A floodgate underwater robot maintenance system

Abstract

The present invention relates to an underwater robot maintenance system for a spillway arc gate, comprising a mobile carrier and a feeding device, a maintenance robot, a control console and a crawling assembly arranged on the mobile carrier. The present invention utilizes the maintenance robot to enter the water to perform maintenance on the spillway arc gate, and does not require an operator to set up auxiliary equipment at the spillway arc gate for maintenance. This not only greatly reduces the maintenance time, but also reduces the personnel risks in the maintenance process of the spillway arc gate, thereby achieving the effect of greatly facilitating the maintenance of the spillway arc gate; through the cooperation of a rotating seat, a rotating plate, a rotating motor and a camera, the spillway arc gate inspection is accelerated.

Description

Technical Field

[0001] The present invention relates to the technical field of spillway arc gate maintenance, and in particular to a spillway arc gate underwater robot maintenance system. Background Art

[0002] Spillway gates are flood discharge structures used in water conservancy projects such as reservoirs and dams. Their primary function is to release floodwaters that cannot be accommodated by the planned reservoir capacity, ensuring the safety of the dam. Spillway gates are typically open or have breastwork inlets. They are not typically used frequently, but they are crucial structures in reservoir hubs.

[0003] Spillway gates are critical flood discharge facilities in reservoirs and dams, and their safe and stable operation is directly related to the safety of the reservoir dam. Due to their long-term exposure to the elements, such as water erosion, sun and rain, spillway gates are prone to corrosion and wear. Therefore, regular maintenance is required to extend the service life of the equipment. Currently, maintenance of spillway gates usually requires operators to use stepped curved scaffolding to perform maintenance.

[0004] Operators use stepped curved scaffolding to inspect and repair spillway arc gates, which not only incurs high maintenance costs but also poses significant risks when operating on the spillway arc gates, making repairs inconvenient. In recent years, underwater robots have gradually been adopted to replace manual labor. Underwater robots can complete spillway arc gate inspection, cleaning, and repairs without direct human contact, reducing labor costs and avoiding the dangerous environments that operators may face.

[0005] For example, the "self-adsorption underwater detection and repair intelligent device" disclosed in patent publication number CN116198675A adopts a wheeled crawler independent movement mode. At the same time, considering the adsorption capacity requirements of the device, the wheeled structure is combined with an electromagnetic unit to provide strong adsorption capacity without affecting the flexibility of movement.

[0006] During the repair work on the spillway arch gate, the maintenance robot itself can only carry a limited amount of materials, which cannot meet the large amount of materials required during the repair process. Therefore, an additional mobile carrier is required to transfer the robot and replenish materials. Therefore, multiple trips to shore for replenishment are required during the same operation. In addition, the maintenance robot may not be able to quickly and accurately find the previous work location after returning, which seriously affects the efficiency and continuity of the repair work. Summary of the Invention

[0007] In view of the deficiencies in the prior art, the present invention provides a spillway arc gate underwater robot maintenance system to solve the above problems.

[0008] The present invention provides the following technical solutions:

[0009] A spillway arc gate underwater robot maintenance system, comprising:

[0010] A mobile carrier includes a mobile platform and a mobile part, wherein the mobile platform is mounted on the mobile part, the mobile part is used to drive the mobile platform to move, and a placement rack is mounted on the mobile platform;

[0011] A feeding device, comprising a stirring assembly, a conveying pipe, and a conveying member, wherein the stirring assembly is mounted on the movable platform, the conveying pipe is connected to the stirring assembly, and the conveying member is connected to the conveying pipe to convey the material stirred in the stirring assembly through the conveying pipe;

[0012] The maintenance robot comprises a main body, a control component, a driving component, and a visual component. The main body is placed on the placement rack, the control component is installed in the main body, the driving component is installed on the main body, the visual component is installed at one end of the main body, and the driving component and the visual component are both electrically connected to the control component. The discharge port of the conveying pipe is installed on the main body.

[0013] A control console is installed on the moving platform, and the control component and the conveying component are both electrically connected to the control console.

[0014] By adopting the above technical solution, the mobile platform is moved to the vicinity of the spillway arc gate that needs maintenance using the moving parts, and then the maintenance robot is placed in the water. The control console sends instructions to the control parts, so that the driving parts continuously drive the main body to move along the surface of the spillway arc gate in the water, and the situation of the spillway arc gate is transmitted back to the control console through the visual parts, and the situation of the spillway arc gate is checked using the information transmitted back by the visual parts.

[0015] When damage is found in the spillway arc gate, the conveying part is started. At this time, the stirring component transports the stirred sealing material along the conveying pipe to the damaged part in front of the maintenance robot, so that the damaged part of the spillway arc gate can be repaired with the sealing material.

[0016] By using a maintenance robot to enter the water to inspect the spillway arc gate, there is no need for operators to set up auxiliary equipment at the spillway arc gate for maintenance. This not only greatly reduces the maintenance time, but also reduces the personnel risks during the maintenance of the spillway arc gate, thereby greatly facilitating the maintenance of the spillway arc gate.

