Unmanned ship device for appearance detection of hydraulic structure

Abstract

The invention relates to the related technical field of hydraulic structure detection, and particularly discloses an unmanned ship device for hydraulic structure appearance detection, which comprises a main ship body, a detection assembly is arranged on the main ship body, the detection assembly comprises a plurality of detection pipes in array distribution, the plurality of detection pipes are connected with a connecting frame body through a first adjusting unit, and the first adjusting unit is connected with the connecting frame body through a second adjusting unit. The end faces of the multiple detection pipes are flush with the end face of the detection frame body, the connecting frame body is connected with a first connecting plate through an attaching unit, the side face of the first connecting plate is connected with the output end of a first air cylinder, the first air cylinder is arranged above the main ship body, and a depth marking unit is arranged on the connecting frame body. Under the cooperation of the depth marking unit and the first adjusting unit, the detection pipe is driven to move towards the sunken part and stops moving after moving to the side wall of the sunken part, and the depth marking unit marks the depth, so that the detection personnel can conveniently record the depth.

Description

Technical Field

[0001] The present invention relates to the technical field related to hydraulic structure detection, and more specifically, to an unmanned boat device for hydraulic structure appearance detection. Background Art

[0002] Hydraulic structures. In water conservancy projects, single or several buildings with different functions and types are often used to regulate water flow in order to meet the water resource needs of different departments. These buildings built for water conservancy and water disaster prevention are called hydraulic structures. Dams, sluices, etc. are all hydraulic structures.

[0003] After the construction of hydraulic structures such as dams and sluice gates, they often need to be maintained and inspected. The most intuitive way is to inspect their appearance, and the appearance inspection includes appearance size, flatness and verticality. Among them, dams are vertical and inclined. After a long period of water flow impact and rain erosion or the dam body of the dam is hit, the surface of the dam will be concave. When inspecting the dam, it is necessary to measure and record the concave conditions of the concave parts. At present, the conditions of the concave parts are generally measured by laser measuring instruments. However, laser measuring instruments can only measure the position of the concave parts, but cannot mark the position of the concave parts. In addition, when the laser measuring instrument measures the underwater concave parts, it will be affected by floating objects or light refraction, resulting in inaccurate measurement results. Based on this, an unmanned boat device for appearance inspection of hydraulic structures that can solve the above problems is now proposed. Summary of the invention

[0004] In order to overcome the above technical problems, the present invention proposes an unmanned boat device for hydraulic structure appearance inspection.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] An unmanned boat device for inspecting the appearance of hydraulic structures comprises a main hull, on which a detection assembly is arranged, the detection assembly comprises a plurality of detection tubes distributed in an array, the plurality of detection tubes are connected to a connecting frame through a first adjustment unit, the end faces of the plurality of detection tubes are flush with the end face of the connecting frame, the connecting frame is connected to a first connecting plate through a fitting unit, the side face of the first connecting plate is connected to the output end of a first cylinder, the first cylinder is arranged above the main hull, a depth marking unit is arranged on the connecting frame, a fourth cylinder is fixedly connected to the main hull through a seventh connecting rod, the output end of the fourth cylinder is fixedly connected to a mobile hull, and the mobile hull can move under the water surface under the power of the fourth cylinder.

[0007] The first adjusting unit includes a second connecting plate, and the plurality of detection tubes are inserted into the second connecting plate. A second cylinder is fixedly connected to the side of the connecting frame, and an output end of the second cylinder is connected to the second connecting plate. A connecting ring is fixedly connected to the side of the detection tube away from the connecting frame, and a first spring for providing elastic force is arranged between the connecting ring and the second connecting plate, and the first spring is sleeved on the outside of the detection tube.

[0008] The bonding unit includes two symmetrically arranged first connecting rods, one ends of the two first connecting rods are respectively arranged on both sides of the first connecting plate, and the other ends of the two first connecting rods are respectively rotatably connected to both sides of the connecting frame, a first rotating shaft passing through the first connecting rod is fixedly connected to the connecting frame, two symmetrically arranged second rotating shafts are fixedly connected to the outer side of the upper end of the connecting frame, and a second connecting rod is rotatably connected to the outer side of the second rotating shaft, and a guide unit is cooperated between the first connecting plate and the second connecting rod.

