Underwater adsorption device self-adaptive to dam faces with different gradients and control method of underwater adsorption device

Abstract

The invention discloses an underwater adsorption device self-adaptive to dam surfaces with different gradients and a control method of the underwater adsorption device in the technical field of ocean equipment, and aims to solve the problem of realizing stable adsorption by adapting to dam surfaces with different inclination angles and different roughness degrees in the prior art. The driving unit comprises an adsorption unit and a telescopic unit and is used for driving the adsorption unit to be close to or far away from the target adsorption dam surface; the angle adjusting unit is used for adjusting the inclination angle of the adsorption unit when the distance between the adsorption unit and the target adsorption dam surface is close to a preset distance, so that the adsorption unit is attached to the target adsorption dam surface; the negative pressure generation unit is connected with the adsorption unit and used for providing negative pressure for the adsorption unit, so that the adsorption unit and the target adsorption dam face form a closed negative pressure cavity; the dam surface underwater adsorption device capable of adapting to different gradients and surface roughness provides a stable working basis for an underwater detection robot.

Description

Technical Field

[0001] This invention relates to the field of marine equipment technology, and in particular to an underwater adsorption device and its control method that are adaptive to dam surfaces with different slopes. Background Technology

[0002] Large-scale hydropower station concrete dams are core facilities for national energy and water resource regulation, and their structural integrity directly affects the safe operation of the power station. Over long-term use, dams are susceptible to structural defects such as cracks and spalling due to water erosion, water flow, and material aging. If not addressed promptly, these defects can propagate inwards, significantly increasing the risk of leakage, collapse, and even instability, threatening downstream safety. Therefore, regular and accurate underwater inspections are crucial.

[0003] Currently, underwater inspection robots have replaced manual labor as the mainstream inspection method, and their stable operation highly depends on the adsorption system providing a benchmark. However, existing adsorption devices have significant limitations in complex dam surface environments: on the one hand, the large differences in dam surface inclination and roughness make it difficult for traditional fixed structure adsorption mechanisms to maintain a stable fit with the dam surface, easily leading to adsorption force attenuation or robot slippage; on the other hand, underwater turbulence, deep-water pressure imbalance, and the isolation of impurities such as moss and silt on the dam surface further reduce the reliability of adsorption.

[0004] These problems lead to longer testing cycles, increased costs, and may also cause equipment damage, data loss, or even security incidents. Summary of the Invention

[0005] The purpose of this invention is to provide an underwater adsorption device and its control method that are adaptive to dam surfaces with different slopes, and can achieve stable adsorption.

[0006] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0007] In a first aspect, the present invention provides an underwater adsorption device that adapts to dam surfaces with different slopes, comprising:

[0008] Adsorption units are used to cover and adsorb the target adsorption dam surface;

[0009] A telescopic unit, which is connected to the adsorption unit, is used to drive the adsorption unit to move closer to or away from the target adsorption dam surface;

[0010] An angle adjustment unit is used to adjust the tilt angle of the adsorption unit when the distance between the adsorption unit and the target adsorption dam surface approaches a preset distance, so that the adsorption unit fits into the target adsorption dam surface;

[0011] A negative pressure generating unit, connected to the adsorption unit, is used to provide negative pressure to the adsorption unit so that the adsorption unit and the target adsorption dam surface form a sealed negative pressure chamber.

[0012] By tightly adhering the adsorption unit to the target adsorption dam surface, using the telescopic unit to precisely control the distance between the adsorption unit and the dam surface, the angle adjustment unit to ensure perfect adhesion between the adsorption unit and the dam surface, and the negative pressure generating unit to form a sealed negative pressure chamber, efficient and stable adsorption of the target adsorption dam surface is achieved, effectively improving adsorption efficiency and stability. It is suitable for various complex dam surface environments and has broad application prospects.

[0013] Optionally, the adsorption unit includes a rigid suction cup and a flexible pad disposed on the bottom surface of the rigid suction cup. The flexible pad can adapt to the shape of the target adsorption dam surface through its own flexible deformation.

[0014] The adsorption unit is equipped with a rigid suction cup and a flexible pad is fixedly connected to its bottom. This can effectively improve the sealing performance between the adsorption unit and the target adsorption dam surface, enhance the adsorption force, and at the same time, the adaptability of the flexible pad can compensate for the impact of unevenness on the surface of the target adsorption dam surface, thereby improving the reliability and stability of adsorption.

[0015] Optionally, the telescopic unit includes a motor, a first gear, and a rack that is pulsatorically connected to the adsorption unit. The output shaft of the motor is pulsatorically connected to the first gear, and the first gear meshes with the rack. The motor drives the rack to move up and down through the first gear, thereby causing the adsorption unit to move closer to or away from the target adsorption dam surface.

[0016] The telescopic unit is driven by a motor to drive the first gear and rack. The movement of the rack enables adsorption and detachment from the target adsorption dam surface. Through the combined output of rotation and linear motion, this structure achieves the advantages of overall compactness and high transmission efficiency, while also having good motion synchronization and structural rigidity.

