 is provided between the small bevel gear 1-4 and the watertight chamber 1-2 to ensure the sealing of the watertight chamber 1-2.

[0077] Optionally, the first filter device 1-15 is an internal hexagonal threaded filter device, which is fixed to the top of the gearbox 1-16 by a threaded connection.

[0078] like Figure 11 As shown, the end of the gearbox 1-16 connected to the watertight compartment 1-2 is provided with several positioning cylindrical bosses. The positioning cylindrical bosses are connected to the limiting holes at one end of the geared motor 1-3 for radial fixing of the geared motor 1-3.

[0079] like Figure 11 As shown, a motor support plate 1-1 is also provided inside the watertight chamber 1-2. The motor support plate 1-1 is arranged in a direction perpendicular to the axis of the geared motor 1-3. The geared motor 1-3 is fixedly installed on the motor support plate 1-1. The motor support plate 1-1 is used to axially fix the geared motor 1-3.

[0080] Thus, by positioning the cylindrical boss and the motor support plate 1-1, the geared motor is fixedly installed in the watertight chamber 1-2.

[0081] like Figure 11 As shown, a first glyph 1-12 and several first dustproof rings 1-8 are provided between the negative pressure pump piston 1-11 and the inner wall of the negative pressure pump cylinder 1-14 to ensure the sealing on both sides of the negative pressure pump piston 1-11.

[0082] like Figure 11 As shown, a ceramic thrust bearing 1-6 is also provided inside the gearbox 1-16. The ceramic thrust bearing 1-6 is fixedly installed in the groove at the bottom of the gearbox 1-16, and its inner ring is connected to the boss at the bottom of the large bevel gear 1-5 by an interference fit.

[0083] like Figure 12 As shown, a filter membrane 1-37 is provided inside the suction cup cavity of suction cup 11.

[0084] The suction cup 11 has a suction cup outlet on its side that is connected to the suction cup inlet. The suction cup outlet is connected to the suction cup inlet pipe connector 1-33. The suction cup inlet is equipped with a second filter device 1-35.

[0085] Optionally, the second filter device 1-35 is an internal hexagonal threaded filter device, which is connected to the suction cup inlet via threads.

[0086] By using a dual-layer filtration method, with a filter membrane 1-37 installed in the suction cup cavity and a second filter device 1-35 installed at the suction cup inlet, the unobstructed flow of the adsorption component pipeline can be ensured.

[0087] like Figure 10 and Figure 12 As shown, a permeable flexible pad 1-36 is also laid at the bottom of the suction cup 11 to ensure the airtightness and stability of the suction cup during adsorption.

[0088] like Figure 12 As shown, a suction cup support frame 1-32 is also fixedly connected to the top of the suction cup 11, and a ball joint cover plate 1-29 is fixedly connected to the suction cup support frame 1-32.

[0089] More specifically, the top of the suction cup 11 is connected to the suction cup support frame 1-32 by threads, and the suction cup support frame 1-32 is also connected to the ball joint cover plate 1-29 by threads.

[0090] like Figure 12 As shown, the displacement compensation assembly includes a hydraulic cylinder 1-25 and a ball joint 1-30.

[0091] The hydraulic cylinder 1-25 is equipped with a hydraulic cylinder piston 1-21, and the hydraulic cylinder piston 1-21 is connected to a piston rod 1-27.

[0092] The ball joint 1-30 includes a handle and a ball head. The handle of the ball joint 1-30 is located inside the hydraulic cylinder 1-25. The piston rod 1-27 of the hydraulic cylinder piston 1-21 is fitted into the handle of the ball joint 1-30. The ball head of the ball joint 1-30 is hinged to the ball joint cover plate 1-29.

[0093] A return spring 1-24 is provided between the handle of the ball joint 1-30 and the inner wall of the hydraulic cylinder 1-25. The return spring 1-24, together with the underwater negative pressure pump and the waterproof electromagnetic reversing valve 1-39, can cause the suction cup to detach from the dam surface when the adsorption unit 9 finishes adsorption work.

[0094] like Figure 12 As shown, a preload spring 1-31 is also provided inside the suction cup support frame 1-32. One end of the preload spring 1-31 abuts against the ball head of the ball joint 1-30, and the other end abuts against the bottom of the suction cup support frame 1-32.

