Hydropower station underwater plane rust removal device and using method thereof

Abstract

The underwater plane rust removal device is driven and controlled through a shore-based system, the underwater operation device comprises a frame, the top of the frame is fixedly connected with a top cover, the bottom of the frame is provided with a bottom plate, the top of the top cover is provided with a lifting hook, and the lifting hook is fixedly connected with the bottom plate. A propelling system is arranged on the frame and used for driving the underwater operation device to move, an electric grinding device, an electric control module and sealed cabin and a communication module and sealed cabin are further installed on the frame, and the electric grinding device is connected with the electric control module and sealed cabin and the communication module and sealed cabin through sealing plugs. According to the underwater plane structure surface cleaning device, the functions of underwater hovering, detecting, cleaning, alarming, emergency floating and the like are achieved, underwater surface cleaning operation is safer and more efficient, and meanwhile open type modular design is used, so that maintenance is easy and convenient; and through comprehensive anti-corrosion and waterproof treatment, the service life of the device is prolonged.

Description

Technical Field

[0001] This invention relates to the field of underwater operation and maintenance technology, and in particular to an underwater planar structure rust removal device. Background Technology

[0002] With the increasing national demand for clean energy, hydropower, as a low-carbon and renewable energy form, plays an irreplaceable role in ensuring the stability of power supply and promoting energy structure adjustment. During operation, hydropower stations inevitably experience corrosion and pollution, so it is necessary to regularly perform surface cleaning, painting and other maintenance work to ensure the stable and safe operation of hydropower stations. In the past, surface cleaning of hydroelectric power stations was done manually. Underwater structures such as gates required professional divers to descend into the water and use various tools for manual mechanical removal. This not only required professional diving qualifications, but was also highly specialized, difficult, time-consuming, dangerous, labor-intensive, and costly. In addition, existing wire brush structures usually only have a single brush. If it is necessary to add or adjust the brush, several driven shafts or motors need to be added simultaneously. However, the cleaning efficiency of a single brush is low and it is not possible to clean large areas of the underwater surface of hydroelectric power stations. Summary of the Invention

[0003] This invention aims to address the shortcomings of existing technologies by providing an underwater planar structure rust removal device. This device addresses the technical problems of dangerous underwater surface cleaning operations, low efficiency of manual underwater surface cleaning, and high cost of underwater surface cleaning.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an underwater planar rust removal device for hydropower stations, an underwater operation device driven and controlled by a shore-based system, the underwater operation device including a frame, a top cover fixedly connected to the top of the frame, a bottom plate provided at the bottom of the frame, a hook provided at the top of the top cover, a propulsion system provided on the frame for driving the movement of the underwater operation device, and an electric grinding device, an electrical control module and a sealed chamber, and a communication module and a sealed chamber installed on the frame. The electric grinding device is connected to the electrical control module and the sealed chamber, and the communication module and the sealed chamber through a tight connector.

[0005] Preferably, the propulsion system includes four sets of horizontal thrusters and two sets of vertical thrusters. The horizontal thrusters are mounted on the base plate via horizontal thruster brackets. Several ribs are provided in the middle of the frame. The vertical thrusters are mounted on a vertical thruster bracket mounting plate via vertical thruster brackets. The vertical thruster bracket mounting plate is fixedly connected to the ribs of the frame.

[0006] Preferably, the electric grinding device includes a waterproof motor, a sealed housing at the bottom of the waterproof motor, a sealing cover detachably connected to the top of the sealed housing, an output shaft of the waterproof motor extending through the sealing cover into the sealed housing, a drive shaft fixedly connected to the output end of the waterproof motor within the sealed housing via a coupling, a drive gear on the outer circumference of the drive shaft, the drive gear meshing with several driven gears, a driven shaft on the inner diameter of the driven gear, and a wire brush disc fixedly connected to one end of the driven shaft penetrating the bottom of the sealed housing.

