Underwater patrol chain type mobile observation platform

Abstract

The invention discloses an underwater patrol chain type mobile observation platform, which relates to the technical field of underwater profile observation, and comprises an iron chain and an observation platform, and further comprises a plurality of groups of climbing assemblies and two groups of centering assemblies which are mounted on the observation platform, the climbing assembly is used for driving the observation platform to move on the iron chain and hovering the observation platform during observation, a magnetic strip is arranged in the climbing assembly and used for being attracted to the iron chain and increasing adhesive force, and a correction mechanism matched with the iron chain is arranged in the climbing assembly and used for correcting the twisted iron chain; and the centering assembly is used for returning the deflected iron chain. The observation platform has the advantages that the iron chain is centered and straightened, it is guaranteed that after the observation platform crosses obstacles, a crawler belt machine smoothly abuts against the iron chain, the derailing phenomenon is avoided, meanwhile, the iron chain is subjected to knob correction, and a magnetic strip is arranged, so that the observation platform moves more smoothly and hovers more stably.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater profile observation, and particularly relates to an underwater chain-patrolling mobile observation platform. BACKGROUND

[0002] The underwater chain-patrolling mobile observation platform is a marine equipment which takes the marine mooring chain (anchor chain) as a mobile carrier, realizes full-water-depth profile observation, fixed-point parking and obstacle crossing, and belongs to an important innovative equipment in the field of marine observation technology, and is mainly used for solving the problems of difficulty in moving and fixed-point observation of a traditional chain-patrolling observation platform on a non-tensioned anchor chain.

[0003] The existing platform is designed in a modular manner, and the core structure includes four core parts of a combined shell, a chain-stopping mechanism and a sensing system, and each component cooperates to realize the functions of movement, parking and observation. However, the existing observation platform has difficulty in obstacle crossing, and therefore the patent No. CN112793726A discloses an underwater chain-patrolling mobile observation platform, which includes a combined shell, the combined shell can be separated or combined along the direction of the vertical anchor chain, and the combined shell is provided with a chain-stopping mechanism which is symmetrical along the axis thereof, the chain-stopping mechanism includes a clamping device, and the clamping device is connected to a driving device through a crank linkage assembly.

[0004] The underwater chain-patrolling mobile observation platform has the functions of crossing the anchor chain mooring and parking on the anchor chain, and can realize full-water-depth movement and profile observation along the mooring chain of the floating platform on the sea surface. When the chain-patrolling mobile observation platform touches the anchor chain mooring during the lifting process, the pressure sensors arranged on the bottom surfaces of the semi-cylindrical shell I and / or the semi-cylindrical shell II trigger the axial motor to act, and the cable on the rope roller is gradually released. At the same time, the chain-patrolling mobile observation platform obtains the position of the mooring relative to the platform by using the water depth sensor, and perceives the contact condition of the platform and the obstacle by using the pressure sensors on the axial cross sections of the semi-cylindrical shell I and / or the semi-cylindrical shell II. Under the action of the thrust of the underwater thruster, the contact force and the sea current resistance, the semi-cylindrical shell I and the semi-cylindrical shell II gradually separate, and the mooring gradually enters and leaves the containing space surrounded by the semi-cylindrical shell I, the semi-cylindrical shell II and the four cables. When the platform depth measured by the depth sensor is less than the mooring depth during the lifting process of the chain-patrolling mobile observation platform, or the platform depth measured by the depth sensor is greater than the mooring depth during the descending process, and the pressure sensor measurement value on the semi-cylindrical shell I and the semi-cylindrical shell II is zero, the underwater chain-patrolling mobile platform crosses the mooring, the axial motor retracts the cable through the rope roller, and with the gradual recovery of the cable, the cylindrical protrusion on the semi-cylindrical shell II gradually enters the groove on the semi-cylindrical shell I, guiding the axial cross section of the semi-cylindrical shell I and the semi-cylindrical shell II to complete the connection of the fitting, and the obstacle crossing process ends.

[0005] The underwater chain-patrolling mobile observation platform can cross the obstacles on the chain, but the float on the top of the chain will swing with the waves, and once the chain deviates, the two clamping blocks cannot clamp the chain, which will cause derailment. In addition, the chain will also be twisted, and once the chain is twisted, the clamping block and the chain cannot achieve multi-point contact, which will reduce the contact area and thus reduce the friction, increase the probability of sliding, and cause unstable observation.

