High-precision detection robot for cracks of water conservancy and hydropower buildings

Abstract

The application relates to the technical field of underwater robots, and discloses a high-precision detection robot for cracks of water conservancy and hydropower buildings, which comprises a machine body, a transparent cover fixedly connected to the surface of the machine body, a support fixedly connected to the outer circumference of the machine body, a propeller fixedly connected to the inner wall of the support, a multi-angle detection device arranged on the inner wall of the machine body, the multi-angle detection device comprising a gear ring, the gear ring being rotationally connected to the inner wall of the machine body, the maximum rotation angle of the gear ring being 270 DEG, one side of the gear ring being fixedly connected with a mounting ring, and the surface of the mounting ring being fixedly connected with a fixing frame. In the application, the detection auxiliary device is arranged, so that the area to be detected can be cleaned when the equipment is used for detection, and the sewage generated in the cleaning process can be effectively constrained and pumped, so that the interference of the sewage diffusion on the picture of the probe is reduced, and the image acquisition quality of the robot is further improved.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically to a high-precision robot for detecting cracks in hydraulic and hydropower structures. Background Technology

[0002] The crack detection robot for hydropower structures is a specialized inspection device developed specifically for hydropower projects. It effectively solves the problems of high labor intensity, high risk, and low efficiency associated with traditional manual inspection. These robots are typically equipped with high-precision cameras, sensors, and intelligent algorithms. Utilizing technologies such as image recognition and ultrasonic detection, they accurately identify and measure surface and internal cracks in hydropower structures, such as water diversion tunnels and pipelines, which are difficult to observe from the outside. Some robots have climbing and crawling capabilities, adapting to the complex surfaces of different building structures; others can even dive underwater to inspect cracks in underwater structures. The detection data is transmitted to a backend system in real time, where it is analyzed and processed to generate detailed reports. This provides strong support for safety assessments and maintenance decisions for hydropower structures, significantly improving the accuracy, efficiency, and safety of crack detection in hydropower projects.

[0003] CN118479017A describes an underwater robot for detecting and repairing cracks in marine structures. It uses a flaw detection camera and sonar, along with a flushing pump and a negative pressure pump for cleaning, to detect cracks in underwater structures. During detection, the flushing pump washes the surface of the structure. However, the opposing forces generated during flushing cause the robot to shake, leading to decreased stability, blurred images, and displacement of the detection position, affecting the imaging of the flaw detection camera. Furthermore, although the wastewater generated during flushing can be pumped away from the detection area of ​​the flaw detection camera by the negative pressure pump, the distance between the negative pressure pump and the flushing location makes it difficult to quickly and effectively remove the wastewater. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a high-precision inspection robot for cracks in hydraulic and hydropower structures. It solves the problem that existing inspection robots use a flushing pump to wash the building surface during inspection. However, the opposing forces generated during flushing cause the robot to shake, leading to decreased stability, blurred images, and shifted detection positions, thus affecting the imaging of the flaw detection camera. Furthermore, although the wastewater generated during flushing can be pumped away from the detection area of ​​the flaw detection camera by a negative pressure pump, the distance between the negative pressure pump and the flushing location makes it difficult to quickly and effectively remove the wastewater.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: a high-precision detection robot for cracks in water conservancy and hydropower structures, comprising a body, a transparent cover fixedly connected to the surface of the body, a support fixedly connected to the outer circumference of the body, a pusher fixedly connected to the inner wall of the support, and a multi-angle detection device provided on the inner wall of the body.

[0006] The multi-angle detection device includes a gear ring, which is rotatably connected to the inner wall of the machine body. The maximum rotation angle of the gear ring is 270°. A mounting ring is fixedly connected to one side of the gear ring. A mounting bracket is fixedly connected to the surface of the mounting ring. A camera probe is fixedly connected to the surface of the mounting bracket. A servo motor is fixedly connected to the inner wall of the machine body. A gear is fixedly connected to the surface of the servo motor drive shaft. A guide ring is fixedly connected to the surface of the machine body. A drive ring is rotatably connected to the surface of the guide ring.