[0009] The guide unit includes a first through-groove provided on the side of the second connecting rod, a first moving block is slidably connected in the first through-groove, third rotating shafts are fixedly connected on both sides of the first connecting plate, the third rotating shaft passes through the first moving block, a first clamping block is fixedly connected at the lower end of the first moving block, a first clamping groove is provided on the first through-groove to match with the first clamping block, a first guide rod is fixedly connected in the first clamping groove, the first guide rod passes through the first clamping block, the side of the first moving block is connected to the inner wall of the first clamping groove through a second spring for providing elastic force, the second spring is sleeved on the outer side of the first guide rod, a third clamping groove is provided on the first connecting rod, a second moving block is fixedly connected on both sides of the first connecting plate, a second guide rod passing through the second moving block is fixedly connected in the third clamping groove, the side of the second moving block is connected to the side wall of the third clamping groove through a third spring for providing elastic force, the third spring is sleeved on the outer side of the second guide rod, two second clamping plates arranged symmetrically are fixedly connected at the lower end of the first connecting plate, and a fourth clamping groove matching with the second clamping plate is provided on the second adjusting block.

[0010] As a further solution of the present invention: the depth marking unit includes a third connecting plate, the upper end of the third connecting plate is fixedly connected to the first handle, the inner side of the upper end of the connecting frame is fixedly connected to the symmetrically arranged first magnetic plate, the first magnetic plate is magnetically connected to the third connecting plate, the first magnetic plate is provided with a jack, the lower end of the third connecting plate is fixedly connected to two symmetrically arranged plug rods, the lower end of the third connecting plate is fixedly connected to a plurality of third connecting rods arranged in an array, the plurality of third connecting rods are fixedly connected to a plurality of second magnetic plates corresponding to the plurality of detection tubes, the plurality of third connecting rods are fixedly connected to a fourth connecting rod corresponding to the plurality of second magnetic plates, the end of the fourth connecting rod is fixedly connected to an anti-slip plate, the outer side of the fourth connecting rod is sleeved with a movable plate, the side of the movable plate is fixedly connected to a magnetic block, the magnetic block is magnetically connected to the second magnetic plate, and the side of the detection tube is fixedly connected to a push plate.

[0011] As a further solution of the present invention: a position marking unit is provided on the first connecting plate.

[0012] The position marking unit includes a marking pump fixedly connected to the side of the first connecting plate, the output end of the marking pump is connected to a storage box, the storage box is fixedly connected to the side of the first connecting plate, a feed port is provided on the storage box, an observation panel is provided on the side of the storage box, the side of the first connecting plate is fixedly connected to the fourth connecting plate through a fifth connecting rod, the fourth connecting plate is connected to the storage box through a feed hose, a plurality of output tubes corresponding to the plurality of detection tubes are fixedly connected to the side of the fourth connecting plate, the plurality of detection tubes are of a through structure, the output tubes are sleeved on the outside of the detection tubes, a long through groove is provided in the output tubes, a short through groove is provided in the detection tubes, and anti-slip protrusions are provided on the side walls of the detection tubes.

[0013] As a further solution of the present invention: a height adjustment unit is provided between the main hull and the first connecting plate.

[0014] The height adjustment unit includes a third cylinder fixedly connected to the main hull, the output end of the third cylinder is fixedly connected to the first adjustment block, the mobile hull is fixedly connected to two symmetrically arranged fifth connecting plates, a second adjustment block is arranged between the two fifth connecting plates, both sides of the second adjustment block are fixedly connected to clamping protrusions, the fifth connecting plate is provided with a movable groove matching with the clamping protrusions, the first adjusting block is provided with a first inclined surface, the lower end of the second adjusting block is provided with a second inclined surface, the first adjusting block is fixedly connected to a first clamping plate, the second adjusting block is provided with a second clamping groove matching with the first clamping plate, and the first cylinder is connected to the second adjusting block through a sixth connecting rod.

[0015] A control center is arranged on the main hull.