[0007] Preferably, a drive shaft bearing is movably connected to the end of the drive shaft away from the coupling. The drive shaft bearing is fixedly connected to the inner bottom wall of the sealing housing. A fixed bracket is connected to the sealing housing by fixing bolts. The fixed bracket is provided with a central through hole and several slots that mate with the driven shaft. The drive shaft passes through the central through hole. Bearing seats can be installed in the slots for movably connecting the driven shaft. Several driven shaft bearings that mate with the driven shaft are also provided on the inner bottom wall of the sealing housing. A mechanical seal is also provided at the contact position between the wire brush disc and the outer bottom wall of the sealing housing.

[0008] Preferably, the wire brush disc is sleeved on the outer periphery of the driven shaft, and the top and bottom of the wire brush disc are fixed by a clamping block and a locking nut, respectively. A washer is also provided between the locking nut and the wire brush disc.

[0009] Preferably, the electric grinding device is also movably connected to both sides of a lifting structure for adjusting the height of the electric grinding device. The lifting structure includes a lifting structure mounting plate installed on both sides of the electric grinding device. The lifting structure mounting plate is threadedly connected to a base on the side of the electric grinding device. A front end baffle and a rear end baffle are respectively installed at the bottom and top of the base. Two sets of symmetrically arranged sliding plates and cover plates are also vertically arranged on the front end baffle. The top of the two sets of symmetrically arranged sliding plates and cover plates are fixedly connected to the rear end baffle to form a shell structure.

[0010] Preferably, the lifting structure further includes an underwater motor mounted on the front end baffle and a lead screw assembly located inside the shell structure. The output end of the underwater motor is connected to a pulley through the front end baffle. The pulley is flexibly connected to the drive wheel of the lead screw assembly via a belt. The lead screw assembly also includes a front bearing seat and a rear bearing seat mounted on the front end baffle and the rear end baffle. A lead screw is movably connected to the inner diameter of the drive wheel of the lead screw assembly. The lead screw passes through the front end baffle and is movably connected to the front bearing seat and the rear bearing seat. A lead screw nut is also provided on the lead screw. A guide rail slider is fixedly connected to the lead screw nut. A guide rail is provided on the sliding plate to cooperate with the guide rail slider for sliding. A load block is also installed on the guide rail slider. The two ends of the load block extend outward from the cover plate and are fixedly connected to the sealing shell.

[0011] Preferably, the top cover is made of buoyancy material, the top cover is connected to the frame by threads, a sensor system is fixedly connected to the bottom plate, and several underwater cameras and underwater lights are arranged around the frame.

[0012] In addition, the present invention also discloses a method for using the above-mentioned underwater surface rust removal device for hydropower stations, the method further comprising the following steps: Step 1: The underwater planar structure rust removal device is manually controlled from the shore. First, the operating device sends a command to the control device. The control device transmits the control command to the electrical control module and the sealed chamber, the communication module and the sealed chamber according to the command requirements to control each component to perform corresponding actions. Then, the data is fed back through the cable device. Step 2: Adjust the start and stop of each thruster in the thruster system as needed; simultaneously turn on the underwater camera, underwater lighting, and other observation lighting equipment; Step 3: Start the electric grinding device to perform the surface cleaning task, and at the same time start the lifting structure to control the height position of the electric grinding device; Step 4: After completing the surface cleaning task, the underwater planar structure rust removal device is controlled by the propulsion system to float and be recovered.

[0013] Preferably, the steps for adjusting the start and stop of each thruster in the thruster system include the following method: The thruster system has a total of six thrusters, including four horizontal thrusters and two vertical thrusters. The four groups of horizontal thrusters are respectively composed of a first horizontal thruster, a second horizontal thruster, a third horizontal thruster, and a fourth horizontal thruster. The four groups of horizontal thrusters are all mounted on the base plate of the frame through horizontal thruster brackets. The four groups of horizontal thrusters are paired up: the first horizontal thruster and the second horizontal thruster are paired up, and the first horizontal thruster and the second horizontal thruster are installed facing each other; the third horizontal thruster and the fourth horizontal thruster are paired up, and the third horizontal thruster and the fourth horizontal thruster are installed facing away from each other.

