Underwater facility leakage inspection equipment

Abstract

The invention relates to leakage inspection equipment for underwater facilities. The leakage inspection equipment comprises a mechanical arm and a camera which are mounted on an underwater robot, a powder feeding device is arranged at the output tail end of the mechanical arm and comprises a sleeve, a fixed plate fixed in the sleeve and a rotating arm driven by a rotating motor to rotate, a sliding column is slidably connected to the rotating arm, a sliding groove of a vortex structure is formed in the fixed plate, and a plurality of powder feeding assemblies are arranged on the fixed plate in the track direction of the sliding groove; the powder feeding device is moved to a place where leakage of the underwater facility needs to be detected through the mechanical arm, one of the powder feeding assemblies is popped out, when the underwater facility does not leak, the outward diffusion speed of fluorescent powder in the powder feeding assemblies is low, and when the underwater facility leaks, the outward diffusion speed of the fluorescent powder in the powder feeding assemblies is high, so that the leakage of the underwater facility is detected. At the moment, the diffusion speed of the fluorescent powder can be observed through the camera for judgment.

Description

Technical Field

[0001] The invention relates to the technical field of underwater maintenance, and in particular to a leakage inspection device for underwater facilities. Background Art

[0002] There are usually two methods for checking leakage in underwater facilities. For underwater facilities that can be emptied (such as large-diameter water pipelines, water corridors, hydropower station volutes, etc.), manual entry is used to check for cracks and defects inside the facilities for investigation; for underwater facilities that cannot be emptied (such as the upstream surface of a dam, etc.), robots are used to detect cracks and defects.

[0003] Whether it is manual inspection of the facility by emptying it or underwater detection using underwater robots, it is only to check for cracks and defects in the facility. The results can be used as suspected leakage points, but it cannot be determined that they are the cause of the leakage.

[0004] For example, the patent publication number CN116398826A discloses an "underwater robot with underwater pipeline cleaning and leakage detection". After cleaning the pipeline with a cleaning component, the pipeline is pressure-tested with a leakage detection component. It does not rely on image analysis. By detecting whether there is a pressure change in the pipeline or whether the pressure value exceeds a given range, it can be concluded whether the pipeline has a leakage problem. The detection time for each point is short, thereby improving the detection efficiency. The data collected by pressure sensing is much smaller than the image data, thereby greatly reducing the requirements for hardware resources, and the analysis steps can also be greatly reduced, thereby improving the analysis rate in one step.

[0005] However, this solution requires building a sealed space at the location to be tested through pressure testing. For scenarios where the leakage location is not determined, building a sealed space at one place is inefficient. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an underwater facility leakage inspection device to solve the above problems.

[0007] The present invention provides the following technical solutions:

[0008] An underwater facility leakage inspection device comprises a mechanical arm and a camera mounted on an underwater robot;

[0009] A powder throwing device is provided at the output end of the robotic arm, and the powder throwing device includes a sleeve, a fixed plate fixed in the sleeve, and a rotating arm driven to rotate by a rotating motor, a sliding column is slidably connected to the rotating arm, a sliding groove with a vortex structure is provided on the fixed plate, and a plurality of groups of powder throwing components are arranged on the fixed plate along the direction of the sliding groove track.

[0010] Preferably, the powder feeding assembly comprises a fixed cylinder and a movable cylinder, the movable cylinder moves and cooperates in the fixed cylinder, a first elastic member is connected between the movable cylinder and the fixed cylinder, a screen is provided on the movable cylinder, and fluorescent powder is built in the movable cylinder.

[0011] Preferably, the fixed cylinder is fixed to the side wall of the fixed plate, a clamping groove is provided on the side of the fixed cylinder close to the slide groove, a cantilever support rod is provided on the side wall of the movable cylinder, and a hook block engaging with the clamping groove is provided at the end of the cantilever support rod;

[0012] The sliding column pushes the hook block to disengage from the slot during the sliding process on the rotating arm.

[0013] Preferably, the hook block is arranged to be inclined on one side.