[0017] Optionally, the angle adjustment unit includes an electric cylinder, a universal joint, a universal ball joint, and a return spring. The universal joint is connected to the rack via a rack connecting plate. The electric cylinder is connected to the rack connecting plate and drives the universal ball joint to rotate via a ball joint connecting plate. The universal ball joint is movably connected to the adsorption unit via a ball joint support. The return spring is supported between the adsorption unit and the ball joint connecting plate.

[0018] The angle adjustment unit, through the coordinated design of electric cylinder, universal joint, universal ball joint and return spring, drives the universal ball joint to rotate through the "electric cylinder-ball joint connecting plate", and with the rigid transmission of universal joint and rack connecting plate, converts the linear driving force into precise angle adjustment force, which can realize multi-dimensional adjustment of the adsorption unit within ±30°.

[0019] Optionally, the negative pressure generating unit includes a submersible pump, an ejector, and a negative pressure pipeline. One end of the negative pressure pipeline is connected to the diffuser of the ejector, and the other end is connected to the adsorption unit. The nozzle of the ejector is connected to the outlet of the submersible pump.

[0020] Optionally, it also includes a roller, on which a second gear is connected, the second gear meshing with the first gear, and the negative pressure pipeline is wound around the roller; as the adsorption unit rises and falls, the roller synchronously winds around and releases the negative pressure pipeline.

[0021] The jet injector utilizes the high-speed water flow output by the submersible pump to generate negative pressure for adsorption. At the same time, the gear-meshing roller in the telescopic unit enables the automatic and synchronous retraction and expansion of the negative pressure pipeline as the adsorption unit rises and falls. This ensures stable adsorption force while avoiding the risk of pipeline entanglement or dragging, significantly improving the reliability and automation level of the equipment.

[0022] Optionally, it also includes a pressure sensor; the pressure sensor is used to monitor the negative pressure value in the negative pressure pipeline; the submersible pump adjusts its own working state according to the negative pressure value in the negative pressure pipeline monitored by the pressure sensor, thereby maintaining the negative pressure value within a preset range.

[0023] The negative pressure value in the negative pressure pipeline is monitored in real time by a pressure sensor, and the working state is adjusted by a submersible pump according to the monitoring results to accurately maintain the negative pressure value within the preset range. This achieves precise control of the negative pressure, ensures that a stable negative pressure environment is formed between the adsorption unit and the target adsorption dam surface, improves the stability and reliability of the adsorption effect, and further optimizes the performance of the adsorption system so that it can maintain high efficiency even under complex working conditions.

[0024] Optionally, it also includes a support unit, which can at least provide support for the telescopic unit and the negative pressure generating unit; the support unit includes a first side plate, a second side plate, a top plate, and a first guide shaft; the top plate is fixedly connected to the first side plate and the second side plate, and the first guide shaft passes through the first side plate and the second side plate and is fixedly connected to the first side plate and the second side plate through a fixing ring.

[0025] The support unit forms a stable frame through the fixed connection of the first side plate, the second side plate, and the top plate. Together with the first guide shaft that runs through both side plates and is locked by the fixing ring, it provides overall rigid support and positioning guarantee for the telescopic unit and the negative pressure generating unit, ensuring the stability of the overall structure and the accuracy of motion guidance.

[0026] Secondly, the present invention also provides a control method for an underwater adsorption device based on any of the above-mentioned adaptive dam slopes, the method being executed by a host computer, and the method comprising the following steps:

[0027] During the adsorption start-up phase, the telescopic unit is controlled to drive the adsorption unit closer to the target adsorption dam surface;

[0028] During the dam surface self-adaptation stage, when the distance between the adsorption unit and the target adsorption dam surface approaches the preset distance, the control angle adjustment unit adjusts the tilt angle of the adsorption unit so that the adsorption unit fits into the target adsorption dam surface, forming a sealed negative pressure chamber.

[0029] During the resetting phase, the control telescopic unit drives the adsorption unit away from the target adsorption dam surface.

[0030] The adsorption device autonomously adheres to and detaches from the dam surface through upper computer control. First, the telescopic unit drives the adsorption unit to approach the dam surface. Then, the angle adjustment unit automatically adjusts the tilt angle of the adsorption unit when it approaches the preset distance, so that it fits tightly with the irregular dam surface and forms a closed negative pressure chamber. Finally, the telescopic unit safely detaches and resets the adsorption unit. The whole process realizes high-precision, automated negative pressure adsorption and release that is adaptive to the dam surface.

[0031] Optionally, if the negative pressure value in the negative pressure chamber is fluctuating, the angle adjustment unit is controlled to adjust the tilt angle of the adsorption unit to compensate for the slope deviation between the adsorption unit and the target adsorption dam surface.