[0014] Beneficial effects of this invention: The underwater planar surface cleaning device of the present invention realizes functions such as underwater hovering, detection, cleaning, alarm, and emergency surfacing, making underwater surface cleaning operations safer and more efficient. At the same time, the open modular design makes maintenance simple and convenient; comprehensive anti-corrosion and waterproof treatment improves the service life of the device. The present invention uses a herringbone fixed bracket to drive several sets of cleaning brushes simultaneously through a drive motor, which significantly improves cleaning efficiency compared with traditional manual cleaning. At the same time, the through holes of the bracket can be replaced as needed to accommodate different numbers of cleaning brushes. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Figure 1 This is a schematic diagram of the constituent modules of the present invention; Figure 2 This is a schematic diagram of the overall three-dimensional structure of the underwater operation device of the present invention; Figure 3 This is a schematic diagram of the layout of the thruster system of the present invention; Figure 4 This is a three-dimensional structural schematic diagram of the electric polishing device of the present invention; Figure 5 This is a cross-sectional view of the electric polishing device of the present invention; Figure 6 This is a schematic diagram of the internal support structure of the electric grinding device of the present invention; Figure 7 This is a schematic diagram of the lifting structure of the present invention; Figure 8 This is a cross-sectional view of the lifting structure of the present invention; Reference numerals: 1. Top cover; 2. Hook; 3. Frame; 4. Underwater camera; 5. Underwater light; 6. Thruster; 61. Horizontal thruster; 62. Horizontal thruster bracket; 63. Vertical thruster; 64. Vertical thruster bracket; 65. Vertical thruster bracket mounting plate; 7. Electric grinding device; 71. Waterproof motor; 72. Fixing bolt; 73. Sealing cover; 74. Sealing housing; 75. Coupling; 76. Drive shaft; 77. Snap ring (D30); 78. Fixing bracket; 79. Drive gear; 710. Drive shaft bearing; 711. Driven shaft; 712. Driven gear; 713. Snap ring (D15); 714. Driven shaft bearing; 715. Clamping block; 716. Wire brush disc; 717. Gasket; 718. Locking nut; 719. Mechanical seal; 8. Lifting structure; 81. Waterproof motor; 82. Front baffle; 83. Pulley; 84. Belt; 85. End cover; 86. Cover plate; 87. Base; 88. Front bearing seat; 89. Anti-collision block; 810. Lead screw; 811. Lead screw nut; 812. Sliding plate; 813. Guide rail slider; 814. Guide rail; 815. Rear bearing seat; 816. Rear baffle; 9. Lifting structure mounting plate; 10. Sensor system; 11. Electrical control module and sealed chamber; 12. Communication module and sealed chamber; 13. Base plate. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] like Figure 1-5As shown, an underwater surface rust removal device for a hydropower station is an underwater operating device driven and controlled by a shore-based system. The underwater operating device includes a frame, a top cover fixedly connected to the top of the frame, a base plate at the bottom of the frame, and a hook on the top of the top cover. A propulsion system is installed on the frame to drive the movement of the underwater operating device. An electric grinding device, an electrical control module and a sealed chamber, and a communication module and a sealed chamber are also installed on the frame. The electric grinding device is connected to the electrical control module and the sealed chamber, and the communication module and the sealed chamber via a tight-fitting plug. In this embodiment, the shore-based system includes a power supply device, an operating device, a control device, a monitoring device, and a cable device. The operating device transmits operating commands to the control device, and the control device transmits signals via the cable to the communication module of the underwater operating device. The communication module transmits signals to the electrical control module, which provides power and controls the operation of related components. The obtained underwater video data is transmitted back to the monitoring device of the shore-based system via the cable. The shore-based system is a conventional technology in this field. Figure 2 As shown, the frame 3 in this application uses national standard 4040 aluminum profile and is connected by angle brackets. The top cover 1 is connected to the frame 3 by threads. When in use, the underwater operation device is put into the water by the hook 2. The underwater operation device is driven by the propulsion system 6 to move in the direction of diving and flipping. Then, the underwater surface of the hydropower station is cleaned by the electric grinding device 7.