[0014] Preferably, the movable cylinder includes a first cylinder body and a second cylinder body, the screen includes an outer screen and an inner screen, the outer screen is arranged on the first cylinder body, and the inner screen is arranged on the second cylinder body, and the first cylinder body and the second cylinder body are movably cooperated to achieve alignment or staggered alignment of the outer screen and the inner screen.

[0015] Preferably, a second elastic member is connected between the first cylinder and the second cylinder, a locking rod with a cantilever structure is provided on the second cylinder, a guide groove is provided on the outer side wall of the first cylinder, and the end of the locking rod moves in the guide groove.

[0016] Preferably, the guide grooves include more than two groups of guide grooves, and two adjacent groups of guide grooves form a herringbone structure and a step structure is formed at the connection point.

[0017] Preferably, a limiting rod is slidably connected to the sliding column, and a third elastic member is connected between the sliding column and the limiting rod. The elastic force of the third elastic member pushes the end of the limiting rod to insert into the slot of the fixed cylinder, and when the hook block is inserted into the slot, it pushes the end of the limiting rod out of the slot.

[0018] Preferably, the underwater robot adopts a crawler structure, and an electromagnet is installed on the underwater robot.

[0019] Preferably, the robotic arm includes a rotating table and a bracket driven to rotate by the rotating table, the bracket is rotatably connected to a first arm, the end of the first arm is rotatably connected to a second arm, a first telescopic component is connected between the bracket and the first arm, and a second telescopic component is connected between the first arm and the second arm.

[0020] The present invention has the following beneficial technical effects:

[0021] The present invention uses a mechanical arm to adjust the position of the powder delivery device to the underwater facility area that needs to be inspected, and then pops out a set of powder delivery components. When there is no leakage in the underwater facility, the phosphor in the powder delivery component diffuses slowly due to its slow diffusion speed; when there is leakage in the underwater facility, the diffusion speed of the phosphor will be significantly accelerated. By observing the movement state of the phosphor, it can be quickly and accurately determined whether there is a leakage phenomenon.

[0022] This method utilizes fine powder mixed with fluorescent agent to achieve rapid detection without complicated structural design. It is easy and efficient to operate and is particularly suitable for quickly locating leakage points in unknown leakage areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of the mechanical arm of the present invention;

[0025] Figure 3 is a cross-sectional view of the powder feeding device of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the fixing plate of the present invention;

[0027] Figure 5 It is a schematic diagram of the movable matching structure of the sliding column on the rotating arm of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the powder casting assembly of the present invention;

[0029] Figure 7 It is a schematic diagram of the structure of the movable cylinder and the screen separation from the first perspective of the present invention;

[0030] Figure 8 It is a schematic diagram of the structure of the movable cylinder and the screen mesh separation from the second viewing angle of the present invention;

[0031] Fig. 9 It is a schematic diagram of the cooperation between the locking pull rod and the guide groove of the present invention;

[0032] Fig.10 It is a cross-sectional view of the sliding column and its matching parts of the present invention.

[0033] The reference numerals in the figure are:

[0034] 100, underwater robot; 200, robotic arm; 300, powder throwing device; 400, camera;

[0035] 21. rotating platform; 22. bracket; 23. first arm; 24. first telescopic assembly; 25. second arm; 26. second telescopic assembly;

[0036] 31. sleeve; 32. rotating motor; 33. rotating arm; 331. moving slot; 332. sliding column; 34. fixing plate; 341. sliding slot; 35. powder feeding assembly;

[0037] 351, fixed cylinder; 352, slot; 353, movable cylinder; 354, screen; 355, hook block; 356, first elastic member; 357, cantilever support rod;

[0038] 3531, first cylinder; 3532, second cylinder; 3533, guide groove; 3534, second elastic member; 3535, locking rod; 3541, outer screen; 3542, inner screen.

[0039] 3321. Limit rod; 3322. Third elastic member. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0041] Embodiment: An underwater facility leakage inspection device, such as Figure 1-10 As shown:

[0042] It includes an underwater robot 100, a mechanical arm 200, a powder throwing device 300 and a camera 400;

[0043] The underwater robot 100 may adopt a crawler structure and may be movable on underwater facilities. An electromagnet is installed on the underwater robot 100, and the underwater robot 100 may be fixed to the underwater facilities by magnetic attraction of the electromagnet at a place where it needs to be fixed.