[0032] If the negative pressure value in the negative pressure chamber continues to rise, control the telescopic unit to drive the adsorption unit closer to the target adsorption dam surface;

[0033] If the negative pressure value in the negative pressure chamber is above the first upper limit, the external device is used to visually confirm the adhesion state between the adsorption unit and the target adsorption dam surface. Based on the adhesion state, the angle adjustment unit and the telescopic unit are controlled synchronously until the negative pressure value in the negative pressure chamber stabilizes below the second lower limit, where the first upper limit is greater than the second lower limit.

[0034] When the host computer receives a signal from the pressure sensor indicating continuous pressure fluctuation in the negative pressure chamber, the angle adjustment unit operates according to the control instructions of the host computer, correcting the tilt angle deviation between the adsorption unit and the target adsorption surface in real time, eliminating negative pressure fluctuations caused by surface unevenness. When the pressure sensor detects a continuous decrease in the negative pressure value in the negative pressure chamber, the host computer drives the telescopic unit to pressurize and advance, forcing the adsorption unit and the target adsorption surface to form a zero-gap sealing interface, physically blocking the leakage path. If the negative pressure value exceeds the first upper limit value of -60kPa safety threshold, the system activates the redundancy protocol: calling the external vision device to scan the adsorption unit's bonding status; synchronously controlling the angle adjustment unit (dynamic leveling) and the telescopic unit (pressure compensation), and combining adjustments until the negative pressure value stabilizes below the second lower limit value of -80kPa.

[0035] Compared with existing technologies, the beneficial effects achieved by the underwater adsorption device for dam surfaces with different slopes in this invention are as follows:

[0036] 1. This invention uses an adsorption unit to cover and adsorb the target adsorption dam surface, combined with a telescopic unit to flexibly adjust the distance between the adsorption unit and the dam surface, an angle adjustment unit to adaptively adjust the tilt angle to ensure a tight fit between the adsorption unit and the target adsorption dam surface, and a negative pressure generating unit to generate negative pressure and construct a negative pressure chamber. This achieves efficient, stable, and reliable adsorption of the target adsorption dam surface, thereby improving operational safety, adapting to irregular dam surfaces, and enhancing the sealing effect. Ultimately, it achieves reliable adsorption in inclined and rough dam surface environments, providing a stable operating foundation for underwater inspection robots.

[0037] 2. This invention addresses the combined working conditions of inclined dam surfaces and rough surfaces. By monitoring the negative pressure value in the negative pressure chamber through a pressure sensor, the negative pressure generating unit, angle adjustment unit, and telescopic unit adjust their working states according to the monitored negative pressure value to ensure precise cooperation between them to work together on the target adsorption dam surface, thereby achieving reliable adsorption.

[0038] 3. The present invention provides the structural strength of the suction cup through a rigid suction cup and provides adaptability to different wall environments through a flexible pad, thereby achieving stable adsorption of the suction cup under large external tensile force and rough wall surface. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of an adsorption device for an adaptive dam surface with different slopes provided in one embodiment of the present invention;

[0041] Figure 2 This is a side view of an underwater adsorption device for dam surfaces with different slopes provided in one embodiment of the present invention;

[0042] Figure 3 This is a top view of an underwater adsorption device for dams with different slopes provided in one embodiment of the present invention;

[0043] Figure 4 yes Figure 1 Schematic diagram of the adsorption unit structure;

[0044] Figure 5 yes Figure 4 Schematic diagram of key components of a submersible pump and jet injector;

[0045] Figure 6 This is a side view of the rigid suction cup of the underwater adsorption device for adapting to dam surfaces with different slopes, provided in one embodiment of the present invention.

[0046] Figure 7 yes Figure 6 A schematic diagram of a rigid suction cup adapting to dam surfaces at different angles;

[0047] Figure 8 yes Figure 6 A schematic diagram of a medium-rigidity suction cup adapting to the adhesion of a rough dam surface.

[0048] Explanation of reference numerals in the attached figures:

[0049] 1. First side plate; 2. Second side plate; 3. Top plate; 4. First guide shaft; 5. Fixing ring; 6. First clamp; 7. Second clamp; 8. Submersible pump; 9. Ejector; 10. Rigid suction cup; 11. Flexible pad; 12. Ejector pipe connector; 13. T-joint; 14. Ejector sealing ring; 15. Negative pressure pipeline; 16. Rigid suction cup pipe connector; 17. Hatch cover; 18. Hatch body; 19. Host computer; 20. Pressure sensor; 21. Pressure sensor pipe connector; 22. Motor; 23. First gear; 24. First gear retaining ring; 25. Second gear; 26. Second gear retaining ring; 27. Rack; 28. Rack fixing plate; 29. ​​Roller retaining ring; 30. Roller; 31. Drum shaft; 32. Drum fixing plate; 33. Drum mounting bearing; 34. Drum guide shaft; 35. Drum guide shaft support; 36. Universal joint; 37. Universal joint connecting block; 38. Universal ball joint; 39. Ball joint connecting plate; 40. Return spring; 41. Electric cylinder; 42. Ball joint connecting block; 43. Rack connecting plate; 44. Ball joint support; 45. Electric cylinder connecting block; 46. Pin; 801. Electromagnetic coil; 802. Upper housing; 803. Lower housing; 804. Fixed shaft; 805. Turbine; 806. Magnetic shaft; 807. Fixed shaft retaining ring; 808. Water pump sealing ring; 901. Nozzle; 902. Suction chamber; 903. Diffuser; 47. Target adsorption dam surface. Detailed Implementation

[0050] 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use.