[0019] Preferably, the propulsion system includes four sets of horizontal thrusters and two sets of vertical thrusters. The horizontal thrusters are mounted on the base plate via horizontal thruster brackets. Several ribs are provided in the middle of the frame. The vertical thrusters are mounted on a vertical thruster bracket mounting plate via vertical thruster brackets, and the vertical thruster bracket mounting plate is fixedly connected to the ribs of the frame. In this embodiment, as shown... Figure 3 As shown, the four sets of horizontal thrusters 61 are respectively composed of a first horizontal thruster 61-1, a second horizontal thruster 61-2, a third horizontal thruster 61-3, and a fourth horizontal thruster 61-4. All four sets of horizontal thrusters are mounted on the base plate 13 of the frame 3 via horizontal thruster brackets 62. The four sets of horizontal thrusters 61 are arranged in pairs. (Refer to the attached diagram.) Figure 3As shown, the first horizontal thruster 61-1 and the second horizontal thruster 61-2 are a group, and the first horizontal thruster 61-1 and the second horizontal thruster 61-2 are installed facing each other; the third horizontal thruster 61-3 and the fourth horizontal thruster 61-4 are a group, and the third horizontal thruster 61-3 and the fourth horizontal thruster 61-4 are installed facing away from each other; the specific operating rules during use are as follows: when 61-1, 61-2, 61-3 and 61-4 rotate clockwise at the same time, it will move forward; If 61-1, 61-2, 61-3, and 61-4 are rotated in reverse, it is a backward turn; if 61-1 and 61-3 are rotated clockwise, and 61-2 and 61-4 are rotated in reverse, it is a left turn; if 61-1 and 61-3 are rotated in reverse, and 61-2 and 61-4 are rotated clockwise, it is a right turn; if 61-1 and 61-4 are rotated clockwise, and 61-2 and 61-3 are rotated in reverse, it is a clockwise rotation; if 61-1 and 61-4 are rotated in reverse, and 61-2 and 61-4 are rotated clockwise, it is a counter-clock .... When 3 rotates clockwise simultaneously, and 61-2 and 61-4 are closed, the movement is diagonally upward to the left at a 45° angle; when 61-1 and 61-3 are closed, and 61-2 and 61-4 rotate clockwise, the movement is diagonally upward to the right at a 45° angle. In this embodiment, the vertical thruster 63 is first mounted on the vertical thruster bracket 64, which is bolted to the vertical thruster bracket mounting plate and is responsible for surfacing, diving, and tumbling. When 63-1 and 63-2 rotate clockwise simultaneously, the movement is diving; when 63-1 and 63-2 rotate counterclockwise simultaneously... A rotation of 63-1 results in surfacing; a forward roll occurs when 63-1 rotates clockwise and 63-2 rotates counterclockwise; a backward roll occurs when 63-1 rotates counterclockwise and 63-2 rotates clockwise. The horizontal thruster 61 and vertical thruster 63 are connected to the electronic control module, sealed compartment 11, communication module, and sealed compartment 12 via a tail-mounted connector. The vertical thruster 63 is installed vertically, and its thrusting end is in good working order. Therefore, a through hole can be made in the top cover 1 to allow the vertical thruster 63 to extend. This is a conventional method, and in this embodiment, the specific details are as follows: Figure 2 The horizontal thruster 61 shown is horizontally mounted on the base plate 13 via the horizontal thruster bracket 62, and the vertical thruster 63 is vertically mounted on the vertical thruster bracket mounting plate 65 via the vertical thruster bracket 64. In this application, the vertical thruster bracket mounting plate 65 is provided with two plates, each mounting two sets of vertical thrusters 63.