[0095] Utilizing the structure of the ball joint 1-30 itself and the preload of the preload spring 1-31, the suction cup support frame 1-32 can maintain a rotational return state relative to the ball joint 1-30, so that the adsorption unit 9 can automatically adapt to the non-uniform surface of the dam body through the ball joint 1-30.

[0096] like Figure 12 As shown, the displacement compensation assembly also includes a guide limiting sleeve 1-26, which is disposed between the inner wall of the hydraulic cylinder 1-25 and the handle of the ball joint 1-30. The guide limiting sleeve 1-26 is tightly attached to the bottom of the hydraulic cylinder 1-25 by the elastic force of the return spring 1-24. The guide limiting sleeve 1-26 can guide the piston rod 1-27 and also limit the maximum stroke of the hydraulic cylinder piston 1-21.

[0097] like Figure 12 As shown, a second glyph 1-22 and several second dustproof rings 1-23 are also provided between the hydraulic cylinder piston 1-21 and the inner wall of the hydraulic cylinder 1-25 to ensure the seal between the two sides of the hydraulic cylinder piston 1-21.

[0098] A third dustproof ring 1-28 is provided between the bottom end of the hydraulic cylinder 1-25 and the handle of the ball joint 1-30 to prevent impurities in the external water area from entering the hydraulic cylinder 1-25.

[0099] like Figure 12 As shown, the top of the water pressure cylinder 1-25 is also provided with a water pressure cylinder inlet, which is connected to the water pressure cylinder pipe connector 1-20.

[0100] like Figure 10 As shown, the waterproof electromagnetic reversing valve 1-39 is equipped with four valve ports, namely port a, port b, port c and port d. Port a is connected to the inlet check valve 1-9 through the telescopic hose 1-38, port b is connected to the outlet check valve 1-10 through the telescopic hose 1-38, port c is connected to the suction cup inlet pipe joint 1-33 of the suction cup 11 through the telescopic hose 1-38, and port d is connected to the water pressure cylinder pipe joint 1-20 on the top of the water pressure cylinder 1-25.

[0101] like Figure 10 As shown, multiple suction cups 11 can be set, and multiple displacement compensation components are also set accordingly. The suction cup inlet pipe joints 1-33 of all suction cups 11 are connected to the c port of the waterproof electromagnetic reversing valve 1-39 through the telescopic hose 1-38. The water pressure cylinder pipe joints 1-20 on the top of multiple water pressure cylinders 1-25 are also connected to the d port of the waterproof electromagnetic reversing valve 1-39 through the telescopic hose 1-38.

[0102] like Figure 10 and Figure 11 As shown, the side of the watertight chamber 1-2 is connected to the pressure-resistant pipe 1-19 through the pressure-resistant pipe fixing sleeve 1-18. The pressure-resistant pipe 1-19 is used as the underwater channel for the wires, which solves the problem of inconvenient transmission of energy and control signals of the underwater geared motor 1-3.

[0103] Using the adsorption unit of this invention, an underwater negative pressure pump drives a piston to reciprocate through bevel gear transmission, and the inlet and outlet check valves alternately open and close to extract water from the suction cup cavity. The suction cup 11 is pumped by the underwater negative pressure pump, which creates an adsorption force due to the pressure difference between the suction cup cavity and the external water area. The suction force is automatically adapted to the non-uniform surface of the dam body through the ball joint 1-30 and the permeable flexible pad 1-36. The displacement compensation component discharges the water extracted from the suction cup cavity into the water pressure cylinder 1-25 through the underwater negative pressure pump, pushing the piston 1-21 of the water pressure cylinder to move axially and actively compensate for the distance between the suction cup 11 and the dam surface. The return stroke of the suction cup 11 relies on the operation of the waterproof electromagnetic reversing valve 1-39. The underwater negative pressure pump extracts water from the water pressure cylinder 1-25, and the suction cup 11 is detached from the dam surface under the action of the return spring 1-24.