[0007] The surface of the drive ring is provided with a detection auxiliary device, which includes a mounting frame. The mounting frame is fixedly connected to the outer arc surface of the drive ring. A pump is fixedly connected to the inner wall of the mounting frame. A connecting pipe is fixedly connected to the input end of the pump. An L-shaped pipe is fixedly connected to one end of the connecting pipe. A cover is fixedly connected to the surface of the L-shaped pipe. A rotating shaft is rotatably connected to the inner wall of the cover. A cleaning frame is fixedly connected to the surface of the rotating shaft. A paddle is fixedly connected to the end of the rotating shaft away from the cleaning frame.

[0008] Preferably, a supplementary light is fixedly connected to the surface of the mounting frame, the supplementary light is electrically connected to the machine body, a protective cover is fixedly connected to the inner wall of the machine body, the protective cover is sleeved on the surface of gear one, and the protective cover is in contact with the inner wall of the mounting ring;

[0009] A hollow shaft is rotatably connected to the inner wall of the machine body. A sprocket is fixedly connected to the surface of the hollow shaft. A sprocket is fixedly connected to the surface of the servo motor drive shaft. A chain is mounted on the surface of the sprocket, and the chain meshes with the tooth grooves of the sprocket. A gear is fixedly connected to the surface of the hollow shaft, and a chain is mounted on the surface of the gear. An isolation cover is fixedly connected to the inner wall of the machine body. A powerful magnetic ring is rotatably connected to the inner wall of the isolation cover. The inner wall of the powerful magnetic ring is provided with protruding teeth. A positioning shaft is fixedly connected to the inner wall of the isolation cover. A gear is rotatably connected to the surface of the positioning shaft. The chain meshes with the tooth grooves of the gear, and the protruding teeth mesh with the tooth grooves of the gear. By using a supplementary light, the area to be detected can be illuminated in the low-light environment underwater, improving the imaging quality of the camera probe's detection image and increasing the accuracy of the robot when analyzing cracks using images.

[0010] Preferably, a limiting ring is fixedly connected to the outer arc surface of the machine body, and a guide ring is rotatably connected to the side surface of the limiting ring. The guide ring is rotatably connected to the outer arc surface of the machine body, and a second connecting pipe is fixedly connected to the side surface of the guide ring. The second connecting pipe is fixedly connected to the output end of the pump, and a drain pipe is fixedly connected to the side surface of the limiting ring. A nozzle is fixedly connected to the output end of the drain pipe. By utilizing the cooperation of the limiting ring and the guide ring, the second connecting pipe and the drain pipe can be connected, and at the same time, the water discharged from the second connecting pipe can flow to the drain pipe in the mirror direction of the second connecting pipe.

[0011] Preferably, the thruster is electrically connected to the fuselage, the camera probe is electrically connected to the fuselage, the first gear meshes with the tooth groove of the gear ring, the tooth ratio of sprocket one and sprocket two is 1:1, the tooth ratio of sprocket one and gear two is 1:1, the tooth ratio of sprocket two and gear one is 1:1, the tooth ratio of gear two and gear three is 1:1, the number of protruding teeth inside the powerful magnetic ring is equal to the number of protruding teeth inside the gear ring, and the first gear can be used to drive the mounting ring under the drive of the servo motor to adjust the detection angle of the fixing frame and the camera probe.

[0012] Preferably, the pump is electrically connected to the machine body, the first connecting pipe is connected to the interior of the L-shaped pipe, and there are two first connecting pipes. The two first connecting pipes are arranged symmetrically about the horizontal axis of the machine body. The cover is connected to the interior of the L-shaped pipe, the cleaning frame is located inside the cover, and the blades are located inside the L-shaped pipe. The pump can work with the first connecting pipe and the L-shaped pipe to pump the water flow at the cover so that the water flow at the cover can be pumped into the L-shaped pipe and the water flow can drive the blades to rotate.

[0013] Preferably, the inner wall of the isolation cover has a circular hole, the hollow shaft is rotatably connected to the inner wall of the circular hole, and the powerful magnetic ring is magnetically connected to the drive ring. By utilizing the cooperation of the hollow shaft, sprocket one, sprocket two and chain one, the gear two can be driven to rotate when the servo motor is working, so as to ensure that the gear two can cooperate with chain two and gear three to drive the powerful magnetic ring to move synchronously with the mounting ring.