[0017] The mixing assembly on shore transports materials to the underwater maintenance robot in real time through a conveying pipe to repair the spillway arc gate. There is no need to travel back and forth to shore to replenish materials multiple times, and the maintenance robot can continuously repair the spillway arc gate, thereby improving the efficiency of the repair operation.

[0018] Optionally, a conveying winch is rotatably connected to the movable platform, and the conveying winch is located below the placement rack. A driving motor is installed at the axis of one end of the conveying winch, and the driving motor is used to drive the conveying winch to rotate. The conveying pipe is wound around the conveying winch, and a pipe-straightening fitting is also installed on the placement rack. The pipe-straightening fitting is used to evenly wind the conveying pipe around the conveying winch.

[0019] By adopting the above technical solution, the setting of the conveying winch is utilized to facilitate the storage of the conveying pipe. During use, the driving motor is utilized to drive the conveying winch for unwinding, thereby facilitating the movement of the maintenance robot in the water. When a damaged area is detected, the conveying pipe connected to the stirring assembly is connected to the conveying pipe wound on the conveying winch, and the conveying member can be utilized to convey the plugging material stirred in the stirring assembly to the damaged area for sealing.

[0020] Optionally, the pipe-shunting member includes a guide rod, a driving rod, a pipe-shunting block, a driving wheel, a transmission wheel and a transmission belt. The guide rod is fixedly connected to the placement rack, the driving rod is a reciprocating screw, the driving rod is rotatably connected to the placement rack, and the driving rod and the guide rod are arranged parallel to each other, one end of the pipe-shunting block is slidingly connected to the guide rod, and the other end is threadedly connected to the driving rod; the driving wheel is coaxially fixedly connected to the rotating shaft of the conveying winch, the transmission wheel is coaxially fixedly connected to the driving rod, and the transmission belt is respectively wound around the driving wheel and the transmission wheel.

[0021] By adopting the above technical solution, when the driving motor drives the conveying capstan to reel in, the conveying capstan rotates to drive the driving wheel, the driving wheel rotates through the transmission belt, the driving wheel rotates to drive the driving rod, and the driving rod rotates to drive the pipe block threadedly connected to the driving rod to move back and forth along the length direction of the guide rod, thereby rewinding the conveying pipe wound by the conveying capstan back and forth and winding it on the conveying capstan, so that the conveying pipe is wound more evenly on the conveying capstan.

[0022] Optionally, a control cable is connected between the control component and the console, and a winding component is installed at one end of the placement rack, and the winding component is used to wind up the control cable.

[0023] By adopting the above technical solution, the arrangement of the control cable facilitates power supply and communication between the control component and the console, while the arrangement of the reel facilitates the arrangement of the control cable.

[0024] Optionally, the winding member includes a winding roller, which is rotatably connected to the placement rack, and the control cable is wound around the winding roller. A winding motor is installed on one side of the winding roller, and the output shaft of the winding motor is coaxially fixedly connected to the rotating shaft of the winding roller. A line-aligning member is also installed on the placement rack, and the line-aligning member is used to evenly wind the control cable around the winding roller.

[0025] By adopting the above technical solution, when the control cable needs to be reeled in, the reeling motor drives the reeling roller to rotate, and the reeling roller rotates to continuously wind the control cable around the reeling roller. At the same time, the line-aligning member makes the control cable wound around the reeling roller more evenly.

[0026] Optionally, the alignment member includes a fixed rod, a rotating rod, a alignment block, a driving wheel, a driven wheel and a connecting belt, the fixed rod is fixedly connected to the placement frame, the rotating rod is a reciprocating screw, the rotating rod is rotatably connected to the placement frame, and the fixed rod and the rotating rod are arranged parallel to each other, one end of the alignment block is slidingly connected to the fixed rod, and the other end is threadedly connected to the rotating rod; the driving wheel is coaxially fixedly connected to the rotating shaft of the winding roller, the driven wheel is coaxially fixedly connected to the rotating rod, and the connecting belt is respectively wound around the driving wheel and the driven wheel.

[0027] By adopting the above technical solution, when the winding motor drives the winding roller to rewind the control cable, the rotation of the winding roller drives the active wheel to rotate, the rotation of the active wheel drives the driven wheel to rotate through the connecting belt, the rotation of the driven wheel drives the rotating rod to rotate, and the rotation of the rotating rod drives the linear block threadedly connected to the rotating rod to move back and forth along the length direction of the fixed rod, so that the control cable wound on the winding roller moves back and forth and is wound on the winding roller, so that the control cable is wound more evenly on the winding tube.