[0104] In another embodiment, the control method of the adsorption unit 9 of the present invention is as follows:

[0105] Open ports a and c of the inlet check valve 1-9 and the waterproof solenoid directional valve 1-39, close ports b and d of the outlet check valve 1-10 and the waterproof solenoid directional valve 1-39, start the reduction motor 1-3, and the reduction motor 1-3 drives the negative pressure pump piston 1-11 to move to the left through the bevel gear transmission, pumping the water in the suction cup cavity of the suction cup 11 into the negative pressure pump cylinder 1-14;

[0106] Close the inlet check valve 6 and the a and c ports of the waterproof electromagnetic reversing valve 1-39, and open the outlet check valve 1-10 and the b and d ports of the waterproof electromagnetic reversing valve 1-39. Drive the reduction motor 1-3 to rotate in the reverse direction. The reduction motor 1-3 drives the negative pressure pump piston 1-11 to move to the right through the bevel gear transmission. The water in the negative pressure pump cylinder 1-14 is discharged from the top of the water pressure cylinder 1-25 into the water pressure cylinder 1-25. This pushes the water pressure cylinder piston 1-21 to move downward axially. Utilizing the structure of the ball joint 1-30 itself and the preload of the preload spring 1-31, the suction cup support frame 1-32 is kept in a rotating return state relative to the ball joint 1-30, compensating for the distance between the suction cup 11 and the dam surface.

[0107] After the work is completed, open the inlet check valve 6 and the a and d ports of the waterproof solenoid directional valve 1-39, close the outlet check valve 1-10 and the b and c ports of the waterproof solenoid directional valve 1-39, start the reduction motor 1-3, and drive the negative pressure pump piston 1-11 to move to the left through the bevel gear transmission, so as to draw water from the water pressure cylinder 1-25 into the negative pressure pump cylinder body 1-14, and under the action of the return spring 1-24, make the suction cup 11 detach from the dam surface.

[0108] The adsorption unit 9 of the present invention provides a pre-tension spring 1-31 between the ball joint 1-30 and the suction cup support frame 1-32. By utilizing the structure of the ball joint 1-30 itself and the elastic force of the pre-tension spring 1-31, the suction cup support frame 1-32 can rotate back to its original position relative to the ball joint 1-30. Combined with a layer of permeable flexible padding 1-36 laid at the bottom of the suction cup 11, the suction cup 11 can be tightly adsorbed onto the uneven surface of the dam body.

[0109] The adsorption unit 9 of the present invention uses a negative pressure pump to discharge water in the suction cup cavity into the water pressure cylinder, which pushes the piston 1-21 of the water pressure cylinder to move axially, thereby realizing active compensation of the distance between the suction cup 11 and the dam surface. The return stroke of the suction cup relies on the operation of the waterproof electromagnetic reversing valve 1-39, the negative pressure pump starts to draw water from the water pressure cylinder, and under the action of the return spring 1-24, the suction cup 11 is separated from the dam surface.

[0110] The adsorption unit 9 of the present invention has an inlet and outlet check valve 1-9 at one end of the negative pressure pump piston 1-11 and the other end is connected to the external water area through the first filter device 1-15 to balance the water pressure at both ends of the piston, so that the negative pressure pump can work normally at different depths of water.

[0111] The suction force generated by the negative pressure pump piston can be transmitted to the water pressure cylinder 1-25 through the suction cup 11. The water pressure cylinder 1-25 is equipped with a flange for connecting to the support frame of the crawling device. Thus, the water pressure cylinder 1-25 transmits the suction force to the crawling device. The telescopic hose 1-38 is installed on the side of the suction cup 11 and only serves the function of suction and drainage. This solves the problem that the existing technology transmits the suction force to the telescopic hose 1-38, resulting in a lack of structural rigidity to resist the impact of strong underwater currents.

[0112] The crawling device of this invention has a simple structure, is easy to manufacture and install, and can adhere to dam surfaces with different inclinations. It can adapt to dam surfaces with inclinations of 0°-90° by using three loading methods: horizontal, 45° inclined and vertical. It has excellent length and angle compensation effect and high adsorption strength, and can adapt to crawling and inspection of dam surfaces with different slopes from 0° to 90°, thereby improving the stability and safety of underwater robots during operation.