[0051] Example 1:

[0052] like Figure 1As shown, this embodiment provides an underwater adsorption device that adapts to dam surfaces with different slopes, comprising:

[0053] Adsorption unit, used to cover and adsorb the target adsorption dam surface 47;

[0054] The telescopic unit is connected to the adsorption unit and is used to drive the adsorption unit to approach or move away from the target adsorption dam surface 47; the telescopic unit and the adsorption unit move in a transmission manner to achieve synchronous movement of adsorption and detachment from the target adsorption dam surface 47.

[0055] An angle adjustment unit is used to adjust the tilt angle of the adsorption unit when the distance between the adsorption unit and the target adsorption dam surface 47 approaches a preset distance, so that the adsorption unit and the target adsorption dam surface 47 are in contact; after the adsorption unit and the target adsorption dam surface 47 are partially in contact, the angle adjustment unit adjusts the position of the adsorption unit again to achieve contact with the target adsorption dam surface 47 to form a sealed chamber.

[0056] A negative pressure generating unit, connected to the adsorption unit, provides negative pressure to the adsorption unit so that the adsorption unit and the target adsorption dam surface 47 form a sealed negative pressure chamber. Providing negative pressure to the sealed chamber formed by the adsorption unit and the target adsorption dam surface 47 constructs the negative pressure chamber and achieves stable adsorption.

[0057] In summary, the underwater adsorption device for dam surfaces with different slopes provided in this embodiment achieves the adsorption and detachment process between the adsorption unit and the target adsorption dam surface 47 through a telescopic unit. During adsorption, the control unit drives the telescopic unit and the adsorption unit to move in tandem to achieve initial positioning, and then the angle adjustment unit flexibly adjusts the posture of the adsorption unit to ensure that it fully covers the irregular target adsorption dam surface 47 to form a sealed chamber; more specifically, based on Figure 7 The target adsorption dam surface 47 shown has different slopes. The angle adjustment unit allows the adsorption unit to adaptively adjust its tilt angle within a range of ±30°. After the adsorption unit and the target adsorption unit 47 are fully attached, the negative pressure provided by the negative pressure generating unit constructs a negative pressure chamber, thereby achieving efficient and stable adsorption and ensuring the working stability of the underwater robot.

[0058] In some embodiments, the adsorption unit includes a rigid suction cup 10 and a flexible pad 11 disposed on the bottom surface of the rigid suction cup 10. The flexible pad 11 can adapt to the shape of the target adsorption dam surface 47 through its own flexible deformation. Figure 8It is understandable that by fixing a flexible pad 11 to the bottom of the rigid suction cup 10, the flexible material's adaptive deformation capability under pressure allows the rigid suction cup 10 to tightly conform to various irregular or uneven adsorption surfaces, effectively compensating for the insufficient sealing of the rigid suction cup 10. This significantly improves the airtightness, adaptability, and adsorption reliability of the entire adsorption unit, thereby achieving stable and efficient adsorption operations under complex working conditions. The flexible pad 11 can be a flexible composite sponge pad, adhered to the bottom of the rigid suction cup 10 with water-resistant adhesive to form an adaptive sealing interface. However, it is not limited to this; the flexible pad 11 can also be made of other possible materials, such as PU foam, EVA, silicone foam, flexible rubber, pearl cotton, etc.

[0059] In some embodiments, the telescopic unit includes a motor 22, a first gear 23, and a rack 27 tractively connected to the adsorption unit. The output shaft of the motor 22 is tractively connected to the first gear 23, and the first gear 23 meshes with the rack 27. The motor 22 drives the rack 27 to move up and down via the first gear 23, thereby causing the adsorption unit to move closer to or away from the target adsorption dam surface 47. Figure 2-3 It is understood that the first gear 23 mounted on the output shaft of the motor 22 meshes with the rack 27 and is limited by the retaining ring 24 of the first gear 23. When the motor 22 rotates forward or reverses, the gear system drives the rack 27 to move down or up, pushing the rigid suction cup 10 closer to or away from the target adsorption dam surface 47.