[0016] The beneficial effects of the present invention are as follows: the main hull is close to the position where the depression needs to be detected, and under the action of the fitting unit, the connecting frame is in contact with the side of the dam, and multiple detection tubes are aligned with the depression. Under the cooperation of the depth marking unit and the first adjustment unit, the detection tube is driven to move toward the depression, and stops after moving to the side wall of the depression. The depth marking unit marks the depth to facilitate the detection personnel to record it. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0019] Figure 2 for Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0020] Figure 3 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0021] Figure 4 for Figure 3 A schematic diagram of the enlarged structure at B in the middle;

[0022] Figure 5 is a schematic structural diagram of a depth marking unit of the present invention;

[0023] Figure 6 for Figure 5 Schematic diagram of the enlarged structure at C in the middle;

[0024] Figure 7 The overall structure of the present invention is shown in FIG. Figure 3 ;

[0025] Figure 8 for Figure 7 Schematic diagram of the enlarged structure at D in the middle;

[0026] Fig. 9 for Figure 7 Schematic diagram of the enlarged structure at E in the middle;

[0027] Fig.10 for Figure 7 The enlarged structural diagram at F in the middle;

[0028] Fig.11 for Figure 7 Schematic diagram of the enlarged structure at G in the middle;

[0029] Fig.12 for Figure 1 A schematic diagram of the side structure of

[0030] Fig.13 for Fig.12 Schematic diagram of the enlarged structure at H in the middle;

[0031] Fig.14 It is a structural schematic diagram of the height adjustment unit in the present invention;

[0032] Fig.15 is a schematic cross-sectional structural diagram of a height adjustment unit of the present invention;

[0033] Fig.16 It is a structural schematic diagram of the connection between the first connecting plate and the first connecting rod in the present invention;

[0034] Fig.17 for Fig.16 A schematic diagram of the enlarged structure at position I in the middle;

[0035] Fig.18 It is a schematic cross-sectional structural diagram of the connection between the output tube and the detection tube in the present invention.

[0036] In the figure: 1, main hull; 2, detection tube; 3, connecting frame; 4, first connecting plate; 5, first cylinder; 6, second connecting plate; 7, second cylinder; 8, connecting ring; 9, first spring; 10, first connecting rod; 11, first rotating shaft; 12, second rotating shaft; 13, second connecting rod; 14, first through groove; 15, first moving block; 16, third rotating shaft; 17, first clamping block; 18, first clamping groove; 19, first guide rod; 20, second spring; 21, third connecting plate; 22, first handle; 23, first magnetic plate; 24, jack; 25, plug rod; 26, third connecting rod; 27, second magnetic plate; 28, fourth connecting rod; 29, anti-slip plate; 30, moving plate; 31, magnetic block; 32, marking pump; 33, storage box; 3 4. Feed inlet; 35. Observation panel; 36. Fifth connecting rod; 37. Fourth connecting plate; 38. Feed hose; 39. Output pipe; 40. Long through slot; 41. Short through slot; 42. Anti-drop protrusion; 43. Third cylinder; 44. First adjusting block; 45. Fifth connecting plate; 46. Second adjusting block; 47. Clamping protrusion; 48. Moving slot; 49. First inclined surface; 50. Second inclined surface; 51. First clamping plate; 52. Second clamping slot; 53. Sixth connecting rod; 54. Control center; 55. Push plate; 56. Third clamping slot; 57. Second moving block; 58. Second guide rod; 59. Third spring; 60. Second clamping plate; 61. Fourth clamping slot; 62. Seventh connecting rod; 63. Fourth cylinder; 64. Moving hull. DETAILED DESCRIPTION

[0037] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0038] See also Figure 1-Figure 18 The present invention discloses an unmanned boat device for inspecting the appearance of hydraulic structures, comprising a main hull 1, on which a detection assembly is arranged, wherein the detection assembly comprises a plurality of detection tubes 2 distributed in an array, wherein the plurality of detection tubes 2 are connected to a connecting frame 3 through a first adjusting unit, and the end faces of the plurality of detection tubes 2 are flush with the end faces of the connecting frame, wherein the connecting frame 3 is connected to a first connecting plate 4 through a fitting unit, and the side face of the first connecting plate 4 is connected to the output end of a first cylinder 5, wherein the first cylinder 5 is arranged above the main hull 1, and a depth marking unit is arranged on the connecting frame 3, wherein a fourth cylinder 63 is fixedly connected to the main hull 1 through a seventh connecting rod 62, and a mobile hull 64 is fixedly connected to the output end of the fourth cylinder 63, and wherein the mobile hull 64 can move under the water surface under the power of the fourth cylinder 63.

[0039] A control center 54 is provided on the main hull 1 .