[0044] The underwater robot 100 is equipped with a mechanical arm 200, which includes a rotating platform 21, a bracket 22, a first arm 23, a first telescopic assembly 24, a second arm 25 and a second telescopic assembly 26; the rotating platform 21 is installed at the top center of the underwater robot 100, the bracket 22 is arranged at the output end of the rotating platform 21, the bracket 22 is driven to rotate by the rotating platform 21, the left end of the first arm 23 is hinged to the bracket 22, the right end of the first arm 23 is hinged to the left end of the second arm 25, and the powder throwing device 300 is installed at the right end of the second arm 25; the two ends of the first telescopic assembly 24 are respectively hinged to the bracket 22 and the first arm 23, and the two ends of the second telescopic assembly 26 are respectively hinged to the first arm 23 and the second arm 25;

[0045] The rotating platform 21, the first telescopic assembly 24 and the second telescopic assembly 26 cooperate to adjust the angle of the powder feeding device 300.

[0046] The sleeve 31 is relatively fixed at the right end of the second arm 25, the rotating motor 32 is installed on the sleeve 31, the end of the rotating arm 33 is installed at the output end of the rotating motor 32, a moving groove 331 is opened on the rotating arm 33 along the linear direction of its length, and the sliding column 332 is a rotating body structure that moves and rotates in the moving groove 331; the fixed plate 34 is fixed inside the sleeve 31, and a sliding groove 341 of a vortex structure is opened on the fixed plate 34, and the sliding column 332 moves relatively in the sliding groove 341;

[0047] A plurality of powder throwing assemblies 35 are arranged in the sleeve 31, and the powder throwing assemblies 35 include a fixed cylinder 351 and a movable cylinder 353. The fixed cylinder 351 is relatively fixed to the side wall of the fixed plate 34, and the fixed plates 34 of the plurality of powder throwing assemblies 35 are relatively evenly arranged and distributed along the vortex trajectory of the slide groove 341. A clamping groove 352 is provided on the side of the fixed cylinder 351 close to the slide groove 341, and the movable cylinder 353 slides linearly in the fixed cylinder 351. The two ends of the first elastic member 356 are fixedly connected to the movable cylinder 353 and the fixed cylinder 351 respectively. A cantilever support rod 357 is provided on the side of the movable cylinder 353 close to the clamping groove 352, and a hook block 355 is provided on the free end of the cantilever support rod 357. One side of the hook block 355 is inclined, and the hook block 355 has a certain elastic deformation ability through the cantilever support rod 357, so as to realize the clamping or disengagement of the hook block 355 with the clamping groove 352.

[0048] A screen 354 is provided on the side wall of the movable cylinder 353. The movable cylinder 353 contains fine powder of mixed fluorescent agent. The screen 354 can hinder the rapid separation of the fine powder of mixed fluorescent agent inside the movable cylinder 353, but cannot hinder the normal diffusion of the fine powder of mixed fluorescent agent. The fluorescent powder is a particle with fluorescent agent attached and insoluble in water, with a particle size between 0.1um and 100um. The powder is in a suspended state under static water state. When encountering leakage or other conditions that cause water flow, the fluorescent powder will flow in the direction of the water flow.

[0049] The movable cylinder 353 includes a first cylinder body 3531 and a second cylinder body 3532, the cantilever support rod 357 is fixed to the first cylinder body 3531, the second cylinder body 3532 rotates and moves relative to the inner cavity of the first cylinder body 3531, the screen 354 includes an outer screen 3541 and an inner screen 3542, the outer screen 3541 is arranged on the first cylinder body 3531, and the inner screen 3542 is arranged on the second cylinder body 3532; a second elastic member 3534 is connected between the first cylinder body 3531 and the second cylinder body 3532, a guide groove 3533 is provided on the outer side wall of the first cylinder body 3531, and a locking pull rod 3535 of a cantilever structure is provided on the outer side wall of the second cylinder body 3532; the elastic force of the first elastic member 356 is greater than the elastic force of the second elastic member 3534;

[0050] The guide groove 3533 includes multiple groups of guide grooves, two adjacent groups of guide grooves form a "human" structure and a step structure is formed between the joints, and the locking rod 3535 is made to fit its free end to the inner wall of the guide groove under the action of its own elastic force. This design enables the free end of the locking rod 3535 to move unidirectionally in the guide groove.