[0014] Preferably, the side surface of the limiting ring has four guide holes arranged in a circumferential array, and the side of the guide ring near the limiting ring has a through hole that is adapted to the guide holes. The drain pipe is connected to the interior of the guide holes. There are four drain pipes arranged in a circumferential array with reference to the center of the machine body. The drain pipes can be used to send the sewage pumped by the pump into the nozzle, thereby using the nozzle and the sprayed water to apply a force to the machine body towards the shield side, so as to ensure that the machine body can push the shield against the building surface to be cleaned.

[0015] Preferably, the second connecting pipe is connected to the inside of the guide ring, the second connecting pipe is connected to the inside of the pump, and the nozzle is connected to the inside of the drain pipe. The second connecting pipe can be used to connect the pump and the guide ring to ensure that the guide ring can send the sewage pumped by the pump into the limiting ring.

[0016] Preferably, the outer arc surface of the fuselage is provided with a support device, the support device including a constraint frame, the constraint frame being fixedly connected to the outer arc surface of the fuselage, a stabilizing frame being fixedly connected to the surface of the constraint frame, the stabilizing frame being fixedly connected to the surface of the drain pipe, a Y-shaped frame being fixedly connected to the surface of the constraint frame, a groove being formed on the side surface of the Y-shaped frame, a ball bearing being installed on the inner wall of the groove of the Y-shaped frame, and a cover plate being fixedly connected to the side surface of the Y-shaped frame, the cover plate abutting against the surface of the ball bearing. The Y-shaped bracket can support the middle section of the fuselage, so that when the fuselage pushes the cover against the building surface, it can work with the cover to balance the fuselage.

[0017] The technical effects and advantages of this invention are as follows:

[0018] 1. In this invention, by setting up a detection auxiliary device, the area to be detected can be cleaned during the detection process. At the same time, the wastewater generated during cleaning can be effectively constrained and pumped to reduce the interference of wastewater on the probe image and further improve the image acquisition quality of the robot.

[0019] 2. In this invention, by setting up a multi-angle detection device, the user can adjust the detection angle of the device in the working state to increase the detectable directions after the device is submerged once. The detection angle can be adjusted in real time for different underwater working conditions, so that the device can accurately aim at the target area and avoid detection blind spots or missed detections caused by a fixed angle.

[0020] 3. In this invention, by setting up a support device, the collision between the robot body and the building can be reduced, thereby avoiding damage to the robot's surface coating and improving the robot's safety during operation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the high-precision detection robot for cracks in hydraulic and hydropower structures according to the present invention.

[0022] Figure 2 This is a front view of the high-precision detection robot for cracks in hydraulic and hydropower structures according to the present invention.

[0023] Figure 3 This is a bottom view of the high-precision detection robot for cracks in hydraulic and hydropower structures according to the present invention.

[0024] Figure 4 This is a partial structural schematic diagram of the high-precision detection robot for cracks in hydraulic and hydropower structures according to the present invention.

[0025] Figure 5 This is a schematic diagram of the multi-angle detection device of the high-precision detection robot for cracks in hydraulic and hydropower structures according to the present invention.

[0026] Figure 6 This is a schematic diagram of the detection auxiliary device for the high-precision detection robot for cracks in hydraulic and hydropower structures according to the present invention.

[0027] Figure 7 This is a schematic diagram of the detection auxiliary device of the high-precision detection robot for cracks in hydraulic and hydropower structures according to the present invention.

[0028] Figure 8 This is a partial structural schematic diagram of the detection auxiliary device for the high-precision detection robot for cracks in hydraulic and hydropower structures according to the present invention.

[0029] Figure 9 This is a schematic diagram of the support device structure for the high-precision detection robot for cracks in water conservancy and hydropower structures according to the present invention.