[0040] When the above-mentioned device is actually used, according to naked eye observation, the main hull 1 is moved close to the position where the depression needs to be detected and stops moving. Then, under the action of the fitting unit, the connecting frame 3 is contacted with the side of the dam, and multiple detection tubes 2 are aligned with the depression. Then, with the cooperation of the depth marking unit and the first adjustment unit, the detection tube 2 is driven to move toward the depression, and stops moving after moving to the side wall of the depression. The depth marking unit marks the depth for the convenience of detection personnel to record it. When it is necessary to detect the depression below the water surface, the fourth cylinder 63 drives the mobile hull 64 to sink below the water surface as a whole, which is convenient for detecting the depression below the water surface.

[0041] See also Figure 2 , Fig. 9 , Fig.16 and Fig.17In one embodiment, the bonding unit includes two symmetrically arranged first connecting rods 10, one ends of the two first connecting rods 10 are respectively arranged on both sides of the first connecting plate 4, and the other ends of the two first connecting rods 10 are respectively rotatably connected to both sides of the connecting frame 3, a first rotating shaft 11 passing through the first connecting rod 10 is fixedly connected to the connecting frame 3, two symmetrically arranged second rotating shafts 12 are fixedly connected to the outer side of the upper end of the connecting frame 3, and a second connecting rod 13 is rotatably connected to the outer side of the second rotating shaft 12, and a guide unit is cooperatively arranged between the first connecting plate 4 and the second connecting rod 13.

[0042] The guide unit includes a first through groove 14 provided on the side of the second connecting rod 13, a first moving block 15 is slidably connected in the first through groove 14, third rotating shafts 16 are fixedly connected on both sides of the first connecting plate 4, the third rotating shaft 16 passes through the first moving block 15, a first clamping block 17 is fixedly connected to the lower end of the first moving block 15, a first clamping groove 18 is provided on the first through groove 14 to cooperate with the first clamping block 17, a first guide rod 19 is fixedly connected in the first clamping groove 18, the first guide rod 19 passes through the first clamping block 17, and the side of the first moving block 15 is connected to the inner wall of the first clamping groove 18 through a second spring 20 for providing elastic force Then, the second spring 20 is sleeved on the outer side of the first guide rod 19, a third clamping groove 56 is opened on the first connecting rod 10, second moving blocks 57 are fixedly connected to both sides of the first connecting plate 4, a second guide rod 58 passing through the second moving block 57 is fixedly connected in the third clamping groove 56, the side of the second moving block 57 is connected to the side wall of the third clamping groove 56 through a third spring 59 for providing elastic force, the third spring 59 is sleeved on the outer side of the second guide rod 58, two symmetrically arranged second clamping plates 60 are fixedly connected to the lower end of the first connecting plate 4, and a fourth clamping groove 61 cooperating with the second clamping plate 60 is provided on the second adjusting block 46.

[0043] When the above-mentioned fitting unit is actually used, after the main hull 1 moves to the detection position, the output end of the first cylinder 5 drives the first connecting plate 4 to move, and at this time the second clamping plate 60 moves in the direction of the fourth clamping groove 61. After the end of the first connecting rod 10 connected to the first connecting plate 4 contacts the side wall of the dam, the first connecting plate 4 continues to move. While moving, the second moving block 57 moves along the direction of the second guide rod 58 and compresses the third spring 59. The first moving block 15 moves along the direction of the first guide rod 19, and due to the force of the output end of the first cylinder 5, the first moving block 1 5 rotates around the third rotating shaft 16, driving the second connecting rod 13 to rotate. When the second connecting rod 13 rotates, it drives the connecting frame 3 to rotate around the second rotating shaft 12 and the first rotating shaft 11. The first connecting rod 10 does not rotate. The connecting frame 3 rotates to an inclined angle consistent with the inclined surface of the water retaining dam and fits with the surface of the water retaining dam, which is convenient for the next step of detection and measurement. After the hull leaves the water retaining dam, under the elastic force of the second spring 20 and the third spring 59 and the force of the output end of the first cylinder 5, the first connecting rod 10 and the connecting frame 3 return to their original positions and wait for the next detection operation.

[0044] See also Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig.10 and Fig.11 In one embodiment, the first adjustment unit includes a second connecting plate 6, and the plurality of detection tubes 2 are inserted into the second connecting plate 6. A second cylinder 7 is fixedly connected to the side of the connecting frame 3, and an output end of the second cylinder 7 is connected to the second connecting plate 6. A connecting ring 8 is fixedly connected to the side of the detection tube 2 away from the connecting frame. A first spring 9 for providing elastic force is arranged between the connecting ring 8 and the second connecting plate 6. The first spring 9 is sleeved on the outside of the detection tube 2. When no detection is performed, under the elastic force of the first spring 9, the end surface of the detection tube 2 and the connecting frame 3 are in a flush state.