[0006] Therefore, a new underwater chain-patrolling mobile observation platform can be used to solve the problems in the prior art. SUMMARY

[0007] The underwater chain-patrolling mobile observation platform is proposed to solve the problems in the prior art.

[0008] To achieve the above purpose, the technical scheme adopted by the present application is as follows: The underwater chain-patrolling mobile observation platform comprises a chain and an observation platform, and further comprises a plurality of climbing assemblies and two centering assemblies installed on the observation platform. The climbing assembly is used to drive the observation platform to move on the chain and hover when observing. A magnetic strip is arranged in the climbing assembly to increase the adhesion force. A correction mechanism cooperating with the chain is arranged in the climbing assembly to correct the twisted chain. The centering assembly is used to return the deviated chain to the original position, so that the chain used by the climbing assembly inside the observation platform remains vertical, avoiding derailment of the climbing assembly.

[0009] Preferably, the climbing assembly has a plurality of groups, and the plurality of groups are divided into two parts, and the directions of the climbing assemblies in the two parts are opposite, which are used to cross obstacles.

[0010] Preferably, the climbing assembly further comprises a fixing member, a crawling mechanism, an adjusting mechanism and a compensation mechanism. The adjusting mechanism is used to adjust the position of the crawling mechanism to adapt to chains of different sizes. The compensation mechanism is used to elastically compensate the crawling mechanism to avoid the influence of small attachments on the chain on the movement of the crawling mechanism.

[0011] Preferably, the crawling mechanism comprises a track laying machine driven by a driving motor. The magnetic strips are uniformly fixed on the track laying machine. The adjusting mechanism and the compensation mechanism are installed between the fixing member and the track laying machine.

[0012] Preferably, the adjusting mechanism comprises two rotating plates rotatably mounted on a fixing member, a moving rod slidingly mounted on each of the two rotating plates, a connecting block fixedly mounted on each of the two moving rods, the two connecting blocks being rotatably connected with the track laying machine, a rotating block fixedly mounted on each of the two moving rods, a connecting rod commonly mounted on the two rotating blocks, the connecting rod being rotatably connected with the two rotating blocks, a threaded sleeve rotatably mounted on the connecting rod, a rotating member rotatably mounted on the fixing member, and a threaded rod rotatably mounted on the rotating member and matched with the threaded sleeve.

[0013] Preferably, the compensating mechanism comprises a hydraulic rod rotatably mounted on a fixing member, a sliding block slidingly mounted on the fixing member, the sliding block being rotatably connected with a telescopic end of the hydraulic rod, a second push rod rotatably mounted on the sliding block, a first push rod slidingly mounted on the second push rod, a compensating spring fixedly mounted between the second push rod and the first push rod, and the first push rod being rotatably connected with the track laying machine.

[0014] Preferably, the correcting mechanism comprises two fixing blocks fixedly mounted on the ends of a fixing member, a plurality of elastic telescopic rods symmetrically arranged on each of the two fixing blocks, an installation block commonly fixedly mounted on the telescopic ends of the plurality of elastic telescopic rods, a spring plate commonly mounted between the two installation blocks and matched with the iron chain, and the spring plate being rotatably connected with the corresponding two installation blocks.

[0015] Preferably, the centering assembly comprises a fixed ring fixedly mounted on the end of an observation platform, a second rotating shaft mounted on the fixed ring, a bracket fixedly mounted on the fixed ring, a first rotating shaft mounted on the bracket, the first rotating shaft and the bracket being dampingly rotatably connected, a first hook fixedly mounted on the first rotating shaft, a second hook fixedly mounted on the second rotating shaft, a driving mechanism mounted between the fixed ring and the first rotating shaft, and a transmission mechanism mounted between the first hook and the second hook.

[0016] Preferably, the driving mechanism comprises a waterproof motor fixedly mounted on the bracket, and the waterproof motor driving end and the first rotating shaft being connected through a gear set.

[0017] Preferably, the transmission mechanism comprises a slide way fixedly mounted on the first hook and in an arc shape with the first rotating shaft as the center, a rack slidingly mounted on the slide way, an arc-shaped slide rod fixedly mounted on the rack, the slide rod and the slide way being through-slidingly connected, a return spring fixedly mounted between the slide rod and the slide way, and a toothed disc fixedly mounted on the second rotating shaft and matched with the rack.