[0030] In the image: 1. Fuselage; 2. Transparent cover; 3. Support frame; 4. Thruster;

[0031] 5. Multi-angle detection device; 51. Gear ring; 52. Mounting ring; 53. Fixing bracket; 54. Camera probe; 55. Fill light; 56. Servo motor; 57. Gear 1; 58. Protective cover; 59. Hollow shaft; 510. Sprocket 1; 511. Sprocket 2; 512. Chain 1; 513. Gear 2; 514. Chain 2; 515. Isolation cover; 516. High-strength magnetic ring; 517. Positioning shaft; 518. Gear 3; 519. Guide ring; 520. Drive ring;

[0032] 6. Testing auxiliary device; 61. Mounting bracket; 62. Pump; 63. Connecting pipe one; 64. L-shaped pipe; 65. Shield; 66. Rotating shaft; 67. Cleaning frame; 68. Paddle blade; 69. Limiting ring; 610. Guide ring; 611. Connecting pipe two; 612. Drain pipe; 613. Nozzle;

[0033] 7. Support device; 71. Constraint frame; 72. Stabilizer; 73. Y-shaped frame; 74. Ball bearings; 75. Cover plate. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figures 1-9 As shown, the high-precision detection robot for cracks in water conservancy and hydropower structures of the present invention has a body 1, a transparent cover 2 fixedly connected to the surface of the body 1, a support 3 fixedly connected to the outer circumference of the body 1, a pusher 4 fixedly connected to the inner wall of the support 3, and a multi-angle detection device 5 provided on the inner wall of the body 1.

[0036] The multi-angle detection device 5 includes a gear ring 51, which is rotatably connected to the inner wall of the machine body 1. The maximum rotation angle of the gear ring 51 is 270°. A mounting ring 52 is fixedly connected to one side of the gear ring 51. A mounting bracket 53 is fixedly connected to the surface of the mounting ring 52. A camera probe 54 is fixedly connected to the surface of the mounting bracket 53. A servo motor 56 is fixedly connected to the inner wall of the machine body 1. A gear 57 is fixedly connected to the surface of the drive shaft of the servo motor 56. A guide ring 519 is fixedly connected to the surface of the machine body 1. A drive ring 520 is rotatably connected to the surface of the guide ring 519.

[0037] The surface of the drive ring 520 is provided with a detection auxiliary device 6. The detection auxiliary device 6 includes a mounting frame 61, which is fixedly connected to the outer arc surface of the drive ring 520. A pump 62 is fixedly connected to the inner wall of the mounting frame 61. A connecting pipe 63 is fixedly connected to the input end of the pump 62. An L-shaped pipe 64 is fixedly connected to one end of the connecting pipe 63. A cover 65 is fixedly connected to the surface of the L-shaped pipe 64. A rotating shaft 66 is rotatably connected to the inner wall of the cover 65. A cleaning frame 67 is fixedly connected to the surface of the rotating shaft 66. A blade 68 is fixedly connected to the end of the rotating shaft 66 away from the cleaning frame 67.

[0038] Preferably, a supplementary light 55 is fixedly connected to the surface of the mounting bracket 53, the supplementary light 55 is electrically connected to the body 1, and a protective cover 58 is fixedly connected to the inner wall of the body 1. The protective cover 58 is sleeved on the surface of the gear 57 and contacts the inner wall of the mounting ring 52.

[0039] A hollow shaft 59 is rotatably connected to the inner wall of the machine body 1. A sprocket 510 is fixedly connected to the surface of the hollow shaft 59. A sprocket 511 is fixedly connected to the surface of the drive shaft of the servo motor 56. A chain 512 is mounted on the surface of the sprocket 510, and the chain 512 meshes with the tooth groove of the sprocket 511. A gear 513 is fixedly connected to the surface of the hollow shaft 59, and a chain 514 is mounted on the surface of the gear 513. An isolation cover 515 is fixedly connected to the inner wall of the machine body 1. The inner wall of the isolation cover 515 rotates. A powerful magnetic ring 516 is connected, and the inner wall of the powerful magnetic ring 516 is provided with protruding teeth. The inner wall of the isolation cover 515 is fixedly connected to a positioning shaft 517. The surface of the positioning shaft 517 is rotatably connected to a gear 3 518. The chain 2 514 meshes with the tooth groove of the gear 3 518. The protruding teeth mesh with the tooth groove of the gear 3 518. The supplementary light 55 can provide supplementary lighting to the area to be detected in the low light environment underwater, improve the imaging quality of the detection image of the camera probe 54, and increase the accuracy of the robot when using images to analyze cracks.