[0045] The depth marking unit includes a third connecting plate 21, the upper end of the third connecting plate 21 is fixedly connected to a first handle 22, the inner side of the upper end of the connecting frame 3 is fixedly connected to a symmetrically arranged first magnetic plate 23, the first magnetic plate 23 is magnetically connected to the third connecting plate 21, a socket 24 is provided on the first magnetic plate 23, the lower end of the third connecting plate 21 is fixedly connected to two symmetrically arranged plug rods 25, the lower end of the third connecting plate 21 is fixedly connected to a plurality of third connecting rods 26 arranged in an array, and the plurality of third connecting rods 26 are fixedly connected to the third connecting plate 21. A plurality of second magnetic plates 27 corresponding one-to-one to the plurality of detection tubes 2 are fixedly connected to the rods 26, a plurality of fourth connecting rods 28 corresponding one-to-one to the plurality of second magnetic plates 27 are fixedly connected to the plurality of third connecting rods 26, an anti-slip plate 29 is fixedly connected to the end of the fourth connecting rod 28, a movable plate 30 is sleeved on the outer side of the fourth connecting rod 28, a magnetic block 31 is fixedly connected to the side of the movable plate 30, the magnetic block 31 is magnetically connected to the second magnetic plate 27, and a push plate 55 is fixedly connected to the side of the detection tube 2.

[0046] When the above-mentioned depth marking unit is actually used, after the connecting frame 3 is fitted with the side of the water retaining dam, the output end of the second cylinder 7 drives the second connecting plate 6 to move toward one side of the water retaining dam. The detection tube 2 that is not in the recess contacts the side of the water retaining dam and does not move. The detection tube 2 in the recess moves toward the recess under the elastic force of the first spring 9, and is driven by the second connecting plate 6 until it reaches the side of the recess and stops moving. When the detection tube 2 moves, the pushing plate 55 connected to its side moves, driving the moving plate 30 to move in the direction of the fourth connecting rod 28, and as the pushing plate 55 stops moving, the magnetic block 31 and the second magnetic plate 27 limit the position of the moving plate 30. After the depth of a recess is measured, the staff can pull out the third connecting plate 21 together with the third connecting rod 26 at the lower end through the first handle 22, and measure the depth of the recess through the position of the moving plate 30.

[0047] See also Fig.13 and Fig.18 In one embodiment, a position marking unit is provided on the first connecting plate 4.

[0048] The position marking unit includes a marking pump 32 fixedly connected to the side of the first connecting plate 4, the output end of the marking pump 32 is connected to a storage box 33, the storage box 33 is fixedly connected to the side of the first connecting plate 4, a feed port 34 is provided on the storage box 33, an observation panel 35 is provided on the side of the storage box 33, the side of the first connecting plate 4 is fixedly connected to a fourth connecting plate 37 through a fifth connecting rod 36, the fourth connecting plate 37 is connected to the storage box 33 through a feed hose 38, a plurality of output tubes 39 corresponding to the plurality of detection tubes 2 are fixedly connected to the side of the fourth connecting plate 37, the plurality of detection tubes 2 are of a through structure, the output tube 39 is sleeved on the outside of the detection tube 2, a long through groove 40 is provided in the output tube 39, a short through groove 41 is provided in the detection tube 2, and an anti-slip protrusion 42 is provided on the side wall of the detection tube 2.

[0049] When the above-mentioned position marking unit is actually used, when the detection tube 2 is not moving, the long through groove 40 and the short through groove 41 are not in a connected state, and the marking pump 32 cannot spray the marking material in the storage box 33. After the detection tube 2 moves to the position of the depression, the long through groove 40 and the short through groove 41 are in a connected state, and the marking pump 32 can output the marking material in the storage box 33 through the output pipe 39 and the detection tube 2 to the side wall of the depression, thereby marking the position of the depression to facilitate repair by the staff.

[0050] See also Fig.14 and Fig.15 A height adjustment unit is provided between the main hull 1 and the first connecting plate 4.