[0018] Compared with the prior art, the present application has the advantages that: 1. When conducting underwater profiling observations, this underwater mobile observation platform uses two independently driven sets of tracked motors to move the observation station on the iron chain. Magnetic strips are installed on the tracked motors to attract the iron chain, increasing the attraction force, reducing the probability of the observation station detaching from the iron chain, and improving the stability of the observation station's movement. At the same time, the tracked motors are set up with two parts, forward and reverse, and the alternating operation of the tracked motors in the two parts can realize the obstacle crossing function of the observation station.

[0019] 2. When conducting underwater profiling observations, this underwater mobile observation platform uses a compensation mechanism to change the position of the tracked machines, creating a clamping state between multiple tracked machines and the chain, which is used to hover the observation station. The compensation mechanism can also effectively prevent small attachments from affecting the movement of the observation station.

[0020] 3. When conducting underwater profiling observations, this underwater mobile observation platform can adjust the initial distance between the tracked machine and the fixed parts by setting an adjustment mechanism to adapt to iron chains of different sizes, making it more adaptable and allowing the tracked machine to fit the iron chain more closely.

[0021] 4. When conducting underwater profiling observations, this underwater mobile observation platform uses a correction mechanism to straighten the twisted iron chain, ensuring that the tracked machine moves along the side of the iron chain. This effectively reduces vibration during the movement of the observation platform, improves the stability of the platform's movement, and effectively enhances the accuracy of monitoring internal components.

[0022] 5. When conducting underwater profiling observations, this underwater mobile observation platform uses a centering component to straighten the chain, ensuring that the chain inside the observation platform is vertical and that the tracked vehicle can abut against the chain. This effectively prevents the tracked vehicle from detaching from the chain and ensures the normal movement of the observation platform. Attached Figure Description

[0023] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the structure of an underwater mobile observation platform proposed in this invention. Figure 2 for Figure 1 Detailed schematic diagram of the structure after rotation at a certain angle; Figure 3 for Figure 1 Detailed schematic diagram of the structure after the centering component is in operation; Figure 4 for Figure 3 Detailed schematic diagram of the structure after rotation at a certain angle; Figure 5 for Figure 1 Detailed schematic diagram of the structure after removing the iron chain; Figure 6 For Figure 5 The cross-sectional structure of the observation platform is shown in the schematic diagram. Figure 7 For Figure 6 The enlarged structure of the centering assembly is shown in the schematic diagram. Figure 8 For Figure 7 The schematic diagram of the structure after rotating a certain angle is shown. Figure 9 For Figure 8 The schematic diagram of the exploded structure is shown. Figure 10 For Figure 9 The schematic diagram of the structure after removing the second hook and the toothed disc and rotating a certain angle is shown. Figure 11 For Figure 10 The enlarged schematic diagram of the slide and its surrounding components is shown. Figure 12 For Figure 6 The enlarged schematic diagram of the climbing assembly and the iron chain is shown. Figure 13 For Figure 12 The schematic diagram of the structure after removing the iron chain is shown. Figure 14 For Figure 13 The enlarged schematic diagram of part A is shown. Figure 15 For Figure 13 The enlarged schematic diagram of the correction mechanism is shown.

[0024] In the figure: 1 iron chain, 2 observation platform, 3 climbing assembly, 4 centering assembly, 5 fixed ring, 6 first hook, 7 second hook, 8 waterproof motor, 9 slide, 10 gear set, 11 toothed disc, 12 slide rod, 13 return spring, 14 rack, 15 fixed part, 16 hydraulic rod, 17 sliding block, 18 crawling mechanism, 19 adjustment mechanism, 20 compensation mechanism, 21 correction mechanism, 22 drive motor, 23 track machine, 24 magnetic strip, 25 rotating plate, 26 connecting rod, 27 rotating block, 28 moving rod, 29 connecting block, 30 first push rod, 31 second push rod, 32 compensation spring, 33 threaded rod, 34 threaded sleeve, 35 fixed block, 36 elastic telescopic rod, 37 mounting block, 38 spring plate. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0026] Embodiment one: refer to Figures 1-6 , Figures 12-15 An underwater chain inspection mobile observation platform, comprising an iron chain 1 and an observation platform 2, further comprising a plurality of climbing assemblies 3 and two sets of centering assemblies 4 installed on the observation platform 2; The climbing assembly 3 has multiple sets, and the multiple sets of climbing assemblies 3 are divided into two parts, and the directions of the climbing assemblies 3 in the two parts are opposite, and are used for obstacle crossing.