[0028] Optionally, the visual component includes a rotating seat, a rotating plate, a rotating motor and a camera, the rotating seat is fixedly connected to the main body, the rotating plate is rotatably connected to the rotating seat, the rotating motor is fixedly connected to the rotating seat and the output shaft of the rotating motor is coaxially fixedly connected to the rotating axis of the rotating plate, the camera is fixedly connected to the rotating plate, and the camera faces the discharge port of the conveying pipe.

[0029] By adopting the above technical solution, the rotating plate is driven to rotate by a rotating motor, thereby controlling the camera to adjust the illumination angle, which makes it easier for the operator to observe the robot's working environment in a wider range, making the inspection of the spillway arc gate faster. At the same time, the blocking condition of the discharge port can be observed through the camera, making the blocking effect better.

[0030] Optionally, it also includes a cleaning arm, which is installed on the main body, and the cleaning arm and the discharge port of the conveying pipe are located on the same side of the main body, and the cleaning arm is electrically connected to the control component so that the control component controls the cleaning arm to clean; the cleaning arm includes a hydraulic turntable, a main arm, a small arm and a clamping claw assembly, the hydraulic turntable is fixedly connected to the main body, the main arm is hinged on the hydraulic turntable, and a main hydraulic cylinder is installed between the main arm and the hydraulic turntable, the small arm is hinged on the main arm, and an auxiliary hydraulic cylinder is installed on the diameter of the small arm and the main arm, and the clamping claw assembly is fixedly connected to the end of the small arm away from the main arm, and the hydraulic turntable, the main hydraulic cylinder and the auxiliary hydraulic cylinder are all electrically connected to the control component.

[0031] The setting of the cleaning arm makes it easy to clean up the garbage at the damaged part of the spillway arc gate.

[0032] By adopting the above technical solution, the main arm can be driven to rotate by controlling the rotation of the hydraulic turntable using the control component, and then the main hydraulic cylinder is used to control the bending of the main arm and the hydraulic turntable. At the same time, the auxiliary hydraulic cylinder controls the bending of the forearm and the main arm, thereby controlling the gripper assembly to move freely at the front end of the machine body.

[0033] Optionally, a blocking plate is provided on one side of the placement rack, and the blocking plate is located directly above the console.

[0034] By adopting the above technical solution, the setting of the shielding plate prevents direct sunlight from shining on the console, thereby facilitating the operator's control of the console. At the same time, the setting of the shielding plate also prevents water droplets on the maintenance robot from falling onto the console and damaging it when the maintenance robot is recovered.

[0035] The crawling assembly includes a magnetic component, a pulley group and an elastic component. The magnetic component and the pulley group are both installed at the bottom of the main body. An elastic component is installed between the pulley group and the main body so that when the magnetic component is adsorbed, the pulley group can move toward the main body to compress the elastic component.

[0036] The present invention has the following beneficial technical effects:

[0037] The present invention utilizes a maintenance robot to enter the water to perform maintenance on the spillway arc gate through the coordination of a moving platform, a moving part, a stirring assembly, a conveying pipe, a conveying part, a main body, a control part, a driving part, a visual part, and a control console. This eliminates the need for operators to set up auxiliary equipment at the spillway arc gate for maintenance. This not only greatly reduces maintenance time, but also reduces personnel risks during the maintenance process of the spillway arc gate, thereby greatly facilitating the maintenance of the spillway arc gate.

[0038] Through the coordination of the guide rod, driving rod, pipe straightening block, driving wheel, transmission wheel and transmission belt, the conveying pipe is wound more evenly on the conveying capstan.

[0039] Through the cooperation of the rotating seat, the rotating plate, the rotating motor and the camera, the inspection speed of the spillway arc gate is faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic structural diagram of the present invention;

[0041] Figure 2 This is a schematic structural diagram of the placement rack and the pipe fittings of the present invention;

[0042] Figure 3 It is a structural schematic diagram of the winding member and the line-aligning member of the present invention;

[0043] Figure 4 It is a structural schematic diagram of the maintenance robot of the present invention;

[0044] Figure 5 It is a schematic diagram of the structure of the crawling component of the present invention;

[0045] Figure 6 yes Figure 5 AA direction cross-sectional view.

[0046] The reference numerals in the figures are:

[0047] 1. Mobile carrier; 11. Mobile platform; 12. Mobile parts; 13. Placement rack; 14. Shielding plate; 2. Feeding device; 21. Mixing assembly; 22. Conveying pipe; 23. Conveying parts; 3. Maintenance robot; 31. Main body; 32. Control part; 33. Driving part; 34. Visual part; 341. Rotating seat; 342. Rotating plate; 343. Rotating motor; 344. Camera; 35. Control cable; 4. Control console; 5. Conveying capstan; 51. Driving motor; 6. Pipe straightening part; 61. Guide rod; 62. Driving rod; 63. Pipe straightening block; 64. Driving wheel; 65. Transmission wheel; 66. Transmission belt; 7. Winding part; 71. Winding roller; 72. Winding motor; 8. Alignment member; 81. Fixed rod; 82. Rotating rod; 83. Alignment block; 84. Driving wheel; 85. Driven wheel; 86. Connecting belt; 9. Cleaning arm; 91. Hydraulic turntable; 92. Main arm; 93. Forearm; 94. Gripping claw assembly; 95. Main hydraulic cylinder; 96. Auxiliary hydraulic cylinder; 10. Crawling assembly; 101. Magnetic member; 1011. Spherical bearing; 1012. Joint rod; 1013. Electromagnet; 102. Pulley block; 1021. Sliding rod; 1022. Rolling seat; 1023. Ball; 103. Elastic member; 104. Mounting table; 1041. Mounting slot. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] Example:

[0050] A floodgate underwater robot maintenance system, such as Figure 1-4 As shown:

[0051] The system comprises a mobile carrier 1, a feeding device 2, a maintenance robot 3, a control console 4, and a crawling assembly 10. The mobile carrier 1 comprises a mobile platform 11 and a moving member 12. The mobile platform 11 is mounted on the moving member 12, and a placement rack 13 is mounted on the mobile platform 11. The feeding device 2 comprises a stirring assembly 21, a conveying pipe 22, and a conveying member 23. The stirring assembly 21 is mounted on the mobile platform 11, the conveying pipe 22 is connected to the stirring assembly 21, and the conveying member 23 is connected to the conveying pipe 22.

[0052] The maintenance robot 3 includes a main body 31, a control unit 32, a drive unit 33, and a visual unit 34. The main body 31 is placed on the mounting frame 13, the control unit 32 is installed inside the main body 31, and the drive unit 33 is installed on the main body 31 for underwater movement. The visual unit 34 is installed at one end of the main body 31, and both the drive unit 33 and the visual unit 34 are electrically connected to the control unit 32. The discharge port of the conveying pipe 22 is installed on the main body 31. The control console 4 is mounted on the mobile platform 11, and the control unit 32 and the conveying unit 23 are both electrically connected to the control console 4. Using the maintenance robot 3 to enter the water to inspect the spillway arc gate reduces the operator's risk of dangerous operations, greatly facilitating the inspection of the spillway arc gate.

[0053] The moving part 12 in this embodiment is a flatbed truck, and the moving platform 11 is located behind the flatbed truck. When the spillway arc gate needs to be inspected and maintained, the operator only needs to drive the flatbed truck to the vicinity of the spillway arc gate to move the maintenance robot 3 into the water for inspection and maintenance. The feeding device 2, the maintenance robot 3 and the control console 4 are transported by the flatbed truck to facilitate the transfer and storage of the maintenance system.

[0054] The stirring component 21 is close to the front of the moving part 12, that is, the stirring component 21 is close to the center part of the moving part 12. Since the stirring component 21 needs to stir the blocking material, the stirring component 21 is set in the center part of the moving part 12, so that when the stirring component 21 stirs the blocking material, the flatbed truck as a whole is more stable. The stirring component 21 in this embodiment is a conventional stirring equipment, so it is not necessary to describe it in detail in this embodiment.

[0055] The conveying member 23 is a screw pump, which is used to convey the blocking material in the conveying pipe 22 connected to the stirring assembly 21, thereby conveying the blocking material to the damaged part of the spillway arc gate.

[0056] The console 4 is mounted at the rear of the moving member 12 , and a screen of the console 4 is positioned away from the stirring assembly 21 , so that an operator at the rear of the moving member 12 can directly operate the console 4 .

[0057] The rack 13 is located between the stirring assembly 21 and the control console 4. A shielding plate 14 is provided on one side of the rack 13 and is located directly above the control console 4. The shielding plate 14 prevents direct sunlight from shining on the control console 4, thereby facilitating the operator's control of the control console 4. The shielding plate 14 also prevents water droplets from dripping onto the control console 4 during the recovery of the maintenance robot 3, thereby preventing damage to the control console 4.

[0058] Reference Figure 1 and Figure 2 A conveying capstan 5 is rotatably connected to the movable platform 11. The conveying capstan 5 is located below the placement rack 13. A driving motor 51 is installed at the axis of one end of the conveying capstan 5. The driving motor 51 is used to drive the conveying capstan 5 to rotate. The conveying pipe 22 is wound around the conveying capstan 5. The setting of the conveying capstan 5 facilitates the storage of the conveying pipe 22.

[0059] During use, the driving motor 51 is used to drive the conveying winch 5 to unwind, so as to facilitate the movement of the maintenance robot 3 in the water. When the damaged area is checked, the conveying pipe 22 connected to the stirring component 21 is connected to the conveying pipe 22 wound on the conveying winch 5, and the conveying part 23 can be used to convey the sealing material stirred in the stirring component 21 to the damaged area for sealing.

[0060] After use, the driving motor 51 is used to drive the conveying capstan 5 to reel in the conveying tube 22 , so that the conveying tube 22 can be wound around the conveying capstan 5 , thereby achieving the effect of facilitating the storage of the conveying tube 22 .