[0060] In some embodiments, the angle adjustment unit includes an electric cylinder 41, a universal joint 36, a universal ball joint 38, and a return spring 40. The universal joint 36 is connected to the rack 27 via a rack connecting plate 43. The electric cylinder 41 is connected to the rack connecting plate 43 and drives the universal ball joint 38 to rotate via a ball joint connecting plate 39. The universal ball joint 38 is movably connected to the adsorption unit via a ball joint support 44. The return spring 40 is supported between the adsorption unit and the ball joint connecting plate 39. Figure 2 , Figure 7 It can be understood that the electric cylinder 41 is connected to the rack and pinion connecting plate 43 to provide rigid support and drive the ball joint connecting plate 39 at its end to move; the ball joint connecting plate 39 is connected to the rigid suction cup 10 through the universal ball joint 38, realizing the flexible deflection and swing of the rigid suction cup 10 in multiple directions; at the same time, one end of the universal joint 36 is connected to the rack and pinion connecting plate 43, and the other end is also hinged to the ball joint connecting plate 39, forming a compound motion mechanism together with the electric cylinder 41. This not only efficiently transmits the linear thrust of the electric cylinder 41 to the rigid suction cup 10, but more importantly, it provides stable constraints and additional support for the entire system, ensuring that the rigid suction cup 10 moves accurately and without jamming when under load. More specifically, combined with Figure 6The rack and pinion connecting plate 43 connects the racks 27 on both radial sides of the roller 30, and connects the universal joint connecting block 37 and the electric cylinder connecting block 45 below it. The universal joint 36 is hinged to the universal joint connecting block 37 and the ball joint connecting block 42 via pins 46. The ball joint connecting block 42 is connected to the universal ball joint 38 via internal threads and clamps the ball joint connecting plate 39. The universal ball joint 38 is embedded in the ball joint support 44, and the ball joint support 44 is fixed to the rigid suction cup 10 by bolts. The cylinder rod end of the electric cylinder 41 is hinged to the electric cylinder connecting block 45, and the base end is hinged to the ball joint connecting block 42. Figure 6 By adding a return spring 40 between the ball joint connecting plate 39 and the rigid suction cup 10, and using the grooves on the surfaces of both to precisely limit the radial displacement of the return spring 40, the return force is always effectively applied along the axial direction. This design allows the rigid suction cup 10 to automatically and accurately return to its initial position under the action of the linear spring force after completing the deflection or displacement. At the same time, the multi-degree-of-freedom motion characteristics of its universal joint structure are fully preserved, thereby significantly improving the return accuracy, motion reliability and self-adaptive capability of the entire actuator.

[0061] In some embodiments, the negative pressure generating unit includes a submersible pump 8, an ejector 9, and a negative pressure pipeline 15. One end of the negative pressure pipeline 15 is connected to the diffuser 903 of the ejector 9, and the other end is connected to the adsorption unit. The nozzle 901 of the ejector 9 is connected to the outlet of the submersible pump 8. Figure 4 and Figure 5 As shown: The outlet flange of the submersible pump 8 is rigidly connected to the inlet flange of the ejector 9 by bolts. The suction chamber 902 of the ejector 9 is connected to the negative pressure pipeline 15 through the ejector pipe connector 12. After the negative pressure pipeline 15 branches through the tee pipe connector 13, one branch is connected to the pressure sensor 20, and the other branch is connected to the rigid suction cup 10 through the suction cup pipe connector 16. The ejector pipe connector 12 can be a two-way pipe connector. The core components of the submersible pump 8 and the ejector 9 are as follows: Figure 5 As shown: The electromagnetic coil 801 is injection molded and encapsulated within the lower housing 803. The turbine 805 and the magnetic shaft 806 are bonded together as a whole. A fixed shaft 804 passes through the electromagnetic coil 801, and its two ends are respectively inserted into the slots of the upper housing 802 and the lower housing 803. A fixed shaft retaining ring 807 is provided at each connection point, and a water pump sealing ring 808 ensures the watertightness of the housing joint. After being energized, the electromagnetic coil 801 drives the magnetic shaft 806 to rotate the turbine 805, forming a high-speed water flow at the outlet. The jet ejector 9 consists of three parts: a nozzle 901, a suction chamber 902, and a diffuser chamber 903. When the high-speed water flow from the submersible pump 8 passes through the nozzle 901 and is sprayed at high speed, it further accelerates the water flow in the suction chamber 902, thereby achieving a negative pressure area.

[0062] In some embodiments, the telescopic unit further includes a roller 30, on which a second gear 25 is connected. The second gear 25 meshes with the first gear 23, and the negative pressure pipeline 15 is wound around the roller 30. As the adsorption unit rises and falls, the roller 30 synchronously winds around and releases the negative pressure pipeline 15. It can be understood that the telescopic unit, through the meshing transmission of the roller 30, the second gear 25, and the first gear 23, achieves synchronous automatic winding and unwinding of the negative pressure pipeline 15 during the rising and falling of the adsorption unit, effectively avoiding pipeline entanglement, pulling, or wear, ensuring the continuity and stability of the negative pressure supply, and simultaneously improving the automation level and reliability of the equipment.