[0027] As Figure 6 shown, in order to facilitate description, the climbing assembly 3 above is set as the climbing-up climbing assembly 3, and the climbing assembly 3 below is set as the diving climbing assembly 3. When the observation platform 2 rises and encounters an obstacle, the climbing-up climbing assembly 3 is retracted, and the diving climbing assembly 3 remains in contact with the iron chain 1. The observation platform 2 is moved upward by the operation of the diving climbing assembly 3. After the climbing-up climbing assembly 3 passes the obstacle, the climbing-up climbing assembly 3 is extended to abut against the iron chain 1, and the observation platform 2 is moved upward by the operation of the climbing-up climbing assembly 3. After the diving climbing assembly 3 passes the obstacle, the diving climbing assembly 3 is extended to abut against the iron chain 1, and the obstacle crossing can be realized (the diving climbing assembly 3 and the climbing-up climbing assembly 3 are independently operated in both directions).

[0028] The climbing assembly 3 is used to drive the observation platform 2 to move on the iron chain 1, and to hover the observation platform 2 during observation. A magnetic strip 24 is arranged in the climbing assembly 3, which is used to be adsorbed on the iron chain 1, to increase the adhesion, to reduce the probability of the observation platform 2 separating from the iron chain 1, and to improve the stability of the observation platform 2 moving. A correction mechanism 21 cooperating with the iron chain 1 is arranged in the climbing assembly 3, which is used to correct the twisted iron chain 1.

[0029] The climbing assembly 3 further comprises a fixing part 15, a crawling mechanism 18, an adjusting mechanism 19 and a compensation mechanism 20. The adjusting mechanism 19 is used to adjust the position of the crawling mechanism 18, to adapt to iron chains 1 of different sizes. The compensation mechanism 20 is used to elastically compensate the crawling mechanism 18, to avoid the influence of small attachments on the iron chain 1 on the movement of the crawling mechanism 18.

[0030] The crawling mechanism 18 comprises a track mechanism 23, which is driven by a driving motor 22. The magnetic strips 24 are uniformly fixed on the track mechanism 23. The adjusting mechanism 19 and the compensation mechanism 20 are installed between the fixing part 15 and the track mechanism 23 (the track mechanism 23 is composed of a rotating shaft and a track).

[0031] The driving motor 22 drives one of the rotating shafts to rotate, thereby driving the caterpillar belt on the caterpillar belt machine 23 to rotate, so as to realize the climbing of the observation platform 2. The driving end of the driving motor 22 can rotate in two directions, and the caterpillar belt can also rotate in two directions. The length of the caterpillar belt machine 23 is greater than the chain pitch of the iron chain 1 (the iron chain 1 is composed of a plurality of chain links), so that the movement is stable.

[0032] The adjusting mechanism 19 comprises two rotating plates 25 rotatably installed on the fixing member 15. A moving rod 28 is slidably installed on each of the two rotating plates 25. A connecting block 29 is fixedly installed on each of the two moving rods 28. The two connecting blocks 29 are rotatably connected with the caterpillar belt machine 23. A rotating block 27 is fixedly installed on each of the two moving rods 28. A connecting rod 26 is commonly installed on the two rotating blocks 27. The connecting rod 26 is rotatably connected with the two rotating blocks 27. A threaded sleeve 34 is rotatably installed on the connecting rod 26. A rotating member is rotatably installed on the fixing member 15. A threaded rod 33 rotatably installed on the rotating member is matched with the threaded sleeve 34.