[0061] The placement rack 13 is also equipped with a pipe fitting 6, which includes a guide rod 61, a drive rod 62, a pipe fitting block 63, a drive wheel 64, a transmission wheel 65, and a transmission belt 66. The guide rod 61 is fixedly connected to the placement rack 13, and the drive rod 62 is a reciprocating screw. The drive rod 62 is rotatably connected to the placement rack 13, and the drive rod 62 and the guide rod 61 are arranged parallel to each other. One end of the pipe fitting block 63 is slidably connected to the guide rod 61, and the other end is threadedly connected to the drive rod 62; the drive wheel 64 is coaxially fixedly connected to the rotating shaft of the conveying capstan 5, and the transmission wheel 65 is coaxially fixedly connected to the drive rod 62. The transmission belt 66 is respectively wound around the drive wheel 64 and the transmission wheel 65. The arrangement of the pipe fitting 6 allows the conveying pipe 22 to be more evenly wound around the conveying capstan 5.

[0062] When the driving motor 51 drives the conveying capstan 5 to reel in, the conveying capstan 5 rotates to drive the driving wheel 64, and the driving wheel 64 rotates through the transmission belt 66 to drive the transmission wheel 65 to rotate, and the transmission wheel 65 rotates to drive the driving rod 62 to rotate, and the driving rod 62 rotates to drive the pipe block 63 threadedly connected to the driving rod 62 to move back and forth along the length direction of the guide rod 61, thereby reciprocating the conveying pipe 22 reeled in by the conveying capstan 5 and reeling it on the conveying capstan 5, so that the conveying pipe 22 is reeled in more evenly on the conveying capstan 5.

[0063] A control cable 35 is connected between the control component 32 and the console 4. The maintenance robot 3 in this embodiment is not only controlled by the control cable 35, but also powered by the control cable 35. The setting of the control cable 35 facilitates power supply and communication between the control component 32 and the console 4.

[0064] To facilitate storage of the control cable 35, a reel 7 is mounted at one end of the placement frame 13. The reel 7 includes a reel 71, which is rotatably connected to the placement frame 13. The control cable 35 is wound around the reel 71. A reel motor 72 is mounted on one side of the reel 71. The output shaft of the reel motor 72 is coaxially fixedly connected to the rotation shaft of the reel 71. When the control cable 35 is stored, the reel motor 72 drives the reel 71 to rotate. The reel 71 rotates continuously to wind the control cable 35 around the reel 71, thereby completing the storage of the control cable 35.

[0065] Reference Figure 3, a line-aligning member 8 is also installed on the placement frame 13, and the line-aligning member 8 includes a fixed rod 81, a rotating rod 82, a line-aligning block 83, a driving wheel 84, a driven wheel 85 and a connecting belt 86. The fixed rod 81 is fixedly connected to the placement frame 13, and the rotating rod 82 is a reciprocating screw. The rotating rod 82 is rotatably connected to the placement frame 13, and the fixed rod 81 and the rotating rod 82 are arranged parallel to each other. One end of the line-aligning block 83 is slidingly connected to the fixed rod 81, and the other end is threadedly connected to the rotating rod 82; the driving wheel 84 is coaxially fixedly connected to the rotating shaft of the winding roller 71, and the driven wheel 85 is coaxially fixedly connected to the rotating rod 82. The connecting belt 86 is respectively wound around the driving wheel 84 and the driven wheel 85. The setting of the line-aligning member 8 makes the control cable 35 more evenly wound around the winding roller 71.

[0066] When the winding motor 72 drives the winding roller 71 to rewind the control cable 35, the winding roller 71 rotates to drive the driving wheel 84 to rotate, and the driving wheel 84 rotates through the connecting belt 86 to drive the driven wheel 85 to rotate, and the driven wheel 85 rotates to drive the rotating rod 82 to rotate. The rotation of the rotating rod 82 drives the linear block 83 threadedly connected to the rotating rod 82 to move back and forth along the length direction of the fixed rod 81, so that the control cable 35 wound on the winding roller 71 moves back and forth and is wound on the winding roller 71, so that the control cable 35 is wound more evenly on the winding tube.

[0067] Reference Figure 4 The driving member 33 of the maintenance robot 3 is a driving blade. In this embodiment, there are 8 driving blades, 4 of which are arranged vertically to facilitate the body to float and dive, and the other 4 driving blades are distributed horizontally to facilitate the body to turn and move forward in the water.

[0068] Visual component 34 includes a rotating base 341, a rotating plate 342, a rotating motor 343, and a camera 344. Rotating base 341 is fixedly connected to main body 31, rotating plate 342 is rotatably connected to rotating base 341, rotating motor 343 is fixedly connected to rotating base 341, and the output shaft of rotating motor 343 is coaxially fixedly connected to the rotating shaft of rotating plate 342. Camera 344 is fixedly connected to rotating plate 342 and faces the discharge port of conveying pipe 22. Using visual transmission from camera 344 to inspect the spillway arc gate makes inspection of the spillway arc gate simpler and more convenient.

