Underwater submerging type detection robot

Abstract

The utility model discloses an underwater submerging type detection robot, which belongs to the technical field of detection equipment and comprises a mounting frame, first propellers are mounted on the periphery of the upper surface of the mounting frame, second propellers are mounted on the periphery of the lower surface of the mounting frame, and a connecting structure and a moving assembly are mounted at the bottom end of the mounting frame. The other end of the connecting structure is fixedly connected with a magnetic flux detection device, adjusting moving mechanisms and a waterproof box are installed in an inner cavity of the mounting frame, output pipes of the adjusting moving mechanisms are fixedly connected with third propellers, and the number of the adjusting moving mechanisms is four. And a control module, a storage battery and a waterproof charging interface are mounted in an inner cavity of the waterproof box, so that the detection of pipe wall defects, deformation, corrosion points and weld defects of the pressure steel pipe in a water state is completed, the time required by the pressure steel pipe detection work is shortened, and the detection range of the detection device is expanded.

Description

Technical Field

[0001] The utility model relates to the technical field of detection equipment, in particular to an underwater submersible detection robot. Background Art

[0002] Penstock, also known as pressure steel pipe or hydraulic steel pipe, is a steel pipe used to transport water flow at extremely high water pressure. The inside of the steel pipe is a closed environment, and the strength of the water flow can be controlled by switching on and off the sluice gate or fence. When the penstock is used for a long time, it is necessary to use a detection device to perform regular inspections on the penstock.

[0003] In traditional detection devices, workers generally take the magnetic flux detection device and install it on a bracket. The workers operate the bracket to move the magnetic flux detection device on the surface of the pressure steel pipe to detect the surface of the pressure steel pipe. Only by operating the bracket can the surface of the pressure steel pipe be simply inspected. At the same time, the detection device cannot move flexibly, so the inspection of the pressure steel pipe takes a lot of time. At the same time, the detection range of the detection device is reduced, and it is impossible to detect pipe wall defects, deformation, rust spots and weld defects in the water state of the pressure steel pipe. Therefore, we need to propose an underwater submersible inspection robot. Utility Model Content

[0004] The purpose of the utility model is to provide an underwater submersible inspection robot. Through the cooperation of a first propeller, a second propeller, a third propeller and an adjusting moving mechanism, a mounting frame drives a magnetic flux detection device to move to the pipe wall of a pressure steel pipe, and the position of the mounting frame is adjusted to make the magnetic flux detection device fit the pipe wall. Through the cooperation of the moving assembly, the mounting frame drives the magnetic flux detection device to move in a circular shape to complete the detection of pipe wall defects, deformations, rust spots and weld defects of the pressure steel pipe in the presence of water, thereby shortening the time required for the pressure steel pipe inspection work and expanding the detection range of the detection device to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: an underwater submersible inspection robot, comprising a mounting frame, a first propeller is installed around the upper surface of the mounting frame, a second propeller is installed around the lower surface of the mounting frame, a connecting structure and a moving component for circular walking are installed at the bottom end of the mounting frame, a magnetic flux detection device is fixedly connected to the other end of the connecting structure, an adjusting moving mechanism and a waterproof box for adjusting the propeller angle and driving the propeller to move are installed in the inner cavity of the mounting frame, an output pipe of the adjusting moving mechanism is fixedly connected to a third propeller, four groups of the adjusting moving mechanism are arranged, a control module, a battery and a waterproof charging interface are installed in the inner cavity of the waterproof box, and the waterproof charging interface passes through the waterproof box and extends to the outside of the waterproof box.

[0006] Preferably, the connecting structure includes a slide rail and a slide seat, the upper surface of the slide rail is fixedly connected to the lower surface of the mounting frame, the lower surface of the slide seat is fixedly connected to the upper surface of the magnetic flux detection device, slots are provided at positions corresponding to the surfaces of the slide rail and the slide seat, the surface of the slide rail is slidably connected to the inner cavity of the slot of the slide seat, and a positioning assembly is installed at the bottom end of the slide rail.

[0007] Preferably, the positioning assembly includes a threaded hole, which is opened on the lower surface of the slide rail, and a through hole is opened at a position on the surface of the threaded hole corresponding to the surface of the slide seat. The inner cavity of the threaded hole is connected to a threaded rod through a thread, and the other end of the threaded rod passes through the through hole of the slide seat and is fixedly connected to a knob.