[0033] When the compensation mechanism 20 is compensated to the limit, and the magnetic stripe 24 on the caterpillar belt machine 23 still cannot abut against the iron chain 1, the initial position of the caterpillar belt machine 23 needs to be adjusted at this time, so as to ensure that the magnetic stripe 24 on the caterpillar belt machine 23 abuts against the iron chain 1 when the compensation mechanism 20 operates for half a time. According to the size of the different iron chain 1, the position of the caterpillar belt machine 23 is adjusted, and the adjusting mode is as follows: First, the compensation mechanism 20 is operated for half a time. Then, the threaded rod 33 is rotated, the threaded rod 33 drives the threaded sleeve 34 to move, thereby driving the connecting rod 26 to move, the connecting rod 26 moves to drive the two rotating blocks 27 to move, thereby driving the two moving rods 28 to move, the two moving rods 28 slide on the corresponding rotating plates 25, and the moving rod 28 moves to drive the connecting block 29 to move, thereby driving the caterpillar belt machine 23 to move, so as to adjust the position of the caterpillar belt machine 23. Since the operation of the compensation mechanism 20 drives the caterpillar belt machine 23 to move, the rotating plate 25 rotates at this time. The two rotating plates 25 form a rectangle. Therefore, in order to prevent the adjustment from being stuck, the threaded rod 33 needs to be rotated around the fixing member 15 through the rotating member. It is equivalent to installing a rod member that can rotate around the two supporting points of the rectangle in the middle of the rectangle, and it will not affect the deformation of the rectangle.

[0034] The compensation mechanism 20 comprises a hydraulic rod 16 rotatably installed on the fixing member 15. A sliding block 17 is slidably installed on the fixing member 15. The sliding block 17 is rotatably connected with the telescopic end of the hydraulic rod 16. A second push rod 31 is rotatably installed on the sliding block 17. A first push rod 30 is slidably installed on the second push rod 31. A compensation spring 32 is fixedly installed between the second push rod 31 and the first push rod 30. The first push rod 30 is rotatably connected with the caterpillar belt machine 23.

[0035] The extension of the telescopic end of the hydraulic rod 16 will push the sliding block 17 to move, and the movement of the sliding block 17 will push the second push rod 31 to move, and the movement of the second push rod 31 will push the track machine 23 connected with the first push rod 30 to move under the action of the compensation spring 32 and the first push rod 30. During the movement of the track machine 23, the track machine 23 will rotate around the axis of the rotating plate 25, so that the track machine 23 moves along the radial direction of the fixed part 15 and also moves along the vertical direction of the fixed part 15. Once the small attachments are adhered to the iron chain 1 (the size of the attachments is smaller than the length of the compensation spring 32), the track machine 23 will rotate around the two rotating plates 25 under the pressing force when the track machine 23 abuts against the attachments. At this time, the compensation spring 32 between the first push rod 30 and the second push rod 31 will be compressed. The purpose of this design is to prevent the need for adjustment by the hydraulic rod 16 when encountering small attachments, and to have a certain obstacle avoidance function.

[0036] The correction mechanism 21 includes two fixed blocks 35 fixedly installed at the end of the fixed part 15, and a plurality of elastic telescopic rods 36 symmetrically installed on the two fixed blocks 35. The extension ends of the plurality of elastic telescopic rods 36 are fixedly installed with an installation block 37, and the two installation blocks 37 are jointly installed with a spring plate 38 matched with the iron chain 1. The spring plate 38 is rotatably connected with the corresponding two installation blocks 37.

[0037] When installing the observation platform 2, the iron chain 1 is clamped between the two spring plates 38. With the movement of the observation platform 2, the twisted iron chain 1 will pass between the two spring plates 38, and under the pressing force of the two spring plates 38, the twisted iron chain 1 will be reversed, so that the iron chain 1 is corrected, avoiding the situation that the twisted iron chain 1 causes the track machine 23 to be unable to move smoothly. It ensures that the track machine 23 moves along the side of the iron chain 1, which can effectively reduce the vibration of the observation platform 2 during movement, improve the stability of the observation platform 2, and effectively improve the accuracy of monitoring the internal components of the observation platform 2.

[0038] When the iron chain 1 passes between the two spring plates 38, the two spring plates 38 will be deformed, causing the two ends of the two spring plates 38 to expand outward. At this time, the corresponding two installation blocks 37 will move away from each other, and the elastic telescopic rod 36 will be elongated until the iron chain 1 passes between the two spring plates 38. Under the action of the elastic force of the spring plate 38 and the elastic telescopic rod 36, the spring plate 38 is reset (the initial state of the two spring plates 38 is abutting state).