[0020] Preferably, the electric polishing device includes a waterproof motor, a sealed housing at the bottom of the waterproof motor, a sealed cover detachably connected to the top of the sealed housing, an output shaft of the waterproof motor extending through the sealed cover into the sealed housing, a drive shaft fixedly connected to the output end of the waterproof motor within the sealed housing via a coupling, a drive gear on the outer circumference of the drive shaft, the drive gear meshing with several driven gears, a driven shaft on the inner diameter of the driven gear, one end of the driven shaft penetrating the bottom of the sealed housing and fixedly connected to a wire brush disc. In this embodiment, the electric polishing device 7 is preferably installed at the center of the frame 3, and can be fixedly connected by bolts, welding, or other methods during installation (this embodiment does not include a lifting device driving the electric polishing device 7 to perform lifting movements). The waterproof motor 71 provides power, which is transmitted to the drive gear 79 via the coupling 75 and the drive shaft 76; the driven gear 712 obtains power from the drive gear 79 and transmits it to the wire brush disc 716 via the driven shaft 711; the wire brush disc 716 performs the surface cleaning task. The waterproof motor 71 is connected to the electrical control module and the sealed chamber 11, the communication module and the sealed chamber 12 via a tight connector. The motor speed is adjusted as needed. The electric grinding device 7 is threadedly connected to the load block on the linear guide rail of the lifting structure via the sealed housing 74. In this embodiment, the driven shaft 711 is movably connected to the driven shaft bearing 713 via a D15 snap ring (713). The bottom of the driven shaft bearing 713 is connected to the inner bottom wall of the sealed housing 73. The bearing can reduce the friction of the driven shaft 711, significantly reduce the motion resistance, improve efficiency, reduce energy loss, and extend the equipment life. Preferably, there are three driven gears 712 in this application. Each of the three sets of driven gears has a built-in driven shaft 711. Each set of driven shafts 711 drives a wire brush disc 71. 6. Ensure reduced cleaning dead corners; In this application, the drive shaft 76 is movably connected to a drive shaft bearing 710 at the end away from the coupling 75, and the drive shaft bearing 710 is fixedly connected to the inner bottom wall of the sealing housing 74; In this application, the driven gear 712 meshes with the drive gear 79. To ensure the stability of the driven shaft 711, at least two support points are required. In this application, a driven shaft bearing 713 is provided on the outer periphery of the driven shaft 711 as the first support point. The driven shaft bearing 713 is located on the inner bottom of the sealing housing 74. Furthermore, a second bearing can be installed on the top of the driven shaft 711. The second bearing can be fixed to the inner side wall of the sealing housing 74 by a support rod. The interior of the second bearing is movably connected to the top of the driven shaft 711 to achieve a completely stable fixation of the driven shaft assembly; Preferably, a drive shaft bearing is movably connected to the end of the drive shaft away from the coupling. The drive shaft bearing is fixedly connected to the inner bottom wall of the sealing housing. A fixed bracket is connected inside the sealing housing by fixing bolts. The fixed bracket is provided with a central through hole and several slots that mate with the driven shaft. The drive shaft passes through the central through hole. Bearing seats can be installed in the slots for movably connecting the driven shaft. Several driven shaft bearings that mate with the driven shaft are also provided on the inner bottom wall of the sealing housing. A mechanical seal is also provided at the contact position between the wire brush disc and the outer bottom wall of the sealing housing. In the second embodiment, a fixed bracket 7 is connected inside the sealing housing 74 by fixing bolts 72. 8. The fixed bracket 78 is provided with a central through hole and several slots that mate with the driven shaft 711. The drive shaft 76 passes through the central through hole. Bearing seats can be installed in the slots for movably connecting the driven shaft 711. The bottom wall of the sealing housing 74 is also provided with several driven shaft bearings 714 that mate with the driven shaft 711. A mechanical seal 719 is also provided at the contact position between the wire brush disc 716 and the outer bottom wall of the sealing housing 74. At the same time, the sealing cover 73 in this application is also connected to the sealing housing 74 by fixing bolts 72. In addition, the underwater motor technology described in this application is relatively mature and can adopt models such as the SME series underwater high-power AC motor.