[0040] Among them, a limiting ring 69 is fixedly connected to the outer arc surface of the body 1, and a guide ring 610 is rotatably connected to the side surface of the limiting ring 69. The guide ring 610 is rotatably connected to the outer arc surface of the body 1. A connecting pipe 611 is fixedly connected to the side surface of the guide ring 610. The connecting pipe 611 is fixedly connected to the output end of the pump 62. A drain pipe 612 is fixedly connected to the side surface of the limiting ring 69. A nozzle 613 is fixedly connected to the output end of the drain pipe 612. By using the cooperation of the limiting ring 69 and the guide ring 610, the connecting pipe 611 and the drain pipe 612 can be connected. At the same time, the water discharged from the connecting pipe 611 can flow to the drain pipe 612 in the mirror direction of the connecting pipe 611.

[0041] The thruster 4 is electrically connected to the body 1, the camera probe 54 is electrically connected to the body 1, the gear 1 57 meshes with the tooth groove of the gear ring 51, the tooth ratio of sprocket 1 510 and sprocket 2 511 is 1:1, the tooth ratio of sprocket 1 510 to gear 2 513 is 1:1, the tooth ratio of sprocket 2 511 to gear 1 57 is 1:1, the tooth ratio of gear 2 513 to gear 3 518 is 1:1, the number of protruding teeth inside the powerful magnetic ring 516 is equal to the number of protruding teeth inside the gear ring 51, and the gear 1 57, driven by the servo motor 56, can drive the mounting ring 52 in conjunction with the gear ring 51 to adjust the detection angle of the fixing frame 53 and the camera probe 54.

[0042] The pump 62 is electrically connected to the body 1. The connecting pipe 63 is connected to the interior of the L-shaped pipe 64. There are two connecting pipes 63, which are arranged symmetrically about the horizontal axis of the body 1. The shield 65 is connected to the interior of the L-shaped pipe 64. The cleaning frame 67 is located inside the shield 65, and the blade 68 is located inside the L-shaped pipe 64. The pump 62 can work with the connecting pipe 63 and the L-shaped pipe 64 to pump the water flow at the shield 65, so that the water flow at the shield 65 can be pumped into the L-shaped pipe 64, and the water flow can drive the blade 68 to rotate.

[0043] The inner wall of the isolation cover 515 has a circular hole, and the hollow shaft 59 is rotatably connected to the inner wall of the circular hole. The powerful magnetic ring 516 is magnetically connected to the drive ring 520. With the cooperation of the hollow shaft 59, sprocket 1 510, sprocket 2 511 and chain 1 512, the gear 2 513 can be driven to rotate when the servo motor 56 is working, so as to ensure that the gear 2 513 can cooperate with the chain 2 514 and the gear 3 518 to drive the powerful magnetic ring 516 to move synchronously with the mounting ring 52.

[0044] The limiting ring 69 has four guide holes arranged in a circular array on its side surface. The guide ring 610 has a through hole on the side near the limiting ring 69. The through hole is adapted to the guide hole. The drain pipe 612 is connected to the inside of the guide hole. There are four drain pipes 612. The four drain pipes 612 are arranged in a circular array with reference to the center of the machine body 1. The sewage pumped by the pump 62 can be sent into the nozzle 613 by the drain pipes 612. The nozzle 613 and the sprayed water source can then apply a force to the machine body 1 towards the shield 65 to ensure that the machine body 1 can push the shield 65 against the building surface to be cleaned.

[0045] The second connecting pipe 611 is internally connected to the guide ring 610, the second connecting pipe 611 is internally connected to the pump 62, and the nozzle 613 is internally connected to the drain pipe 612. The second connecting pipe 611 can be used to connect the pump 62 and the guide ring 610 to ensure that the guide ring 610 can send the sewage pumped by the pump 62 into the limiting ring 69.