[0039] Embodiment two: The difference between this embodiment and the technical solution of embodiment one is that Figures 1-11The centering assembly 4 is used for returning the deflected iron chain 1, and ensures that the iron chain 1 used by the climbing assembly 3 inside the observation platform 2 remains vertical, thereby avoiding the derailment of the climbing assembly 3.

[0040] The centering assembly 4 comprises a fixed ring 5 fixedly installed at the end of the observation platform 2, a second rotating shaft installed on the fixed ring 5, a support fixedly installed on the fixed ring 5, a first rotating shaft installed on the support, and a damping rotating connection between the first rotating shaft and the support and between the second rotating shaft and the fixed ring 5. A first hook 6 is fixedly installed on the first rotating shaft, and a second hook 7 is fixedly installed on the second rotating shaft. A driving mechanism is installed between the fixed ring 5 and the first rotating shaft, and a transmission mechanism is installed between the first hook 6 and the second hook 7.

[0041] The rotation of the first hook 6 and the second hook 7 will gather the deflected iron chain 1 to the center of the observation platform 2, and then the iron chain 1 is centered and locked. The locked iron chain 1 is in a vertical state inside the observation platform 2, which can ensure that the track machine 23 can abut against the iron chain 1, effectively avoiding the disengagement of the track machine 23 from the iron chain 1, and ensuring the normal movement of the observation platform 2.

[0042] The driving mechanism comprises a waterproof motor 8 fixedly installed on the support, and a gear set 10 connected between the driving end of the waterproof motor 8 and the first rotating shaft. When the iron chain 1 needs to be centered, the waterproof motor 8 is started, and the rotation of the driving end of the waterproof motor 8 will drive the first rotating shaft to rotate through the gear set 10, thereby driving the first hook 6 to rotate.

[0043] The transmission mechanism comprises a slide 9 fixedly installed on the first hook 6 in an arc shape with the first rotating shaft as the center, a rack 14 slidingly installed on the slide 9, an arc-shaped slide rod 12 fixedly installed on the rack 14, a through sliding connection between the slide rod 12 and the slide 9, a reset spring 13 fixedly installed between the slide rod 12 and the slide 9, and a toothed disc 11 fixedly installed on the second rotating shaft and matched with the rack 14.

[0044] The rotation of the first hook 6 around the first rotating shaft will drive the slide 9 to rotate. At this time, the rack 14 and the toothed disc 11 are in meshing state. With the continuous rotation of the first hook 6, the pressing force between the rack 14 and the toothed disc 11 becomes larger and larger, so the rack 14 slides on the slide 9. At this time, the slide rod 12 also slides on the slide 9, and the reset spring 13 is elongated. When the rack 14 moves to the end of the slide 9, the rack 14 is limited by the slide 9 and no longer moves, while the first hook 6 continues to rotate. The rack 14 drives the toothed disc 11 to rotate, the toothed disc 11 drives the second rotating shaft to rotate, thereby driving the second hook 7 to rotate (this part is used for correcting the iron chain 1 after obstacle crossing; under the clamping force of the magnetic strip 24 and the plurality of track machines 23, the shaking of the iron chain 1 will not cause the track machine 23 to disengage from the iron chain 1 during normal operation). The effect of the above operation on the iron chain 1 is that the iron chain 1 is first driven to the center axis position of the observation platform 2 by the first hook 6, but the iron chain 1 will still sway at this time, and finally the iron chain 1 is straightened by the movement of the second hook 7; The relationship between the rack 14 and the toothed disc 11: the arc length of the rack 14 is one-eighth of the toothed disc 11, and the first hook 6 and the second hook 7 can straighten the iron chain 1 after rotating one-eighth of a circle. For iron chains 1 of different sizes, the final position of the rack 14 needs to be changed, so a plug is provided on the slide 9 to limit the final position of the movement of the rack 14, that is, the rotation angles of the first hook 6 and the second hook 7 are different when straightening; If the rack 14 on the slide 9 is fixedly connected with the slide 9 and is arranged at the front end of the slide 9, after the rack 14 is engaged with the toothed disc 11 to drive the second hook 7 to rotate, the iron chain 1 will abut against the second hook 7. With the continuous movement of the first hook 6, the rack 14 is separated from the toothed disc 11, the second rotating shaft loses the force, and the movement of the first hook 6 drives the iron chain 1 to move to center the iron chain 1. During the movement of the iron chain 1, the iron chain 1 will generate a pressing force with the second hook 7, and the pressing force will cause the second hook 7 to reset to a certain extent, so that the purpose of clamping and centering cannot be achieved; If the rack 14 on the slide 9 is fixedly connected with the slide 9 and is arranged at the rear end of the slide 9, although this can solve the problem caused by arranging the rack 14 at the front end of the slide 9, the second hook 7 can only rotate around the second rotating shaft after the first hook 6 moves to a certain angle, so that the rotation angles of the second hook 7 and the first hook 6 cannot be controlled, and only iron chains 1 of specific sizes can be used, so the scope of application is small.