[0008] Preferably, one end of the slide rail is fixedly connected to a limiting block, and the slide rail is in an I-shape.

[0009] Preferably, the adjusting moving mechanism includes a moving frame, the moving frame is fixedly connected to the lower surface of the inner cavity of the mounting frame, a waterproof electric push rod is installed on the outer wall of the moving frame, the waterproof electric push rod is located in the inner cavity of the mounting frame, the piston end of the waterproof electric push rod passes through the moving frame and is fixedly connected to a moving seat, both ends of the moving seat are slidably connected to the inner cavity of the moving frame, a box is installed on the top of the moving seat, an adjusting component is installed in the inner cavity of the box, one end of the adjusting component passes through the box and is fixedly connected to one end of the third propeller.

[0010] Preferably, the adjustment component includes a stepper motor, which is installed in the inner cavity of the box body, and the output shaft of the stepper motor is connected to the first gear through a key, the surface of the first gear is meshingly connected to the second gear, and a rotating rod is inserted and fixed at the center of the second gear, and the outer surface of the rotating rod is rotatably connected to the inner cavity of the box body through a rotating shaft, the top end of the rotating rod passes through the box body and is fixedly connected to one end of the third propeller, and the rotating rod is L-shaped.

[0011] Preferably, the moving component includes moving wheels and electromagnets, the moving wheels are provided in four groups, and the four groups of moving wheels are symmetrically distributed around the lower surface of the mounting frame, and the electromagnets are provided in two groups, and the two groups of electromagnets are symmetrically distributed at both ends of the lower surface of the mounting frame and are located between the four groups of moving wheels.

[0012] Preferably, waterproof cameras are installed at the top and bottom of the mounting frame, and three groups of waterproof cameras are arranged at the top of the mounting frame.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] The utility model provides an underwater submersible inspection robot. Through the arrangement of a first propeller and a second propeller, a mounting frame can drive a magnetic flux detection device to move up and down underwater. Through the arrangement of a moving adjustment mechanism, the angle of a third propeller can be adjusted to assist the movement of the mounting frame. Through the arrangement of a moving component, when the magnetic flux detection device is in contact with the pipe wall of a pressure steel pipe, an electromagnet is started to adsorb the pipe wall, so that a moving wheel is supported on the pipe wall, and the third propeller is started to push the mounting frame to move, so as to realize circular walking inspection and complete the inspection of pipe wall defects, deformation, rust spots and weld defects of the pressure steel pipe in a water-containing state, thereby shortening the time required for the pressure steel pipe inspection work and expanding the inspection range of the inspection device.

[0015] Other features and advantages of the utility model will be described in the following description, and partly become apparent from the description, or understood by implementing the utility model. The purpose and other advantages of the utility model can be realized and obtained by the structures indicated in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 It is a schematic diagram of the structure of the utility model when viewed from above;

[0018] Figure 3 It is a schematic diagram of the structure of the utility model from the side;

[0019] Figure 4 It is a structural schematic diagram of a partial cross section of the waterproof box of the utility model;

[0020] Figure 5 It is a structural schematic diagram of a partial cross section of the adjusting and moving mechanism of the utility model;

[0021] Figure 6 It is a structural schematic diagram of the installation structure and magnetic flux detection device of the utility model.