[0069] When camera 344 inspects the spillway arc gate, motor 343 drives rotating plate 342 to rotate, thereby controlling camera 344 to adjust its illumination angle. This allows the operator to observe a wider range of the robot's working environment, speeding up the inspection of the spillway arc gate. Furthermore, while repairing the spillway arc gate, maintenance robot 3 can also use camera 344 to observe the blockage of the discharge port, ensuring a more complete sealing effect of the blocking material.

[0070] When the damaged portion of the spillway arc gate is penetrated, water will seep through it, causing debris in the water flow to become clogged at the damaged portion. This debris needs to be cleaned out while the damaged portion is being sealed. Therefore, in this embodiment, a cleaning arm 9 is also mounted on the main body 31. The cleaning arm 9 and the discharge port of the conveying pipe 22 are located on the same side of the main body 31. The provision of the cleaning arm 9 facilitates the removal of debris from the damaged portion of the spillway arc gate.

[0071] The cleaning arm 9 includes a hydraulic turntable 91, a main arm 92, a small arm 93, and a clamping claw assembly 94. The hydraulic turntable 91 is fixedly connected to the main body 31. The main arm 92 is hinged on the hydraulic turntable 91, and a main hydraulic cylinder 95 is installed between the main arm 92 and the hydraulic turntable 91. The small arm 93 is hinged on the main arm 92, and an auxiliary hydraulic cylinder 96 is installed on the diameter of the small arm 93 and the main arm 92. The clamping claw assembly 94 is fixedly connected to the end of the small arm 93 away from the main arm 92. The hydraulic turntable 91, the main hydraulic cylinder 95, and the auxiliary hydraulic cylinder 96 are all electrically connected to the control unit 32. The control unit 32 is used to control the movement of the hydraulic turntable 91, the main hydraulic cylinder 95, and the auxiliary hydraulic cylinder 96, thereby controlling the cleaning arm 9 to clean up the garbage at the damaged part of the spillway arc gate. The clamping claw assembly 94 can adopt a two-finger clamping claw or a three-finger clamping claw structure.

[0072] The main arm 92 can be driven to rotate by controlling the hydraulic turntable 91 to rotate through the control component 32, and then the main hydraulic cylinder 95 is used to control the bending of the main arm 92 and the hydraulic turntable 91. At the same time, the auxiliary hydraulic cylinder 96 controls the bending of the small arm 93 and the main arm 92, thereby controlling the clamping claw assembly 94 to be able to move freely at the front end of the machine body, and then the clamping claw assembly 94 is used to clamp the garbage at the damaged part of the spillway arc gate, thereby completing the cleaning of the garbage at the damaged part of the spillway arc gate.

[0073] The crawler assembly 10 includes a magnetic element 101, a pulley assembly 102, and an elastic element 103. Both the magnetic element 101 and the pulley assembly 102 are mounted on the bottom of the main body 31, with the elastic element 103 installed between the pulley assembly 102 and the main body 31. When repairing a damaged area of ​​the spillway arc gate, the robot only needs to be controlled to reach the damaged area to perform the repair, greatly reducing the risk of repairing the spillway arc gate.

[0074] Several mounting platforms 104 are installed at the bottom of the main body 31. In this embodiment, the main body 31 is arranged in a rectangular shape, so there are four mounting platforms 104, which are distributed in a rectangular shape at the bottom of the main body 31. Several mounting grooves 1041 are opened on the mounting platform 104, and the magnetic attraction part 101 and the pulley assembly 102 are respectively installed in the mounting grooves 1041.

[0075] The setting of the mounting platform 104 and the mounting groove 1041 enables the magnetic component 101 and the pulley block 102 to be modularly assembled during installation and disassembly, thereby realizing the modular installation of the magnetic component 101 and the pulley block 102, facilitating the maintenance and replacement of the magnetic component 101 and the pulley block 102, and improving the durability and ease of maintenance of the robot.

[0076] The magnetic elements 101 and pulley blocks 102 on the same mounting platform 104 are staggered around the axis of the mounting platform 104. In this embodiment, six mounting slots 1041 are provided on the same mounting platform 104, so each mounting platform 104 is equipped with three magnetic elements 101 and three pulley blocks 102. The staggered arrangement of magnetic elements 101 and pulley blocks 102 helps the robot distribute suction more evenly across the spillway arc, improving the stability of the main body 31's suction and the balance of its movement.

[0077] Reference Figure 5 and Figure 6 The magnetic component 101 includes a joint bearing 1011, a joint rod 1012, and an electromagnet 1013. The joint bearing 1011 is installed in the installation groove 1041. The joint rod 1012 is connected to the joint bearing 1011 and extends away from the main body 31. The electromagnet 1013 is fixedly connected to the side of the joint rod 1012 away from the main body 31. The setting of the joint bearing 1011 allows the joint rod 1012 to change its angle slightly, thereby controlling the angle at which the electromagnet 1013 fits with the spillway arc gate. This allows the electromagnet 1013 to be firmly adsorbed on the surface of the spillway arc gate, improving the stability and safety of the robot.