[0051] The sliding column 332 is slidably connected to a limiting rod 3321 around its axis. A third elastic member 3322 is connected between the sliding column 332 and the limiting rod 3321 . The end of the limiting rod 3321 is adapted to be plugged into the slot 352 .

[0052] Under normal conditions, the fixed cylinder 351 and the movable cylinder 353 cooperate to form a sealed space to isolate the fine powder of the mixed fluorescent agent from the external water.

[0053] Working principle:

[0054] The external controller controls the underwater robot 100 to move to a place where the underwater facilities need to be inspected for leakage, and uses the robot arm 200 to move the powder-feeding device 300 closer to the place where the inspection is required.

[0055] The rotating motor 32 drives the rotating arm 33 to rotate, during which the sliding column 332 is driven to move in the slide groove 341 of the vortex trajectory of the fixed plate 34. The sliding column 332 moves in the slide groove 341 to push the hook block 355 out of the slot 352, and the movable cylinder 353 is pushed to pop out of the fixed cylinder 351 under the elastic force of the first elastic member 356. At the same time, one end of the limit rod 3321 is inserted into the slot 352 under the elastic force of the third elastic member 3322; at this time, the inner cavity of the movable cylinder 353 is connected to the outside through the screen 354, so that the fine powder of the mixed fluorescent agent in the inner cavity of the movable cylinder 353 can pass through the screen 354 and flow out naturally. If there is a leakage in the underwater facility, the water flow rate is faster to accelerate the diffusion speed of the fine powder of the mixed fluorescent agent from the inner cavity of the movable cylinder 353 to the outside, and the movement state of the powder is remotely observed through the camera to determine whether it is a leakage.

[0056] Furthermore, the movable cylinder 353 can be pressed and ejected through the cooperation of the mechanical arm 200 and the underwater facilities. During this process, the second cylinder 3532 moves relative to the first cylinder 3531, thereby driving the free end of the locking rod 3535 to move from the head end of the first group of guide grooves to the end of the second group of guide grooves; then release it, and under the elastic force of the second elastic member 3534, the second cylinder 3532 is reset relative to the first cylinder 3531, and the free end of the locking rod 3535 moves from the end of the second group of guide grooves to the head end of the second group of guide grooves. The above components cooperate to realize the rotation of the second cylinder 3532 relative to the first cylinder 3531 by a certain angle, so that the mesh structure formed by the outer screen 3541 and the inner screen 3542 changes from dense to sparse; if you want to make the mesh structure formed by the outer screen 3541 and the inner screen 3542 sparser, continue to press. The above design can achieve adjustable mesh density formed by the outer screen 3541 and the inner screen 3542, thereby adjusting the speed at which the fine powder of the mixed fluorescent agent inside the movable cylinder 353 diffuses outward through the screen 354. The free end of the locking rod 3535 can be manually driven to reset.

[0057] Furthermore, if the fine powder of the mixed fluorescent agent inside a group of movable cylinders 353 is used up, the movable cylinder 353 can be pressed out through the cooperation of the robotic arm 200 and the underwater facility, so that the movable cylinder 35 overcomes the first elastic member 356 and is inserted into the fixed cylinder 351, so that the hook block 355 at the free end of the cantilever support rod 357 is inserted into the slot 352 and snap-fitted. During this process, the hook block 355 at the free end of the cantilever support rod 357 pushes the limit rod 3321 out of the slot 352 and compresses the third elastic member 3322, and then the rotating motor 32 can drive the rotating arm 33 to continue to rotate and move until it cooperates with the next group of hook blocks 355.