[0021] Preferably, the wire brush disc is sleeved on the outer periphery of the driven shaft, and the top and bottom of the wire brush disc are fixed by a clamping block and a locking nut, respectively. A washer is also provided between the locking nut and the wire brush disc.

[0022] Preferably, the electric grinding device is also movably connected to both sides of a lifting structure for adjusting the height of the electric grinding device. The lifting structure includes a lifting structure mounting plate installed on both sides of the electric grinding device. The lifting structure mounting plate is threadedly connected to a base on the side of the electric grinding device. A front end baffle and a rear end baffle are respectively installed at the bottom and top of the base. Two sets of symmetrically arranged sliding plates and cover plates are also vertically arranged on the front end baffle. The top of the two sets of symmetrically arranged sliding plates and cover plates are fixedly connected to the rear end baffle to form a shell structure.

[0023] Preferably, the lifting structure further includes an underwater motor mounted on the front end baffle and a lead screw assembly located inside the shell structure. The output end of the underwater motor is fitted with a pulley that passes through the front end baffle. The pulley is flexibly connected to the drive wheel of the lead screw assembly via a belt. The lead screw assembly also includes a front bearing seat and a rear bearing seat mounted on the front end baffle and the rear end baffle. A lead screw is movably connected to the inner diameter of the drive wheel of the lead screw assembly. The lead screw passes through the front end baffle and is movably connected to the front bearing seat and the rear bearing seat. A lead screw nut is also provided on the lead screw, and a guide rail slider is fixedly connected to the lead screw nut. A guide rail with a matching guide slider is provided for sliding with the guide slider. A load block is also installed on the guide slider, with both ends of the load block extending outwards from the cover plate and fixedly connected to the sealing housing. In this embodiment, the entire lifting structure 8 is threadedly connected to the lifting structure mounting plate 9 via a base 87. The lifting structure 8 has a vertical travel of 10cm, which can be adjusted according to the height of the surface to be cleaned. In this application, the lifting structure mounting plates 9 on both sides of the electric grinding device 7 are vertically mounted on the base plate 13. A base 87 is bolted to the side of the lifting structure mounting plate 9 closest to the electric grinding device 7. Figure 6 Figure 7 As shown, the base 87, the front baffle 82, the rear baffle 816, and two sets of symmetrically arranged sliding plates 812 and cover plates 86 together form a rectangular housing assembly. The cover plate 86 is close to the sealed housing 73 of the electric grinding device 7. Specifically, as shown in the figure, gaps are provided on both sides of the cover plate 86. The lifting structure 8 of this application includes an underwater motor 81 for driving and a lead screw assembly for lifting, as shown... Figure 6 Figure 7 As shown, the underwater motor 81 is mounted on the top of the front baffle 82, and its output end passes through the front baffle 82. A pulley 83 is mounted at the bottom of the front baffle 82. The pulley 83 is flexibly connected to the drive wheel of the lead screw assembly via a belt 84 to drive the lead screw assembly. A lead screw 810 is installed on the drive wheel, passing through the front baffle 82. The front baffle 82 and the rear baffle 816 are located inside the housing assembly and have a front bearing seat 88 and a rear bearing seat 815. The lead screw 810 is movably connected to the front bearing seat 88 and the rear bearing seat 815 respectively. The rotation of the lead screw 810 drives the lead screw nut 811 to move up and down. The lead screw nut 811 drives the guide rail slider 813 to move horizontally on the guide rail 814, thereby driving the load block 817 to move up and down. The load block 817 passes through the cover plate 86 and has gaps on both sides, and is fixedly connected to the sealed housing 73, thereby driving the electric grinding device 7 to adjust its position up and down. It should be noted that... Figure 7 As shown, the rectangular housing assembly described in this embodiment, consisting of a base 87, a front end baffle 82, a rear end baffle 816, and two sets of symmetrically arranged sliding plates 812 and cover plates 86, is not completely sealed. Figure 7As shown, gaps are provided on both sides of the cover plate 86 for the load block 817 to extend outward at both ends. Finally, this lifting structure can be an MTH5M model direct-drive servo screw jack or a TICO underwater screw linear module.