[0046] The outer arc surface of the fuselage 1 is provided with a support device 7, which includes a constraint frame 71. The constraint frame 71 is fixedly connected to the outer arc surface of the fuselage 1. A stabilizing frame 72 is fixedly connected to the surface of the constraint frame 71. The stabilizing frame 72 is fixedly connected to the surface of the drain pipe 612. A Y-shaped frame 73 is fixedly connected to the surface of the constraint frame 71. A groove is opened on the side surface of the Y-shaped frame 73. A ball bearing 74 is installed on the inner wall of the groove of the Y-shaped frame 73. A cover plate 75 is fixedly connected to the side surface of the Y-shaped frame 73. The cover plate 75 abuts against the surface of the ball bearing 74. The Y-shaped support 3 can support the middle section of the fuselage 1 so that when the fuselage 1 pushes the cover 65 against the building surface, it can cooperate with the cover 65 to balance the fuselage 1.

[0047] The working principle of this invention is as follows: When inspecting water conservancy and hydropower structures, the robot is placed in water. The controller connected to the robot body 1 controls the robot body 1 to dive. When the robot body 1 dives to the expected height, the thruster 4 is activated. The thruster 4 propels the robot body 1 to move underwater. At the same time, the robot body 1 is adjusted so that the shield 65 and the cleaning frame 67 come into contact with the structure. When the shield 65 comes into contact with the structure, the Y-shaped bracket 3 located on the side of the robot body 1 will cooperate with the ball bearings 74 to assist the shield 65 in supporting the robot body 1. When the robot body 1 moves, the ball bearings 74 that come into contact with the structure (such as a water diversion tunnel or pipeline) will reduce the resistance between the Y-shaped bracket 3 and the structure. By setting the support device 7, the collision between the inspection robot body and the structure can be reduced, thereby avoiding damage to the robot's surface coating and improving the safety of the robot during operation.

[0048] During the movement of the fuselage 1, the fuselage 1 supplies power to the camera probe 54 and the supplementary light 55. The camera probe 54 and the supplementary light 55 are powered on and work. The supplementary light 55 illuminates the acquisition area, and the camera probe 54 acquires images of the acquisition area. The acquired images are sent back to the processing equipment through electronic components such as the motherboard in the fuselage 1. The processing equipment analyzes and identifies the acquired images, thereby realizing the detection of cracks in underwater structures.

[0049] When the detection angle of the camera probe 54 needs to be adjusted, the switch of the servo motor 56 is turned on. The servo motor 56 drives the gear 57, which meshes with the gear ring 51. Under the action of the gear 57, the gear ring 51, together with the mounting bracket 61 and the fixing bracket 53, adjusts the angle of the camera probe 54 and the supplementary light 55. After the camera probe 54 is adjusted by 90° in one go, the operator turns off the servo motor 56. The servo motor 56, together with the gear 57 and the gear ring 51, locks the position of the mounting ring 52, the fixing bracket 53 and the camera probe 54.

[0050] When the servo motor 56 is working, it synchronously drives sprocket 2 511. Sprocket 2 511, in conjunction with chain 1 512, drives sprocket 1 510. Sprocket 1 510 drives hollow shaft 59. Hollow shaft 59, in conjunction with gear 2 513 and chain 2 514, drives gear 3 518. When gear 3 518 rotates, it meshes with the convex teeth inside the powerful magnetic ring 516, thereby driving the powerful magnetic ring 516 to rotate. During rotation, the powerful magnetic ring 516 magnetically drives the drive ring 520 to rotate. The pump 62, connecting pipe 63, and connecting pipe 61 are rotated in conjunction with the mounting bracket 61 so that the shield 65 and the guide ring 610 are adjusted synchronously with the angle of the camera probe 54. By setting up a multi-angle detection device 5, the user can adjust the detection angle of the equipment in the working state to increase the detectable direction after the equipment is submerged once. The detection angle can be adjusted in real time for different underwater working conditions so that the equipment can accurately aim at the target area and avoid detection blind spots or missed detections caused by a fixed angle.