[0051] The height adjustment unit includes a third cylinder 43 fixedly connected to the main hull 1, the output end of the third cylinder 43 is fixedly connected to the first adjustment block 44, two symmetrically arranged fifth connecting plates 45 are fixedly connected to the mobile hull 64, a second adjustment block 46 is arranged between the two fifth connecting plates 45, both sides of the second adjustment block 46 are fixedly connected with snap-in protrusions 47, the fifth connecting plate 45 is provided with a moving groove 48 that cooperates with the snap-in protrusion 47, the first adjustment block 44 is provided with a first inclined surface 49, the lower end of the second adjustment block 46 is provided with a second inclined surface 50, the first adjustment block 44 is fixedly connected with a first snap-in plate 51, the second adjustment block 46 is provided with a second snap-in groove 52 that cooperates with the first snap-in plate 51, and the first cylinder 5 is connected to the second adjustment block 46 through a sixth connecting rod 53.

[0052] When the above-mentioned height adjustment unit is actually used, when aligning the position of the recessed part, the horizontal position of the first adjustment block 44 is adjusted according to the demand through the power of the output end of the third cylinder 43, and under the action of the first inclined surface 49 and the second inclined surface 50 and the clamping protrusion 47 and the movable groove 48, the position of the second adjustment block 46 in the vertical direction is adjusted, and the height of the second adjustment block 46 is adjusted, and then the height of each component connected to the second adjustment block 46 is adjusted to meet the detection requirements of different heights.

[0053] The specific implementation methods of this embodiment are described above, but this embodiment is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Ordinary technicians in this field can also make many forms inspired by this embodiment, all of which are within the protection of this embodiment.

Claims

1. An unmanned boat device for inspecting the appearance of a hydraulic structure, comprising a main hull (1), characterized in that: The main hull (1) is provided with a detection assembly, the detection assembly comprising a plurality of detection tubes (2) distributed in an array, the plurality of detection tubes (2) being connected to a connection frame (3) via a first adjustment unit, the end surfaces of the plurality of detection tubes (2) being flush with the end surface of the connection frame (3), the connection frame (3) being connected to a first connection plate (4) via a fitting unit, the connection frame (3) being provided with a depth marking unit, the depth marking unit comprising a third connection plate (21), the lower end of the third connection plate (21) being fixedly connected to a plurality of third connection rods (26) arranged in an array ), a plurality of the third connecting rods (26) are fixedly connected to a plurality of second magnetic plates (27) corresponding one-to-one to the plurality of the detection tubes (2), a plurality of the third connecting rods (26) are fixedly connected to a fourth connecting rod (28) corresponding one-to-one to the plurality of the second magnetic plates (27), a movable plate (30) is sleeved on the outer side of the fourth connecting rod (28), a magnetic block (31) is fixedly connected to the side of the movable plate (30), the magnetic block (31) is magnetically connected to the second magnetic plate (27), and a push plate (55) is fixedly connected to the side of the detection tube (2).

2. The unmanned boat device for hydraulic structure appearance inspection according to claim 1 is characterized in that: The main hull (1) is fixedly connected to a fourth cylinder (63) via a seventh connecting rod (62); an output end of the fourth cylinder (63) is fixedly connected to a movable hull (64); and the movable hull (64) can be moved under the water surface under the power of the fourth cylinder (63).

3. The unmanned boat device for hydraulic structure appearance inspection according to claim 1 is characterized in that: The first regulating unit comprises a second connecting plate (6), a plurality of the detection tubes (2) are inserted into the second connecting plate (6), a second cylinder (7) is fixedly connected to the side of the connecting frame (3), an output end of the second cylinder (7) is connected to the second connecting plate (6), a connecting ring (8) is fixedly connected to the side of the detection tube (2) away from the connecting frame (3), a first spring (9) for providing elastic force is arranged between the connecting ring (8) and the second connecting plate (6), and the first spring (9) is sleeved on the outside of the detection tube (2).

4. The unmanned boat device for hydraulic structure appearance inspection according to claim 2 is characterized in that: A height adjustment unit is provided between the main hull (1) and the first connecting plate (4).