[0063] In some embodiments, a pressure sensor 20 is also included; the pressure sensor 20 is used to monitor the negative pressure value in the negative pressure pipeline 15; the submersible pump 8 adjusts its own working state according to the negative pressure value in the negative pressure pipeline monitored by the pressure sensor 20, thereby maintaining the negative pressure value within a preset range. It can be understood that by setting the pressure sensor 20 to monitor the pressure value in the negative pressure pipeline 15 in real time and controlling the submersible pump 8 to automatically adjust its working state, the underwater adsorption device can dynamically maintain the negative pressure stable within a preset range, thereby ensuring the reliability and consistency of the adsorption operation and effectively avoiding equipment failure or efficiency reduction caused by insufficient negative pressure or overload.

[0064] In some embodiments, the underwater adsorption device further includes a support unit, which provides support for at least the telescopic unit and the negative pressure generating unit; the support unit includes a first side plate 1, a second side plate 2, a top plate 3, and a first guide shaft 4; the top plate 3 is fixedly connected to the first side plate 1 and the second side plate 2, and the first guide shaft 4 passes through the first side plate 1 and the second side plate 2 and is fixedly connected to the first side plate 1 and the second side plate 2 through a fixing ring 5. It can be understood that, through the action of the two side plates and the top plate 3, the first guide shaft 4 and the fixing ring 5, the support unit as a whole has good stability and connection strength, and the components are tightly fitted together, effectively transmitting force and movement, ensuring the reliability and durability of the support unit during use. Meanwhile, combined with... Figure 2 As shown, the first clamp 6 and the second clamp 7 connected to the top plate 3 firmly integrate and fix the control cabin body 18, jet generator 9 and pressure sensor 20 to the second side plate 2, effectively constraining the spatial position of each core component, significantly improving the structural rigidity, vibration resistance and operational stability of the entire module. At the same time, this compact integrated installation method maintains the original connection and functional relationship between each component, ensuring the long-term reliability and safety of the system under high pressure or complex working conditions.

[0065] Example 2:

[0066] This embodiment provides an adaptive underwater adsorption control method for dam surfaces with different slopes. This underwater adsorption control method can be implemented by the underwater adsorption device in Embodiment 1, and specifically includes the following steps:

[0067] During the adsorption start-up phase, the control telescopic unit drives the adsorption unit to approach the target adsorption dam surface 47;

[0068] During the dam surface self-adaptation stage, when the distance between the adsorption unit and the target adsorption dam surface 47 approaches the preset distance, the control angle adjustment unit adjusts the tilt angle of the adsorption unit so that the adsorption unit fits into the target adsorption dam surface 47 to form a sealed negative pressure chamber.

[0069] During the resetting phase, the control telescopic unit drives the adsorption unit away from the target adsorption dam surface 47.

[0070] It is understandable that during the process of achieving stable adsorption between the adsorption unit and the target adsorption dam surface 47, the angle adjustment unit and the telescopic unit work together to enable the adsorption unit to adapt to the target adsorption dam surface 47 with different slopes. When the adsorption unit completely covers the target adsorption dam surface 47 to form a closed chamber, the adsorption unit is controlled to construct the closed chamber into a negative pressure chamber, adjusting the degree of adsorption between the adsorption unit and the target adsorption dam surface 47, thereby achieving stable adsorption and significantly improving the adsorption stability of the adsorption unit in complex underwater working conditions.

[0071] In some embodiments, if the negative pressure value in the negative pressure chamber continues to fluctuate, the angle adjustment unit is controlled to adjust the tilt angle of the adsorption unit to compensate for the slope deviation between the adsorption unit and the target adsorption dam surface 47.

[0072] If the negative pressure value in the negative pressure chamber continues to rise, control the telescopic unit to drive the adsorption unit to approach the target adsorption dam surface 47;

[0073] If the negative pressure value in the negative pressure chamber is above the first upper limit, the external device is used to visually confirm the adhesion state between the adsorption unit and the target adsorption dam surface 47. Based on the adhesion state, the angle adjustment unit and the telescopic unit are controlled synchronously until the negative pressure value in the negative pressure chamber stabilizes below the second lower limit, where the first upper limit is greater than the second lower limit.

[0074] It is understandable that when the inclination angle between the adsorption unit and the target adsorption dam surface 47 is within 30° and the roughness is low, stable adsorption with the target adsorption dam surface 47 can be achieved through the Bernoulli effect within the negative pressure chamber constructed by the adsorption unit. However, when the inclination angle of the target adsorption dam surface 47 is too large or the dam wall defects are large, the negative pressure value in the negative pressure chamber needs to be monitored in real time after the adsorption unit and the target adsorption dam surface 47 have completed adsorption. When the negative pressure value is outside the preset range, the adhesion state between the adsorption unit and the target adsorption dam surface 47 can be visually confirmed through an underwater camera. The corresponding control angle adjustment unit and telescopic unit can then be used to further adjust the adsorption between the adsorption unit and the target adsorption dam surface 47, thereby achieving efficient and stable adsorption.