[0024] Preferably, the top cover is made of buoyancy material, the top cover is connected to the frame by threads, a sensor system is fixedly connected to the bottom plate, and several underwater cameras and underwater lights are arranged around the frame.

[0025] In addition, the present invention also discloses a method for using the above-mentioned underwater surface rust removal device for hydropower stations, the method further comprising the following steps: Step 1: The underwater planar structure rust removal device is manually controlled from the shore. First, the operating device sends a command to the control device. The control device transmits the control command to the electrical control module and the sealed chamber, the communication module and the sealed chamber according to the command requirements to control each component to perform corresponding actions. Then, the data is fed back through the cable device. Step 2: Adjust the start and stop of each thruster in the thruster system as needed; simultaneously turn on the underwater camera, underwater lighting, and other observation lighting equipment; Step 3: Start the electric grinding device to perform the surface cleaning task, and at the same time start the lifting structure to control the height position of the electric grinding device; Step 4: After completing the surface cleaning task, the underwater planar structure rust removal device is controlled by the propulsion system to float and be recovered.

[0026] Preferably, the steps for adjusting the start and stop of each thruster in the thruster system include the following method: The thruster system has a total of six thrusters, including four horizontal thrusters and two vertical thrusters. The four groups of horizontal thrusters are respectively composed of a first horizontal thruster, a second horizontal thruster, a third horizontal thruster, and a fourth horizontal thruster. The four groups of horizontal thrusters are all mounted on the base plate of the frame through horizontal thruster brackets. The four groups of horizontal thrusters are paired up: the first horizontal thruster and the second horizontal thruster are paired up, and the first horizontal thruster and the second horizontal thruster are installed facing each other; the third horizontal thruster and the fourth horizontal thruster are paired up, and the third horizontal thruster and the fourth horizontal thruster are installed facing away from each other.

[0027] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A hydroelectric power station underwater planar rust removal device, an underwater operation device driven and controlled by a shore-based system, characterized in that: The underwater operation device includes a frame, a top cover fixedly connected to the top of the frame, a base plate at the bottom of the frame, a hook at the top of the top cover, a propulsion system on the frame for driving the underwater operation device to move, and an electric grinding device, an electrical control module and a sealed chamber, and a communication module and a sealed chamber are also installed on the frame. The electric grinding device is connected to the electrical control module and the sealed chamber, and the communication module and the sealed chamber through a tight connector.

2. The underwater planar rust removal device for hydropower stations according to claim 1, characterized in that: The propulsion system includes four sets of horizontal thrusters and two sets of vertical thrusters. The horizontal thrusters are mounted on the base plate via horizontal thruster brackets. Several ribs are provided in the middle of the frame. The vertical thrusters are mounted on a vertical thruster bracket mounting plate via vertical thruster brackets. The vertical thruster bracket mounting plate is fixedly connected to the ribs of the frame.

3. The underwater planar rust removal device for hydropower stations according to claim 2, characterized in that: The electric grinding device includes a waterproof motor. The bottom of the waterproof motor is provided with a sealed housing. A sealing cover is detachably connected to the top of the sealed housing. The output shaft of the waterproof motor extends through the sealing cover into the sealed housing. The output end of the waterproof motor is fixedly connected to a drive shaft inside the sealed housing via a coupling. A drive gear is provided on the outer circumference of the drive shaft. The drive gear meshes with several driven gears. A driven shaft is provided on the inner diameter of the driven gears. One end of the driven shaft passes through the bottom of the sealed housing and is fixedly connected to a wire brush disc.

4. The underwater planar rust removal device for hydropower stations according to claim 3, characterized in that: The drive shaft is movably connected to a drive shaft bearing at the end away from the coupling. The drive shaft bearing is fixedly connected to the bottom wall of the sealing housing. A fixed bracket is connected to the sealing housing by fixing bolts. The fixed bracket is provided with a central through hole and several slots that mate with the driven shaft. The drive shaft passes through the central through hole. Bearing seats can be installed in the slots for movably connecting the driven shaft. Several driven shaft bearings that mate with the driven shaft are also provided on the bottom wall of the sealing housing. A mechanical seal is also provided at the contact position between the wire brush disc and the outer bottom wall of the sealing housing.