[0113] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0114] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A crawling device for an underwater dam inspection robot, characterized in that: The system includes at least one set of wheel-leg mechanism, angle adjustment mechanism, and length adjustment mechanism; the upper end of the length adjustment mechanism is connected to the robot; the wheel-leg mechanism includes a housing, an adsorption unit, and crawling wheels disposed at the lower part of the housing; the adsorption unit includes a suction cup disposed at the lower part of the housing, used to adsorb the suction cup onto the dam surface by negative pressure adsorption; the length adjustment mechanism is used to adjust the distance between the wheel-leg mechanism and the robot body; the angle adjustment mechanism is used to adjust the angle of the wheel-leg mechanism relative to the horizontal dam surface. The adsorption unit also includes an underwater negative pressure pump, a displacement compensation component, and a waterproof electromagnetic reversing valve. The underwater negative pressure pump has an inlet check valve and an outlet check valve at its end. A water-permeable flexible pad is provided at the bottom of the suction cup, and a suction cup support frame is fixedly connected to the top of the suction cup. A ball joint cover plate is fixedly connected to the suction cup support frame. The displacement compensation component includes a hydraulic cylinder with a piston inside. The piston rod of the hydraulic cylinder piston is connected to a ball joint, and the piston rod is embedded in the handle of the ball joint. The handle of the ball joint is located inside the hydraulic cylinder. A return spring is provided between the handle of the ball joint and the inner wall of the hydraulic cylinder. The ball head of the ball joint is hinged to the ball joint cover plate. A pre-tightening spring is provided inside the suction cup support frame, abutting against the ball head of the ball joint. The waterproof electromagnetic reversing valve has four valve ports, which are respectively connected to the inlet check valve, the outlet check valve, the suction cup cavity of the suction cup, and the top of the hydraulic cylinder.

2. The crawling device for an underwater dam inspection robot according to claim 1, characterized in that: The length adjustment mechanism is a spiral length adjustment mechanism, including an external telescopic outer tube, a telescopic inner tube inside the telescopic outer tube, and a bolt. The telescopic outer tube and the telescopic inner tube are threaded together. The telescopic outer tube has a groove inside, and a threaded hole is opened on the tube wall of the telescopic outer tube corresponding to the groove. The bolt is embedded in the telescopic outer tube through the threaded hole on the tube wall.

3. The crawling device for an underwater dam inspection robot according to claim 2, characterized in that: The angle adjustment mechanism is a swing-type angle adjustment mechanism, including a telescopic inner tube disposed inside the telescopic outer tube. The upper part of the telescopic inner tube is located inside the telescopic outer tube, and the lower part is disposed inside the housing. The lower part is connected to the housing through a first pin, and the telescopic inner tube can swing around the first pin. Several inclined positioning plates are disposed inside the housing. The inclined positioning plates are matched with the lower end of the telescopic inner tube to limit the position of the telescopic inner tube.

4. The crawling device for an underwater dam inspection robot according to claim 3, characterized in that: The housing also includes a load-bearing wall, and a plurality of the inclined positioning plates array are disposed on the load-bearing wall, and the first pin is also disposed on the load-bearing wall.

5. The crawling device for an underwater dam inspection robot according to claim 3, characterized in that: There are three inclined positioning plates, one of which is set in the vertical direction, and the other two are set symmetrically to the left and right of the vertical direction.

6. The crawling device for an underwater dam inspection robot according to claim 1, characterized in that: It also includes a connector for connecting to the robot, the connector comprising a male connector located on the upper part of the length adjustment mechanism and a female connector located on the robot body.

7. The crawling device for an underwater dam inspection robot according to claim 6, characterized in that: One end of the male connector is provided with a central prism and an outer connecting post outside the prism, and the other end is connected to the length adjustment mechanism; the female connector includes a central prism hole and an inner connecting post outside the prism hole. The prism and the prism hole are matched, and the outer connecting post and the inner connecting post are matched. The two are threadedly connected by the internal thread on the inner wall of the outer connecting post and the external thread on the outer wall of the inner connecting post.

8. The crawling device for an underwater dam inspection robot according to claim 1, characterized in that: The wheel-leg mechanism also includes a buoyancy block disposed within the housing and fixedly mounted on the support frame.

9. The crawling device for an underwater dam inspection robot according to claim 1, characterized in that: It also includes connecting pipes. The wheel-leg mechanism, length adjustment mechanism, angle adjustment mechanism and connector connected to the robot are all in at least two sets. The two adjacent sets are connected by connecting pipes. The two ends of the connecting pipes are respectively connected to the length adjustment mechanisms in the two sets.

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