[0022] In the figure: 1. mounting frame; 2. first propeller; 3. second propeller; 4. connecting structure; 41. slide rail; 42. slide seat; 43. positioning assembly; 431. threaded hole; 432. threaded rod; 433. knob; 5. moving assembly; 51. moving wheel; 52. electromagnet; 6. magnetic flux detection device; 7. adjusting moving mechanism; 71. moving frame; 72. waterproof electric push rod; 73. moving seat; 74. box; 75. adjusting assembly; 751. stepping motor; 752. first gear; 753. second gear; 754. rotating rod; 8. waterproof box; 9. third propeller; 10. control module; 11. battery; 12. waterproof charging interface; 13. limit block; 14. waterproof camera. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1-6 The utility model provides a technical solution: an underwater submersible detection robot, comprising a mounting frame 1, a first propeller 2 is installed around the upper surface of the mounting frame 1, a second propeller 3 is installed around the lower surface of the mounting frame 1, a connecting structure 4 and a moving component 5 for circular walking are installed at the bottom end of the mounting frame 1, a magnetic flux detection device 6 is fixedly connected to the other end of the connecting structure 4, an adjusting moving mechanism 7 and a waterproof box 8 for adjusting the propeller angle and driving the propeller to move are installed in the inner cavity of the mounting frame 1, an output pipe of the adjusting moving mechanism 7 is fixedly connected to a third propeller 9, four groups of the adjusting moving mechanism 7 are arranged, a control module 10, a battery 11 and a waterproof charging interface 12 are installed in the inner cavity of the waterproof box 8, the waterproof charging interface 12 penetrates the waterproof box 8 and extends to the outside of the waterproof box 8, a staff member is connected to the control module 10 through a PC host, and the first propeller 2, the second propeller 3, the magnetic flux detection device 6, the moving component 5, the adjusting moving mechanism 7 and the third propeller 9 are turned on and off through the control module 10;

[0025] By setting the first propeller 2 and the second propeller 3, the mounting frame 1 can drive the magnetic flux detection device 6 to move up and down. By adjusting the cooperation of the moving mechanism 7 and the third propeller 9, the mounting frame 1 can drive the magnetic flux detection device 6 to adjust the moving angle. The mounting frame 1 drives the magnetic flux detection device 6 to move to the pipe wall of the pressure steel pipe, and the position of the mounting frame 1 is adjusted to make the magnetic flux detection device 6 fit the pipe wall. Through the cooperation of the moving component 5, the mounting frame 1 drives the magnetic flux detection device 6 to move in a circular manner, and completes the detection of pipe wall defects, deformation, rust spots and weld defects of the pressure steel pipe in the water state, thereby shortening the time required for the pressure steel pipe detection work and expanding the detection range of the detection device.

[0026] The connecting structure 4 includes a slide rail 41 and a slide seat 42. The upper surface of the slide rail 41 is fixedly connected to the lower surface of the mounting frame 1, and the lower surface of the slide seat 42 is fixedly connected to the upper surface of the magnetic flux detection device 6. Notches are provided at positions corresponding to the surfaces of the slide rail 41 and the slide seat 42. The surface of the slide rail 41 is slidably connected to the inner cavity of the notch of the slide seat 42. A positioning component 43 is installed at the bottom end of the slide rail 41. When the surface of the slide rail 41 is inserted into the inner cavity of the notch of the slide seat 42, the magnetic flux detection device 6 and the mounting frame 1 are preliminarily connected. Subsequently, the position of the slide seat 42 on the slide rail 41 is fixed by the positioning component 43 to complete the installation work between the magnetic flux detection device 6 and the mounting frame 1. The cooperation of the slide rail 41, the slide seat 42 and the positioning component 43 facilitates the later maintenance and replacement of the magnetic flux detection device 6.

[0027] The positioning assembly 43 includes a threaded hole 431, which is provided on the lower surface of the slide rail 41. A through hole is provided at a position corresponding to the surface of the threaded hole 431 and the surface of the slide seat 42. The inner cavity of the threaded hole 431 is connected to a threaded rod 432 through a thread. The other end of the threaded rod 432 passes through the through hole of the slide seat 42 and is fixedly connected to a knob 433. The threaded rod 432 is driven to move by rotating the knob 433. When the threaded rod 432 moves to the inner cavity of the threaded hole 431, the position of the slide seat 42 on the slide rail 41 is positioned. When the threaded rod 432 moves out of the inner cavity of the threaded hole 431, the position of the slide seat 42 on the slide rail 41 is moved.

[0028] One end of the slide rail 41 is fixedly connected to the limit block 13. The shape of the slide rail 41 is set in an I-shape. The setting of the limit block 13 can prevent the slide seat 42 from sliding out from the other end of the slide rail 41. The shape setting of the slide rail 41 can improve the stability of the slide seat 42 on the slide rail 41.