[0051] When the camera probe 54 is working, the pump 62 is switched on simultaneously. The pump 62, powered on, works with connecting pipe 63 and L-shaped pipe 64 to pump water from the shield 65 into connecting pipe 611. As the water flows through L-shaped pipe 64, it drives the blades 68 to rotate. The blades 68, in conjunction with the rotating shaft 66, rotate the cleaning frame 67. During rotation, the cleaning frame 67 cleans the dirt adhering to the building in front of the camera probe 54. The wastewater generated during cleaning is contained by the shield 65 and pumped into connecting pipe 611. Connecting pipe 611 then sends the wastewater into the guide ring 610. The guide ring 610 sends sewage into the corresponding drain pipe 612 through the through holes on its surface and the guide holes connected to the through holes. The drain pipe 612, together with the nozzle 613, discharges the sewage. At the same time as the sewage is discharged, the force generated by the sewage discharge pushes the body 1 towards the building so that the shield 65 is stably attached to the building surface. By setting the detection auxiliary device 6, the equipment can clean the area to be detected during detection. At the same time, it can effectively constrain and pump the sewage generated during cleaning to reduce the interference of sewage leakage on the probe image and further improve the image acquisition quality of the robot.

[0052] The electrical components mentioned in this article are all connected to an external main controller and 220V AC mains power or power supply, and the main controller can be a conventional known device such as a computer that can control it.

[0053] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-precision detection robot for cracks in hydraulic and hydropower structures, comprising a body (1), characterized in that, A transparent cover (2) is fixedly connected to the surface of the fuselage (1), a bracket (3) is fixedly connected to the outer circumference of the fuselage (1), a pusher (4) is fixedly connected to the inner wall of the bracket (3), and a multi-angle detection device (5) is provided on the inner wall of the fuselage (1). The multi-angle detection device (5) includes a gear ring (51), which is rotatably connected to the inner wall of the body (1). A mounting ring (52) is fixedly connected to one side of the gear ring (51). A mounting bracket (53) is fixedly connected to the surface of the mounting ring (52). A camera probe (54) is fixedly connected to the surface of the mounting bracket (53). A servo motor (56) is fixedly connected to the inner wall of the body (1). A gear (57) is fixedly connected to the surface of the drive shaft of the servo motor (56). A guide ring (519) is fixedly connected to the surface of the body (1). A drive ring (520) is rotatably connected to the surface of the guide ring (519). The surface of the drive ring (520) is provided with a detection auxiliary device (6). The detection auxiliary device (6) includes a mounting bracket (61). The mounting bracket (61) is fixedly connected to the outer arc surface of the drive ring (520). A pump (62) is fixedly connected to the inner wall of the mounting bracket (61). A connecting pipe (63) is fixedly connected to the input end of the pump (62). An L-shaped pipe (64) is fixedly connected to one end of the connecting pipe (63). A cover (65) is fixedly connected to the surface of the L-shaped pipe (64). A rotating shaft (66) is rotatably connected to the inner wall of the cover (65). A cleaning frame (67) is fixedly connected to the surface of the rotating shaft (66). A paddle (68) is fixedly connected to the end of the rotating shaft (66) away from the cleaning frame (67).

2. The high-precision detection robot for cracks in hydraulic and hydropower structures according to claim 1, characterized in that, A supplementary light (55) is fixedly connected to the surface of the fixed frame (53). The supplementary light (55) is electrically connected to the body (1). A protective cover (58) is fixedly connected to the inner wall of the body (1). The protective cover (58) is sleeved on the surface of the gear (57). The protective cover (58) is in contact with the inner wall of the mounting ring (52). A hollow shaft (59) is rotatably connected to the inner wall of the machine body (1). A sprocket (510) is fixedly connected to the surface of the hollow shaft (59). A sprocket (511) is fixedly connected to the surface of the drive shaft of the servo motor (56). A chain (512) is mounted on the surface of the sprocket (510). The teeth of the chain (512) mesh with those of the sprocket (511). A gear (513) is fixedly connected to the surface of the hollow shaft (59). A chain (513) is mounted on the surface of the gear (513). (514) An isolation cover (515) is fixedly connected to the inner wall of the fuselage (1). A powerful magnetic ring (516) is rotatably connected to the inner wall of the isolation cover (515). The inner wall of the powerful magnetic ring (516) is provided with protruding teeth. A positioning shaft (517) is fixedly connected to the inner wall of the isolation cover (515). A gear three (518) is rotatably connected to the surface of the positioning shaft (517). The chain two (514) meshes with the tooth groove of the gear three (518). The protruding teeth mesh with the tooth groove of the gear three (518).