[0075] Working principle:

[0076] During the adsorption start-up phase, when the underwater robot carrying this device approaches the target adsorption dam surface 47, the host computer 19 inside the control cabin 18 monitors the pressure difference between the ambient pressure and the pressure in the negative pressure pipeline via the pressure sensor 20, and sends a start command to the motor 22. The motor 22 drives the first gear 23 to rotate at its rated speed, and the first gear 23 simultaneously meshes with the second gear 25 and the rack 27. The second gear 25 drives the roller 30 to synchronously release the negative pressure pipeline 15, and the rack 27 moves vertically downward along the slide of the rack fixing plate 28, pushing the rigid suction cup 10 to extend towards the target adsorption dam surface 47. When the flexible pad 11 at the bottom of the rigid suction cup 10 is 5-10mm away from the target adsorption dam surface 47, the host computer 19 shuts down the motor 22 and locks the position of the telescopic unit.

[0077] During the dam face self-adaptation phase, the host computer 19 immediately activates the electric cylinder 41. The cylinder rod of electric cylinder 41 retracts or extends, driving the rack connecting plate 43 to deflect via the electric cylinder connecting block 45 and the universal joint 36, thus causing the ball joint connecting plate 39 to rotate around the universal ball joint 38. This process allows the rigid suction cup 10 to adaptively adjust its tilt angle within a range of ±30°, such as... Figure 7 As shown. When the rigid suction cup 10 partially adheres to the target adsorption dam surface 47, the universal ball joint 38, assisted by the return spring 40, finely adjusts the deflection angle by ±5° to ensure that the flexible pad 11 completely covers the uneven area of ​​the target adsorption dam surface 47, as shown. Figure 8 As shown. After the attachment is completed, the host computer 19 shuts off the electric cylinder 41 and starts the submersible pump 8.

[0078] When the electromagnetic coil 801 of the submersible pump 8 is energized, it drives the magnetic shaft 806 to rotate the turbine 805 at high speed, generating a high-pressure water flow that is accelerated and ejected through the nozzle 901 of the ejector 9. The high-speed water flow draws in the fluid in the suction chamber 902, creating a negative pressure zone in the suction chamber 902. This negative pressure is transmitted through the negative pressure pipeline 15 to the sealed cavity formed by the rigid suction cup 10 and the target adsorption dam surface 47, thus forming a negative pressure chamber. Finally, stable adsorption is achieved through the Bernoulli effect. The pressure sensor 20 monitors the negative pressure value in the negative pressure chamber in real time. If it is higher than the -80kPa threshold, the host computer 19 automatically increases the power of the submersible pump 8 to enhance the adsorption force.

[0079] After the retraction and reset phase, once the operation is complete, the host computer 19 shuts down the submersible pump 8 to release the negative pressure, and simultaneously starts the motor 22 in reverse. The rack 27 moves upward to retract the rigid suction cup 10, and the roller 30 synchronously winds the negative pressure pipeline 15. The reset spring 40 pulls the ball joint connecting plate 39 back to its initial angle, and the universal ball joint 38 resets under spring tension. Finally, the rigid suction cup 10 completely detaches from the target adsorption dam surface 47, and the device enters standby mode.

[0080] For the combined working conditions of the target adsorption dam surface 47 being "tilted + rough" (e.g., slope > 30° and surface cracks), this device achieves reliable adsorption through multi-sensor closed-loop control. The host computer 19 pre-sets a tilt angle model of the target adsorption dam surface 47, and the electric cylinder 41 actively adjusts the initial tilt angle of the rigid suction cup 10 based on the model data. During the adhesion process, if the pressure sensor 20 detects continuous fluctuations in the negative pressure value, it triggers the compensation mechanism of the electric cylinder 41: finely adjusting the cylinder rod extension / retraction with an accuracy of 0.1 mm / s to compensate for local slope deviations. For the rough target adsorption dam surface 47, the flexible pad 11 deforms under pressure to fill micro-cracks (gap < 3 mm); when the pressure sensor 20 reports a continuous increase in the negative pressure value within the negative pressure chamber, the host computer 19 controls the motor 22 to drive the rack 27 to add an additional 0.5-1 mm of downward pressure, enhancing the deformation of the sealing layer to block leakage paths. If the adsorption force is still insufficient (negative pressure > -60kPa), the host computer 19 activates the redundancy protocol: calls the external underwater camera to visually confirm the adhesion between the rigid suction cup and the target adsorption dam surface 47, and synchronously adjusts the angle of the electric cylinder 41 and the downward pressure of the telescopic unit until the pressure value stabilizes below -80kPa.

[0081] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0082] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0083] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An underwater suction device for adapting to different slope dam surfaces, characterized in that, The application relates to a negative pressure adsorption device for a target adsorption dam surface (47), which comprises the following parts: an adsorption unit for covering and adsorbing the target adsorption dam surface (47); a telescopic unit in transmission connection with the adsorption unit, used for driving the adsorption unit to approach or move away from the target adsorption dam surface (47); an angle adjusting unit used for adjusting the inclination angle of the adsorption unit when the distance between the adsorption unit and the target adsorption dam surface (47) approaches a preset distance, so that the adsorption unit is in close contact with the target adsorption dam surface (47); a negative pressure generating unit connected with the adsorption unit, used for providing negative pressure for the adsorption unit, so that the adsorption unit and the target adsorption dam surface (47) form a closed negative pressure chamber.