[0029] The adjusting and moving mechanism 7 includes a moving frame 71, which is fixedly connected to the lower surface of the inner cavity of the mounting frame 1. A waterproof electric push rod 72 is installed on the outer wall of the moving frame 71. The waterproof electric push rod 72 is located in the inner cavity of the mounting frame 1. The piston end of the waterproof electric push rod 72 passes through the moving frame 71 and is fixedly connected to a moving seat 73. Both ends of the moving seat 73 are slidably connected to the inner cavity of the moving frame 71. A box body 74 is installed on the top of the moving seat 73. An adjusting component 75 is installed in the inner cavity of the box body 74. One end of the adjusting component 75 passes through the box body 74 and is fixedly connected to one end of the third propeller 9. Starting the waterproof electric push rod 72 drives the moving seat 73 to move, so that the moving seat 73 drives the adjusting component 75 in the box body 74 to move, so that the adjusting component 75 drives the third propeller 9 to move out of the inner cavity of the mounting frame 1. Through the arrangement of the waterproof electric push rod 72 and the moving seat 73, it is convenient to store the third propeller 9.

[0030] The adjustment component 75 includes a stepper motor 751, which is installed in the inner cavity of the box body 74. The output shaft of the stepper motor 751 is connected to the first gear 752 through a key. The surface of the first gear 752 is meshingly connected to the second gear 753. A rotating rod 754 is inserted and fixed at the center of the second gear 753. The outer surface of the rotating rod 754 is rotatably connected to the inner cavity of the box body 74 through a rotating shaft. The top of the rotating rod 754 penetrates the box body 74 and is fixedly connected to one end of the third propeller 9. The rotating rod 754 is L-shaped. When the stepper motor 751 is started, the first gear 752 is driven to rotate. The first gear 752 drives the second gear 753 to rotate through the meshing connection, so that the second gear 753 drives the rotating rod 754 to rotate. By changing the position of the rotating rod 754, the angle of the third propeller 9 can be adjusted.

[0031] The moving assembly 5 includes moving wheels 51 and electromagnets 52. There are four groups of moving wheels 51, which are symmetrically distributed around the lower surface of the mounting frame 1. There are two groups of electromagnets 52, which are symmetrically distributed at both ends of the lower surface of the mounting frame 1 and are located between the four groups of moving wheels 51. The staff turns on the electromagnets 52 through the PC host to make the electromagnets 52 adsorb the pipe wall, so that the moving wheels 51 fit the surface of the pipe wall, and start the third propeller 9 to push the mounting frame 1 to move, so that the moving wheels 51 assist the mounting frame 1 to move in a circle on the pipe wall of the pressure steel pipe, so as to complete the detection of pipe wall defects, deformation, rust spots and weld defects of the pressure steel pipe in the water state.

[0032] Waterproof cameras 14 are installed at the top and bottom of the mounting frame 1. There are three groups of waterproof cameras 14 at the top of the mounting frame 1. The staff displays the images taken by the waterproof cameras 14 through the PC host, which is convenient for underwater inspection and finding the position of the pipe wall.

[0033] During specific use: through the cooperation of the first propeller 2, the second propeller 3, the moving adjustment mechanism and the third propeller 9, the mounting frame 1 drives the magnetic flux detection device 6 to move to the pipe wall of the pressure steel pipe. When the magnetic flux detection device 6 is in contact with the pipe wall, the electromagnet 52 is started to adsorb the pipe wall, so that the moving wheel 51 is in contact with the surface of the pipe wall, and the stepping motor 751 is started to provide a driving force to drive the first gear 752 to rotate. The first gear 752 drives the second gear 753 to rotate through the meshing connection. The second gear 753 drives the rotating rod 754 to rotate, and the rotating rod 754 drives the third propeller 9 to rotate. After adjusting the angle of the third propeller 9, the third propeller 9 is started to push the mounting frame 1 to move, and the moving wheel 51 drives the mounting frame 1 to realize circular walking on the pipe wall, completing the detection of pipe wall defects, deformation, rust spots and weld defects of the pressure steel pipe in the water state, thereby shortening the time required for the pressure steel pipe detection work and expanding the detection range of the detection device.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater submersible inspection robot, comprising a mounting frame (1), characterized in that: The upper surface of the mounting frame (1) is equipped with a first propeller (2) on all sides, and the lower surface of the mounting frame (1) is equipped with a second propeller (3) on all sides. The bottom end of the mounting frame (1) is equipped with a connecting structure (4) and a moving assembly (5) for circular movement. The other end of the connecting structure (4) is fixedly connected to a magnetic flux detection device (6). The inner cavity of the mounting frame (1) is equipped with an adjusting and moving mechanism (7) and a waterproof box (8) for adjusting the propeller angle and driving the propeller to move. The output pipe of the adjusting and moving mechanism (7) is fixedly connected to a third propeller (9). The adjusting and moving mechanism (7) is provided with four groups. The inner cavity of the waterproof box (8) is equipped with a control module (10), a battery (11) and a waterproof charging interface (12). The waterproof charging interface (12) penetrates the waterproof box (8) and extends to the outside of the waterproof box (8).