[0058] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An underwater facility leakage inspection device, comprising a mechanical arm (200) and a camera (400) mounted on an underwater robot (100), characterized in that: A powder throwing device (300) is provided at the output end of the mechanical arm (200), and the powder throwing device (300) comprises a sleeve (31), a fixed plate (34) fixed in the sleeve (31), and a rotating arm (33) driven to rotate by a rotating motor (32), a sliding column (332) being slidably connected to the rotating arm (33), a sliding groove (341) with a vortex structure is provided on the fixed plate (34), and a plurality of groups of powder throwing components (35) are arranged on the fixed plate (34) along the track direction of the sliding groove (341).

2. The underwater facility leakage inspection equipment according to claim 1, characterized in that: The powder feeding assembly (35) comprises a fixed cylinder (351) and a movable cylinder (353); the movable cylinder (353) moves and cooperates in the fixed cylinder (351); a first elastic member (356) is connected between the movable cylinder (353) and the fixed cylinder (351); a screen (354) is provided on the movable cylinder (353); and fluorescent powder is built in the movable cylinder (353).

3. The underwater facility leakage inspection device according to claim 2, characterized in that: The fixed cylinder (351) is fixed to the side wall of the fixed plate (34); a clamping groove (352) is provided on one side of the fixed cylinder (351) close to the slide groove (341); a cantilever support rod (357) is provided on the side wall of the movable cylinder (353); a hook block (355) is provided at the end of the cantilever support rod (357) for clamping with the clamping groove (352); The sliding column (332) pushes the hook block (355) to disengage from the slot (352) during the sliding process on the rotating arm (33).

4. The underwater facility leakage inspection device according to claim 3, characterized in that: The hook block (355) is arranged to be inclined on one side.

5. The underwater facility leakage inspection equipment according to claim 3, characterized in that: The movable cylinder (353) includes a first cylinder body (3531) and a second cylinder body (3532); the screen (354) includes an outer screen (3541) and an inner screen (3542); the outer screen (3541) is arranged on the first cylinder body (3531); the inner screen (3542) is arranged on the second cylinder body (3532); the first cylinder body (3531) and the second cylinder body (3532) are movably matched to achieve alignment or staggered arrangement of the outer screen (3541) and the inner screen (3542).

6. The underwater facility leakage inspection device according to claim 5, characterized in that: A second elastic member (3534) is connected between the first cylinder (3531) and the second cylinder (3532), a locking rod (3535) of a cantilever structure is provided on the second cylinder (3532), a guide groove (3533) is provided on the outer wall of the first cylinder (3531), and the end of the locking rod (3535) moves in the guide groove (3533).

7. The underwater facility leakage inspection equipment according to claim 6, characterized in that: The guide grooves (3533) include more than two groups of guide grooves, and two adjacent groups of guide grooves form a herringbone structure and a step structure is formed at the connection point.

8. The underwater facility leakage inspection equipment according to claim 2, characterized in that: The sliding column (332) is slidably connected to a limiting rod (3321), and a third elastic member (3322) is connected between the sliding column (332) and the limiting rod (3321). The elastic force of the third elastic member (3322) pushes the end of the limiting rod (3321) to be inserted into the slot (352) of the fixing cylinder (351), and when the hook block (355) is inserted into the slot (352), it pushes the end of the limiting rod (3321) to be separated from the slot (352).

9. The underwater facility leakage inspection device according to claim 1, characterized in that: The underwater robot (100) adopts a crawler structure, and an electromagnet is installed on the underwater robot (100).

10. The underwater facility leakage inspection equipment according to claim 1, characterized in that: The mechanical arm (200) comprises a rotating platform (21), a bracket (22) driven to rotate by the rotating platform (21), a first arm (23) being rotatably connected to the bracket (22), a second arm (25) being rotatably connected to the end of the first arm (23), a first telescopic component (24) being connected between the bracket (22) and the first arm (23), and a second telescopic component (26) being connected between the first arm (23) and the second arm (25).

Images