5. The unmanned boat device for hydraulic structure appearance inspection according to claim 4, characterized in that: The side surface of the first connecting plate (4) is connected to the output end of the first cylinder (5), the first cylinder (5) is arranged above the main hull (1), the height adjustment unit comprises a third cylinder (43) fixedly connected to the main hull (1), the output end of the third cylinder (43) is fixedly connected to a first adjustment block (44), the mobile hull (64) is fixedly connected to two symmetrically arranged fifth connecting plates (45), a second adjustment block (46) is arranged between the two fifth connecting plates (45), and both sides of the second adjustment block (46) are fixedly connected to clamping protrusions. The fifth connecting plate (45) is provided with a movable groove (48) cooperating with the clamping protrusion (47), the first adjusting block (44) is provided with a first inclined surface (49), the lower end of the second adjusting block (46) is provided with a second inclined surface (50), the first adjusting block (44) is fixedly connected with a first clamping plate (51), the second adjusting block (46) is provided with a second clamping groove (52) cooperating with the first clamping plate (51), and the first cylinder (5) is connected to the second adjusting block (46) via a sixth connecting rod (53).

6. The unmanned boat device for hydraulic structure appearance inspection according to claim 5, characterized in that: The bonding unit comprises two symmetrically arranged first connecting rods (10), one end of the two first connecting rods (10) is respectively arranged on both sides of the first connecting plate (4), and the other ends of the two first connecting rods (10) are rotatably connected to both sides of the connecting frame (3); a first rotating shaft (11) passing through the first connecting rod (10) is fixedly connected to the connecting frame (3); two symmetrically arranged second rotating shafts (12) are fixedly connected to the outer side of the upper end of the connecting frame (3); a second connecting rod (13) is rotatably connected to the outer side of the second rotating shaft (12); and a guiding unit is provided in cooperation between the first connecting plate (4) and the second connecting rod (13), the second adjusting block (46) and the first connecting rod (10).

7. The unmanned boat device for hydraulic structure appearance inspection according to claim 6 is characterized in that: The guide unit comprises a first through groove (14) formed on a side surface of the second connecting rod (13); a first moving block (15) is slidably connected in the first through groove (14); third rotating shafts (16) are fixedly connected on both sides of the first connecting plate (4); the third rotating shaft (16) passes through the first moving block (15); a first clamping block (17) is fixedly connected at the lower end of the first moving block (15); a first clamping groove (18) is formed on the first through groove (14) and cooperates with the first clamping block (17); a first guide rod (19) is fixedly connected in the first clamping groove (18); the first guide rod (19) passes through the first clamping block (17); a side surface of the first moving block (15) is connected to an inner wall of the first clamping groove (18) through a second spring (20) for providing elastic force. The second spring (20) is sleeved on the outer side of the first guide rod (19), the first connecting rod (10) is provided with a third clamping groove (56), the first connecting plate (4) is fixedly connected with second moving blocks (57) on both sides, the third clamping groove (56) is fixedly connected with a second guide rod (58) passing through the second moving block (57), the side of the second moving block (57) is connected to the side wall of the third clamping groove (56) through a third spring (59) for providing elastic force, the third spring (59) is sleeved on the outer side of the second guide rod (58), the lower end of the first connecting plate (4) is fixedly connected with two symmetrically arranged second clamping plates (60), and the second adjusting block (46) is provided with a fourth clamping groove (61) matched with the second clamping plate (60).

8. The unmanned boat device for hydraulic structure appearance inspection according to claim 7, characterized in that: A position marking unit is provided on the first connecting plate (4).

9. The unmanned boat device for hydraulic structure appearance inspection according to claim 8, characterized in that: The position marking unit comprises a marking pump (32) fixedly connected to the side of the first connecting plate (4), the output end of the marking pump (32) is connected to a material storage box (33), the material storage box (33) is fixedly connected to the side of the first connecting plate (4), a material feed port (34) is provided on the material storage box (33), an observation panel (35) is provided on the side of the material storage box (33), the side of the first connecting plate (4) is fixedly connected to a fourth connecting plate (37) via a fifth connecting rod (36), and the fourth connecting plate (37) is connected to the material storage box (33) through a material delivery hose (38), and a plurality of output tubes (39) corresponding to the plurality of detection tubes (2) are fixedly connected to the side of the fourth connecting plate (37), and the plurality of detection tubes (2) are of a through structure. The output tube (39) is sleeved on the outside of the detection tube (2), and a long through groove (40) is provided in the output tube (39), and a short through groove (41) is provided in the detection tube (2). An anti-slip protrusion (42) is provided on the side wall of the detection tube (2).

10. The unmanned boat device for hydraulic structure appearance inspection according to claim 1, characterized in that: A control center (54) is provided on the main hull (1).

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