2. The underwater submersible inspection robot according to claim 1, characterized in that: The connection structure (4) comprises a slide rail (41) and a slide seat (42); the upper surface of the slide rail (41) is fixedly connected to the lower surface of the mounting frame (1); the lower surface of the slide seat (42) is fixedly connected to the upper surface of the magnetic flux detection device (6); slots are provided at positions corresponding to the surfaces of the slide rail (41) and the slide seat (42); the surface of the slide rail (41) is slidably connected to the inner cavity of the slot of the slide seat (42); and a positioning assembly (43) is installed at the bottom end of the slide rail (41).

3. The underwater submersible inspection robot according to claim 2, characterized in that: The positioning assembly (43) comprises a threaded hole (431), wherein the threaded hole (431) is provided on the lower surface of the slide rail (41), a through hole is provided at a position on the surface of the threaded hole (431) corresponding to the surface of the slide seat (42), the inner cavity of the threaded hole (431) is connected to a threaded rod (432) via a thread, and the other end of the threaded rod (432) passes through the through hole of the slide seat (42) and is fixedly connected to a knob (433).

4. The underwater submersible inspection robot according to claim 2, characterized in that: One end of the slide rail (41) is fixedly connected to a limiting block (13), and the slide rail (41) is arranged in an I-shape.

5. The underwater submersible inspection robot according to claim 1, characterized in that: The adjusting movement mechanism (7) comprises a moving frame (71), the moving frame (71) is fixedly connected to the lower surface of the inner cavity of the mounting frame (1), a waterproof electric push rod (72) is installed on the outer wall of the moving frame (71), the waterproof electric push rod (72) is located in the inner cavity of the mounting frame (1), the piston end of the waterproof electric push rod (72) penetrates the moving frame (71) and is fixedly connected to a moving seat (73), both ends of the moving seat (73) are slidably connected to the inner cavity of the moving frame (71), a box body (74) is installed at the top end of the moving seat (73), an adjusting component (75) is installed in the inner cavity of the box body (74), one end of the adjusting component (75) penetrates the box body (74) and is fixedly connected to one end of the third propeller (9).

6. The underwater submersible inspection robot according to claim 5, characterized in that: The adjustment component (75) comprises a stepper motor (751), wherein the stepper motor (751) is installed in the inner cavity of the box body (74), the output shaft of the stepper motor (751) is connected to a first gear (752) via a key, the surface of the first gear (752) is connected to a second gear (753) via meshing, a rotating rod (754) is inserted and fixed at the center of the second gear (753), the outer surface of the rotating rod (754) is rotatably connected to the inner cavity of the box body (74) via a rotating shaft, the top end of the rotating rod (754) passes through the box body (74) and is fixedly connected to one end of the third propeller (9), and the rotating rod (754) is arranged in an L-shape.

7. The underwater submersible inspection robot according to claim 1, characterized in that: The moving assembly (5) comprises moving wheels (51) and electromagnets (52). The moving wheels (51) are provided in four groups, and the four groups of moving wheels (51) are symmetrically distributed around the lower surface of the mounting frame (1). The electromagnets (52) are provided in two groups, and the two groups of electromagnets (52) are symmetrically distributed at two ends of the lower surface of the mounting frame (1) and are located between the four groups of moving wheels (51).

8. The underwater submersible inspection robot according to claim 1, characterized in that: Waterproof cameras (14) are installed at the top and bottom of the mounting frame (1), and three groups of waterproof cameras (14) are arranged at the top of the mounting frame (1).

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