[0045] The specific operation steps of the device are as follows: Normal movement of the observation platform 2: the drive motor 22 drives one of the rotating shafts to rotate, thereby driving the caterpillar belt on the caterpillar belt machine 23 to rotate, achieving the movement of the observation platform 2; Obstacle avoidance (small-sized attached obstacle): once there is a small-sized attached object on the iron chain 1, the caterpillar belt machine 23 will rotate around the two rotating plates 25 under the pressing force when the caterpillar belt machine 23 abuts against the attached object. At this time, the compensation spring 32 between the first push rod 30 and the second push rod 31 will be compressed, achieving the purpose of obstacle avoidance; Obstacle crossing (large attachments): the climbing climbing assembly 3 is retracted, the diving climbing assembly 3 is kept in contact with the chain 1, the observation platform 2 is moved up through the operation of the diving climbing assembly 3, and after the climbing climbing assembly 3 passes over the obstacle, the climbing climbing assembly 3 is stretched and abuts against the chain 1, and the diving climbing assembly 3 is retracted, and the observation platform 2 is moved up through the operation of the climbing climbing assembly 3, and after the diving climbing assembly 3 passes over the obstacle, the diving climbing assembly 3 is stretched and abuts against the chain 1, and the obstacle crossing is realized; Chain 1 rotation correction: when installing the observation platform 2, the chain 1 is clamped between the two spring plates 38, and as the observation platform 2 moves, the twisted chain 1 will pass between the two spring plates 38, and under the pressing force of the two spring plates 38, the twisted chain 1 will be reversed, and the chain 1 will be corrected, avoiding the situation that the chain 1 should be twisted to cause the track machine 23 to be unable to move smoothly; Chain 1 position centering correction: start the waterproof motor 8, the waterproof motor 8 driving end rotation will drive the first rotating shaft to rotate through the gear set 10, thereby driving the first hook 6 to rotate, the first hook 6 rotates around the first rotating shaft and drives the slide 9 to rotate, at this time the rack 14 and the gear disc 11 enter the meshing state, with the continuous rotation of the first hook 6, the pressing force between the rack 14 and the gear disc 11 becomes larger and larger, so the rack 14 will slide on the slide 9, at this time the slide rod 12 also slides on the slide 9, the return spring 13 is elongated, until the rack 14 moves to the end of the slide 9, the rack 14 is limited by the slide 9 and no longer moves, and the first hook 6 continues to rotate, the rack 14 drives the gear disc 11 to rotate, the gear disc 11 drives the second rotating shaft to rotate, thereby driving the second hook 7 to rotate, the movement of the first hook 6 and the second hook 7 will extrude the chain 1 to the middle, and finally the chain 1 is clamped and locked.

[0046] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An underwater chain-touring mobile observation platform comprising a chain (1) and an observation platform (2), characterized in that, Also include a plurality of climbing components (3) installed on the observation platform (2) and two sets of central components (4); The climbing component (3) is used to drive the observation platform (2) to move on the iron chain (1), and to hover the observation platform (2) during observation. The climbing component (3) is provided with a magnetic strip (24) for adsorbing on the iron chain (1) to increase the adhesion. The climbing component (3) is provided with a correction mechanism (21) matched with the iron chain (1) for correcting the twisted iron chain (1). The central component (4) is used to return the iron chain (1) to the original position, ensuring that the iron chain (1) used by the climbing component (3) inside the observation platform (2) remains vertical, avoiding the derailment of the climbing component (3).

2. The underwater link patrolling mobile observation platform according to claim 1, characterized in that, The climbing component (3) has multiple sets, and the multiple climbing components (3) are divided into two parts, and the directions of the climbing components (3) in the two parts are opposite, which are used for obstacle crossing.