2. The underwater suction device for adaptive different slope dam surface according to claim 1, characterized in that, The adsorption unit comprises a rigid suction cup (10) and a flexible layer pad (11) arranged on the bottom surface of the rigid suction cup (10), and the flexible layer pad (11) can be deformed to adapt to the shape of the target adsorption dam surface (47) through its flexibility.

3. The underwater suction device for adaptive different slope dam surface according to claim 1, characterized in that, The telescopic unit comprises a motor (22), a first gear (23) and a rack (27) in transmission connection with the adsorption unit, the output shaft of the motor (22) is in transmission connection with the first gear (23), the first gear (23) is in meshing connection with the rack (27), and the motor (22) drives the rack (27) to move up and down through the first gear (23), so that the adsorption unit approaches or moves away from the target adsorption dam surface (47).

4. The underwater suction apparatus for adaptive different slope dam surface according to claim 1, characterized in that, The angle adjusting unit comprises an electric cylinder (41), a universal joint (36), a universal ball head (38) and a reset spring (40), the universal joint (36) is connected with the rack (27) through a rack connecting plate (43), the electric cylinder (41) is connected to the rack connecting plate (43), drives the universal ball head (38) to rotate through a ball head connecting plate (39), and the universal ball head (38) is movably connected with the adsorption unit through a ball head support (44); and the reset spring (40) is supported between the adsorption unit and the ball head connecting plate (39).

5. The underwater suction apparatus for adaptive different slope dam surface according to claim 1, characterized in that, The negative pressure generating unit comprises a submersible pump (8), a jet device (9) and a negative pressure pipeline (15), one end of the negative pressure pipeline (15) is connected to a diffusion pipe (903) of the jet device (9), the other end is connected to the adsorption unit, a nozzle (901) of the jet device (9) is in communication with a water outlet of the submersible pump (8).

6. The underwater suction apparatus for adaptive different slope dam surface according to claim 3, wherein, Further comprising a roller (30), a second gear (25) is connected to the rotating shaft of the roller (30), the second gear (25) is in meshing connection with the first gear (23), and the negative pressure pipeline (15) is arranged on the roller (30); with the lifting and lowering of the adsorption unit, the roller (30) correspondingly winds and releases the negative pressure pipeline (15).

7. The underwater suction apparatus for adaptive different slope dam surface according to claim 1, characterized in that, Further comprising a pressure sensor (20); the pressure sensor is used for monitoring the negative pressure value in the negative pressure pipeline (15); and the submersible pump (8) adjusts its working state according to the negative pressure value in the negative pressure pipeline monitored by the pressure sensor (20), so that the negative pressure value is maintained within a preset range.

8. The underwater suction apparatus for adaptive different slope dam surface according to claim 1, characterized in that, The support unit is capable of supporting at least the telescopic unit and the negative pressure generating unit. The support unit comprises a first side plate (1), a second side plate (2), a top plate (3), and a first guide shaft (4). The top plate (3) is fixedly connected with the first side plate (1) and the second side plate (2), and the first guide shaft (4) penetrates through the first side plate (1) and the second side plate (2) and is fixedly connected with the first side plate (1) and the second side plate (2) through a fixing ring (5).

9. A control method for the underwater suction device based on the adaptive dam surface of different slopes according to any one of claims 1 to 8, characterized in that, The method is executed by a host computer, and comprises the following steps: In the adsorption starting stage, the telescopic unit is controlled to drive the adsorption unit to approach the target adsorption dam surface (47); In the dam surface self-adapting stage, when the distance between the adsorption unit and the target adsorption dam surface (47) is close to a preset distance, the angle adjusting unit is controlled to adjust the inclination angle of the adsorption unit, so that the adsorption unit is in close contact with the target adsorption dam surface (47) to form a closed negative pressure chamber; In the disengagement resetting stage, the telescopic unit is controlled to drive the adsorption unit to move away from the target adsorption dam surface (47).

10. The method of underwater adhesion to a dam surface of varying slope of claim 9, wherein, If the negative pressure value in the negative pressure chamber is in a fluctuating state, the angle adjusting unit is controlled to adjust the inclination angle of the adsorption unit to compensate for the slope deviation between the adsorption unit and the target adsorption dam surface (47); If the negative pressure value in the negative pressure chamber is continuously rising, the telescopic unit is controlled to drive the adsorption unit to approach the target adsorption dam surface (47); If the negative pressure value in the negative pressure chamber is above a first upper limit value, a visual confirmation of the fitting state of the adsorption unit and the target adsorption dam surface (47) is performed by an external device, and the angle adjusting unit and the telescopic unit are synchronously controlled based on the fitting state until the negative pressure value in the negative pressure chamber is stabilized below a second lower limit value, and the first upper limit value is greater than the second lower limit value.

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