[0078] The pulley assembly 102 includes a sliding rod 1021, a rolling seat 1022, and a ball bearing 1023. The sliding rod 1021 is slidably connected to the mounting slot 1041. The rolling seat 1022 is fixedly connected to the side of the sliding rod 1021 away from the main body 31. The ball bearing 1023 is mounted within the rolling seat 1022 and protrudes from the rolling seat 1022 on the side away from the main body 31. The portion of the ball bearing 1023 that protrudes from the rolling seat 1022 contacts the overflow arc gate, preventing the main body 31 from colliding with the overflow arc gate when the robot approaches it. This makes the robot's overall movement more flexible, reduces friction, and improves mobility efficiency.

[0079] In order to avoid the pulley group 102 obstructing the magnetic part 101 when the magnetic part 101 is adsorbed, resulting in a gap between the magnetic part 101 and the spillway arc gate and weakening the magnetic adsorption effect, an elastic part 103 is provided to reduce the obstruction of the pulley group 102 on the adsorption of the magnetic part 101. At the same time, the elastic part 103 can also play a buffering role when the pulley group 102 contacts the spillway arc gate.

[0080] The elastic member 103 includes a return spring 1031, which is mounted on the rolling rod. One end of the return spring 1031 abuts the rolling seat 1022, and the other end abuts the mounting platform 104. The arrangement of the return spring 1031 allows the magnetic member 101 to compress the return spring 1031 when the robot needs to be positioned on the spillway arc gate. This reduces the gap between the magnetic member 101 and the spillway arc gate, ensuring a more stable attachment of the magnetic member 101 to the spillway arc gate.

[0081] Use the moving part 12 to move the moving platform 11 to the vicinity of the spillway arc gate that needs to be inspected, then put the inspection robot 3 into the water, operate the control console 4, and send instructions to the control part 32 through the control console 4, so that the driving part 33 continuously drives the main body 31 to move along the surface of the spillway arc gate in the water, and controls the field of view of the camera 344 by controlling the rotating motor 343, and transmits the situation of the spillway arc gate through the field of view of the camera 344 back to the control console 4, and uses the information transmitted back by the camera 344 to check the situation of the spillway arc gate.

[0082] When damage is discovered on the spillway arc gate, the control unit 32 first controls the hydraulic turntable 91, main hydraulic cylinder 95, and auxiliary hydraulic cylinder 96. The hydraulic turntable 91, main arm 92, small arm 93, and gripper assembly 94 work together to clean up the debris at the damaged area. The conveyor 23 is then activated, and the stirring assembly 21 delivers the stirred plugging material along the conveying pipe 22 to the damaged area in front of the maintenance robot 3, where it is then used to repair the damaged area.

[0083] The maintenance robot 3 is used to enter the water to perform maintenance on the spillway arc gate. There is no need for operators to set up auxiliary equipment at the spillway arc gate for maintenance. This not only greatly reduces the maintenance time, but also reduces the personnel risks during the maintenance of the spillway arc gate, thereby greatly facilitating the maintenance of the spillway arc gate.

[0084] The above-described embodiments merely represent specific implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. A floodgate underwater robot maintenance system, characterized in that: include: Mobile vehicle (1); A feeding device (2) comprises a stirring assembly (21), a conveying pipe (22) and a conveying member (23), wherein the stirring assembly (21) is mounted on the mobile carrier (1), the conveying pipe (22) is connected to the stirring assembly (21), and the conveying member (23) is connected to the conveying pipe (22) so as to convey the material stirred in the stirring assembly (21) through the conveying pipe (22); A maintenance robot (3) comprises a main body (31), a control member (32), a driving member (33) and a visual member (34), wherein the control member (32) is installed in the main body (31), the driving member (33) is installed on the main body (31), the visual member (34) is installed at one end of the main body (31), and the driving member (33) and the visual member (34) are both electrically connected to the control member (32), and the discharge port of the conveying pipe (22) is installed on the main body (31); A control console (4) is installed on the mobile carrier (1), and the control component (32) and the conveying component (23) are both electrically connected to the control console (4); The mobile carrier (1) comprises a mobile platform (11) and a mobile member (12), wherein the mobile platform (11) is mounted on the mobile member (12), the mobile member (12) is used to drive the mobile platform (11) to move, and a placement rack (13) is mounted on the mobile platform (11), and the placement rack (13) is used to place the main body (31); A conveying capstan (5) is rotatably connected to the movable platform (11), and the conveying capstan (5) is located below the placement rack (13). A driving motor (51) is installed at the axis of one end of the conveying capstan (5), and the driving motor (51) is used to drive the conveying capstan (5) to rotate. The conveying pipe (22) is wound around the conveying capstan (5), and a pipe-aligning member (6) is also installed on the placement rack (13). The pipe-aligning member (6) is used to evenly wind the conveying pipe (22) around the conveying capstan (5). The crawling assembly (10) further comprises a magnetic component (101), a pulley block (102) and an elastic component (103). The magnetic component (101) and the pulley block (102) are both mounted on the bottom of the main body (31). An elastic component (103) is mounted between the pulley block (102) and the main body (31) so that when the magnetic component (101) is adsorbed, the pulley block (102) can move toward the main body (31) to compress the elastic component (103).