3. The high-precision detection robot for cracks in hydraulic and hydropower structures according to claim 1, characterized in that, A limiting ring (69) is fixedly connected to the outer arc surface of the body (1). A guide ring (610) is rotatably connected to the side surface of the limiting ring (69). The guide ring (610) is rotatably connected to the outer arc surface of the body (1). A connecting pipe (611) is fixedly connected to the side surface of the guide ring (610). The connecting pipe (611) is fixedly connected to the output end of the pump (62). A drain pipe (612) is fixedly connected to the side surface of the limiting ring (69). A nozzle (613) is fixedly connected to the output end of the drain pipe (612).

4. The high-precision detection robot for cracks in hydraulic and hydropower structures according to claim 1, characterized in that, The thruster (4) is electrically connected to the fuselage (1), the camera probe (54) is electrically connected to the fuselage (1), and the gear (57) meshes with the tooth groove of the gear ring (51).

5. The high-precision detection robot for cracks in hydraulic and hydropower structures according to claim 1, characterized in that, The pump (62) is electrically connected to the body (1). The connecting pipe (63) is connected to the interior of the L-shaped pipe (64). There are two connecting pipes (63). The two connecting pipes (63) are arranged symmetrically about the horizontal axis of the body (1). The shield (65) is connected to the interior of the L-shaped pipe (64). The cleaning frame (67) is located inside the shield (65). The blade (68) is located inside the L-shaped pipe (64).

6. The high-precision detection robot for cracks in hydraulic and hydropower structures according to claim 2, characterized in that, The inner wall of the isolation cover (515) is provided with a circular hole, the hollow shaft (59) is rotatably connected to the inner wall of the circular hole, the powerful magnetic ring (516) is magnetically connected to the drive ring (520), the tooth ratio of sprocket one (510) and sprocket two (511) is 1:1, the tooth ratio of sprocket one (510) and gear two (513) is 1:1, the tooth ratio of sprocket two (511) and gear one (57) is 1:1, the tooth ratio of gear two (513) and gear three (518) is 1:1, and the number of protruding teeth inside the powerful magnetic ring (516) is equal to the number of protruding teeth inside the toothed ring (51).

7. The high-precision detection robot for cracks in hydraulic and hydropower structures according to claim 3, characterized in that, The side surface of the limiting ring (69) is provided with four guide holes arranged in a circular array. The guide ring (610) is provided with a through hole on the side near the limiting ring (69). The through hole is adapted to the guide hole. The drain pipe (612) is connected to the inside of the guide hole. There are four drain pipes (612). The four drain pipes (612) are arranged in a circular array with reference to the center of the fuselage (1).

8. The high-precision detection robot for cracks in hydraulic and hydropower structures according to claim 3, characterized in that, The second connecting pipe (611) is internally connected to the guide ring (610), the second connecting pipe (611) is internally connected to the pump (62), and the nozzle (613) is internally connected to the drain pipe (612).

9. The high-precision detection robot for cracks in hydraulic and hydropower structures according to claim 1, characterized in that, The outer arc surface of the fuselage (1) is provided with a support device (7).

10. The high-precision detection robot for cracks in hydraulic and hydropower structures according to claim 9, characterized in that, The support device (7) includes a constraint frame (71), which is fixedly connected to the outer arc surface of the body (1). A stabilizing frame (72) is fixedly connected to the surface of the constraint frame (71), and the stabilizing frame (72) is fixedly connected to the surface of the drain pipe (612). A Y-shaped frame (73) is fixedly connected to the surface of the constraint frame (71). A groove is provided on the side surface of the Y-shaped frame (73). A ball bearing (74) is installed on the inner wall of the groove of the Y-shaped frame (73). A cover plate (75) is fixedly connected to the side surface of the Y-shaped frame (73), and the cover plate (75) abuts against the surface of the ball bearing (74).

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