5. The underwater planar rust removal device for hydropower stations according to claim 4, characterized in that: The wire brush disc is sleeved on the outer periphery of the driven shaft. The top and bottom of the wire brush disc are fixed by a clamping block and a locking nut, respectively. A washer is also provided between the locking nut and the wire brush disc.

6. The underwater planar rust removal device for hydropower stations according to claim 2, characterized in that: The electric grinding device is also movably connected to both sides of a lifting structure for adjusting the height of the electric grinding device. The lifting structure includes a lifting structure mounting plate installed on both sides of the electric grinding device. The lifting structure mounting plate is threadedly connected to a base on the side of the electric grinding device. A front end baffle and a rear end baffle are respectively installed at the bottom and top of the base. Two sets of symmetrically arranged sliding plates and cover plates are also vertically arranged on the front end baffle. The top of the two sets of symmetrically arranged sliding plates and cover plates are fixedly connected to the rear end baffle to form a shell structure.

7. The underwater planar rust removal device for hydropower stations according to claim 6, characterized in that: The lifting structure also includes an underwater motor mounted on the front end baffle and a lead screw assembly located inside the shell structure. The output end of the underwater motor is connected to a pulley through the front end baffle. The pulley is flexibly connected to the drive wheel of the lead screw assembly via a belt. The lead screw assembly also includes a front bearing seat and a rear bearing seat mounted on the front end baffle and the rear end baffle. A lead screw is movably connected to the inner diameter of the drive wheel of the lead screw assembly. The lead screw passes through the front end baffle and is movably connected to the front bearing seat and the rear bearing seat. A lead screw nut is also provided on the lead screw. A guide rail slider is fixedly connected to the lead screw nut. A guide rail is provided on the sliding plate to cooperate with the guide rail slider for sliding. A load block is also installed on the guide rail slider. The two ends of the load block extend outward from the cover plate and are fixedly connected to the sealing shell.

8. The underwater planar rust removal device for hydropower stations according to claim 1, characterized in that: The top cover is made of buoyancy material and is connected to the frame by threads. A sensor system is also fixedly connected to the bottom plate, and several underwater cameras and underwater lights are arranged around the frame.

9. The method of using an underwater planar rust removal device for hydropower stations according to any one of claims 1-8, characterized in that: It also includes the following steps: Step 1: The underwater planar structure rust removal device is manually controlled from the shore. First, the operating device sends a command to the control device. The control device transmits the control command to the electrical control module and the sealed chamber, the communication module and the sealed chamber according to the command requirements to control each component to perform corresponding actions. Then, the data is fed back through the cable device. Step 2: Adjust the start and stop of each thruster in the thruster system as needed; simultaneously turn on the underwater camera, underwater lighting, and other observation lighting equipment; Step 3: Start the electric grinding device to perform the surface cleaning task, and at the same time start the lifting structure to control the height position of the electric grinding device; Step 4: After completing the surface cleaning task, the underwater planar structure rust removal device is controlled by the propulsion system to float and be recovered.

10. The method of use according to claim 9, characterized in that: The steps for adjusting the start and stop of each thruster in the thruster system include the following method: The thruster system has a total of six thrusters, including four horizontal thrusters and two vertical thrusters. The four groups of horizontal thrusters are respectively composed of a first horizontal thruster, a second horizontal thruster, a third horizontal thruster, and a fourth horizontal thruster. The four groups of horizontal thrusters are all mounted on the base plate of the frame through horizontal thruster brackets. The four groups of horizontal thrusters are paired up in pairs: the first horizontal thruster and the second horizontal thruster are paired up, and the first horizontal thruster and the second horizontal thruster are installed facing each other; the third horizontal thruster and the fourth horizontal thruster are paired up, and the third horizontal thruster and the fourth horizontal thruster are installed facing away from each other.

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