2. The floodgate underwater robot maintenance system according to claim 1, characterized in that: The pipe-shunting member (6) includes a guide rod (61), a driving rod (62), a pipe-shunting block (63), a driving wheel (64), a transmission wheel (65) and a transmission belt (66). The guide rod (61) is fixedly connected to the placement frame (13). The driving rod (62) is a reciprocating screw. The driving rod (62) is rotatably connected to the placement frame (13), and the driving rod (62) and the guide rod (61) are arranged parallel to each other. One end of the pipe-shunting block (63) is slidably connected to the guide rod (61), and the other end is threadedly connected to the driving rod (62); the driving wheel (64) is coaxially fixedly connected to the rotating shaft of the conveying winch (5), and the transmission wheel (65) is coaxially fixedly connected to the driving rod (62). The transmission belt (66) is respectively wound around the driving wheel (64) and the transmission wheel (65).

3. The floodgate underwater robot maintenance system according to claim 1, characterized in that: A control cable (35) is connected between the control component (32) and the console (4), and a reel (7) is installed at one end of the placement rack (13), and the reel (7) is used to reel the control cable (35).

4. The floodgate underwater robot maintenance system according to claim 3 is characterized by: The winding member (7) includes a winding roller (71), the winding roller (71) is rotatably connected to the placement frame (13), the control cable (35) is wound on the winding roller (71), a winding motor (72) is installed on one side of the winding roller (71), the output shaft of the winding motor (72) is coaxially fixedly connected to the rotating shaft of the winding roller (71), and a line-aligning member (8) is also installed on the placement frame (13), and the line-aligning member (8) is used to evenly wind the control cable (35) on the winding roller (71).

5. The floodgate underwater robot maintenance system according to claim 4 is characterized in that: The line-aligning member (8) comprises a fixed rod (81), a rotating rod (82), a line-aligning block (83), a driving wheel (84), a driven wheel (85) and a connecting belt (86); the fixed rod (81) is fixedly connected to the placement frame (13); the rotating rod (82) is a reciprocating screw; the rotating rod (82) is rotatably connected to the placement frame (13); and the fixed rod (81) and the rotating rod (82) are arranged parallel to each other; one end of the line-aligning block (83) is slidably connected to the fixed rod (81), and the other end is threadedly connected to the rotating rod (82); the driving wheel (84) is coaxially fixedly connected to the rotating shaft of the winding roller (71); the driven wheel (85) is coaxially fixedly connected to the rotating rod (82); and the connecting belt (86) is respectively wound around the driving wheel (84) and the driven wheel (85).

6. The spillway arc gate underwater robot maintenance system according to claim 1, characterized in that: The visual component (34) includes a rotating seat (341), a rotating plate (342), a rotating motor (343) and a camera (344), wherein the rotating seat (341) is fixedly connected to the main body (31), the rotating plate (342) is rotatably connected to the rotating seat (341), the rotating motor (343) is fixedly connected to the rotating seat (341), and the output shaft of the rotating motor (343) is coaxially fixedly connected to the rotating shaft of the rotating plate (342), and the camera (344) is fixedly connected to the rotating plate (342), and the camera (344) faces the discharge port of the conveying pipe (22).

7. The spillway arc gate underwater robot maintenance system according to claim 1, characterized in that: It also includes a cleaning arm (9) mounted on the main body (31), the cleaning arm (9) and the discharge port of the conveying pipe (22) are located on the same side of the main body (31), and the cleaning arm (9) is electrically connected to the control member (32) so that the control member (32) controls the cleaning arm (9) to perform cleaning; The cleaning arm (9) includes a hydraulic turntable (91), a main arm (92), a small arm (93) and a clamping claw assembly (94), wherein the hydraulic turntable (91) is fixedly connected to the main body (31), the main arm (92) is hinged on the hydraulic turntable (91), and a main hydraulic cylinder (95) is installed between the main arm (92) and the hydraulic turntable (91), the small arm (93) is hinged on the main arm (92), and an auxiliary hydraulic cylinder (96) is installed on the diameter of the small arm (93) and the main arm (92), and the clamping claw assembly (94) is fixedly connected to one end of the small arm (93) away from the main arm (92), and the hydraulic turntable (91), the main hydraulic cylinder (95) and the auxiliary hydraulic cylinder (96) are all electrically connected to the control component (32).

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