3. The underwater link patrolling mobile observation platform according to claim 2, characterized in that, The climbing component (3) further comprises a fixing member (15), a crawling mechanism (18), an adjusting mechanism (19) and a compensation mechanism (20). The adjusting mechanism (19) is used to adjust the position of the crawling mechanism (18) to adapt to iron chains (1) of different sizes. The compensation mechanism (20) is used to elastically compensate the crawling mechanism (18) to avoid the influence of small attachments on the iron chain (1) on the movement of the crawling mechanism (18).

4. The underwater link patrolling mobile observation platform according to claim 3, characterized in that, The crawling mechanism (18) comprises a crawler (23) driven by a driving motor (22). The magnetic strips (24) are uniformly fixed on the crawler (23). The adjusting mechanism (19) and the compensation mechanism (20) are installed between the fixing member (15) and the crawler (23).

5. The underwater link patrolling mobile observation platform according to claim 4, characterized in that, The adjusting mechanism (19) comprises two rotating plates (25) rotatably installed on the fixing member (15). One moving rod (28) is slidably installed on each of the two rotating plates (25). One connecting block (29) is fixedly installed on each of the two moving rods (28). The two connecting blocks (29) are rotatably connected with the crawler (23). One rotating block (27) is fixedly installed on each of the two moving rods (28). One connecting rod (26) is jointly installed on the two rotating blocks (27). The connecting rod (26) is rotatably connected with the two rotating blocks (27). A threaded sleeve (34) is rotatably installed on the connecting rod (26). A rotating member is rotatably installed on the fixing member (15). A threaded rod (33) matched with the threaded sleeve (34) is rotatably installed on the rotating member.

6. The underwater link patrolling mobile observation platform according to claim 4, characterized in that, The compensation mechanism (20) comprises a hydraulic rod (16) rotatably installed on a fixing member (15), a sliding block (17) is slidably installed on the fixing member (15), the sliding block (17) is rotatably connected with the telescopic end of the hydraulic rod (16), a second push rod (31) is rotatably installed on the sliding block (17), a first push rod (30) is slidably installed on the second push rod (31), a compensation spring (32) is fixedly installed between the second push rod (31) and the first push rod (30), and the first push rod (30) is rotatably connected with the track machine (23).

7. The underwater link patrolling mobile observation platform according to claim 6, characterized in that, The correction mechanism (21) comprises two fixed blocks (35) fixedly installed at the ends of the fixing member (15), a plurality of elastic telescopic rods (36) symmetrically divided into two groups are fixedly installed on each of the two fixed blocks (35), a mounting block (37) is fixedly installed at the telescopic ends of the matched elastic telescopic rods (36), a spring plate (38) matched with the iron chain (1) is jointly installed between the two matched mounting blocks (37), and the spring plate (38) is rotatably connected with the corresponding two mounting blocks (37).

8. The underwater link patrolling mobile observation platform according to claim 1, characterized in that, The centering assembly (4) comprises a fixed ring (5) fixedly installed at the end of the observation platform (2), a second rotating shaft is installed on the fixed ring (5), a support is fixedly installed on the fixed ring (5), a first rotating shaft is installed on the support, the first rotating shaft and the support and the second rotating shaft and the fixed ring (5) are all dampingly rotatably connected, a first hook (6) is fixedly installed on the first rotating shaft, a second hook (7) is fixedly installed on the second rotating shaft, a driving mechanism is installed between the fixed ring (5) and the first rotating shaft, and a transmission mechanism is installed between the first hook (6) and the second hook (7).

9. The underwater link patrolling mobile observation platform according to claim 8, characterized in that, The driving mechanism comprises a waterproof motor (8) fixedly installed on the support, and the driving end of the waterproof motor (8) is connected with the first rotating shaft through a gear set (10).

10. The underwater link patrolling mobile observation platform according to claim 8, characterized in that, The transmission mechanism comprises a slide (9) fixedly installed on the first hook (6) and arranged in an arc shape with the first rotating shaft as the center, a rack (14) is slidably installed on the slide (9), an arc-shaped slide rod (12) is fixedly installed on the rack (14), the slide rod (12) is throughly and slidably connected with the slide (9), a return spring (13) is fixedly installed between the slide rod (12) and the slide (9), and a toothed disc (11) matched with the rack (14) is fixedly installed on the second rotating shaft.

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