Wading facility inspection robot with desilting function

Abstract

The utility model discloses a wading facility inspection robot with a desilting function, which relates to the technical field of inspection robots and comprises a crawler-type walking robot, a power component is fixedly mounted on the crawler-type walking robot, and a detection component for detecting water and wading facilities is mounted above the power component. Air bag assemblies used for providing buoyancy are installed on the two sides of the power assembly, an inflation pump used for inflating the air bag assemblies is arranged outside the inspection robot, a desilting assembly is installed at one end of the power assembly, and the power assembly is used for providing power for the desilting assembly. And meanwhile, multi-angle desilting can be conducted, and the desilting effect is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a water facility inspection robot with a dredging function. Background Art

[0002] As the backbone of the national water grid accelerates its formation, the demand for the operation and maintenance of water-related infrastructure is growing exponentially. However, traditional manual inspection models have exposed fatal shortcomings in extreme operating scenarios such as deep water, high flow rates, and highly corrosive environments. Inadequate inspection of water-related facilities not only restricts the full realization of project benefits, but can also lead to the evolution of minor defects into systemic risks, directly threatening public water security, the stable operation of the power grid, and flood control safety in the river basin. Therefore, water-related infrastructure inspection robots are extremely important in the hydraulic engineering field. Utility Model Content

[0003] In response to the above technical problems, the utility model provides a water-related facility inspection robot with a dredging function, including a tracked walking robot, on which a power component is fixedly installed, and a detection component for detecting water bodies and water-related facilities is installed above the power component, and airbag components for providing buoyancy are installed on both sides of the power component. The outside of the inspection robot is equipped with an air pump for inflating the airbag component, and a dredging component is installed at one end of the power component, and the power component is used to provide power for the dredging component.

[0004] Furthermore, the power assembly includes a protective box 1, a propeller assembly 1, a light source assembly, a propeller assembly 2 and a support frame 1. The protective box 1 is fixedly installed on the crawler walking robot, the support frame 1 is fixedly installed on the protective box 1, the light source assembly is installed above the support frame 1 at an angle downward through the mounting plate, the propeller assembly 1 is fixedly installed above the inside of the support frame 1, and the propeller assembly 2 is rotatably installed below the outside of the support frame 1. There are multiple propeller assemblies 1 and light source assemblies. The propeller assembly 1 is used to control the vertical rise or fall of the inspection robot, and the propeller assembly 2 is used to control the steering or horizontal movement of the inspection robot.

[0005] Furthermore, a control box, a power supply assembly, a water pump and a hydraulic pump are fixedly installed in the protective box. The control box and the power supply assembly are both arranged above the interior of the protective box. There are two hydraulic pumps, which are respectively arranged on both sides of the interior of the protective box. The water pump is arranged in the middle of the interior of the protective box.

[0006] Furthermore, the detection component includes a protective box 2, a rotating shaft and a detection mechanism. The protective box 2 is fixedly installed in the middle above the protective box 1. A waterproof motor is provided in the protective box 2. The rotating shaft is rotatably installed on the protective box 2. The rotating shaft is fixedly connected to the output shaft of the waterproof motor. The detection mechanism is fixedly installed on the rotating shaft, and the detection mechanism is arranged to be tilted downward.

[0007] Furthermore, the dredging assembly includes a support frame 2, an angle adjustment mechanism and a hydraulic jet mechanism. The support frame 2 is fixedly mounted on the end of the protective box 1. The angle adjustment mechanism is mounted on the support frame 2. There are two angle adjustment mechanisms, which are distributed on both sides of the support frame 2. The hydraulic jet mechanism is mounted on the angle adjustment mechanism, and the hydraulic jet mechanism is connected to the power assembly.

[0008] Furthermore, the angle adjustment mechanism includes an articulated joint 1, a hydraulic cylinder, an articulated joint 2, an articulated joint 3, a rotating rod 1, a rotating rod 2, an articulated joint 4, an articulated joint 5 and an articulated joint 6. The hydraulic cylinder is hinged to the top of the support frame 2 through the articulated joint 1, the rotating rod 1 is hinged to the bottom of the support frame 2 through the articulated joint 3, the rotating rod 2 is hinged to the support frame 2 through the articulated joint 2, and the articulated joint 2 is arranged between the articulated joint 1 and the articulated joint 3. The telescopic rod of the hydraulic cylinder is hinged to the rotating rod 2 through the articulated joint 4, the rotating rod 2 is hinged to the hydraulic injection mechanism through the articulated joint 6, the rotating rod 1 is hinged to the hydraulic injection mechanism through the articulated joint 5, and the two hydraulic cylinders are respectively connected to the hydraulic pump in the protective box 1 through corresponding waterproof oil pipes.

[0009] Furthermore, the hydraulic jet mechanism includes a jet box, a water inlet pipe, a water inlet ball, a water outlet pipe and a water spray head. The rotating rod 2 is hinged to the jet box through a hinge joint 6, and the rotating rod 1 is hinged to the jet box through a hinge joint 5. The water inlet pipe and the water outlet pipe are respectively fixedly installed at the two ends of the protective box 1. A water inlet head is provided in the middle of the jet box. One end of the water outlet pipe is fixedly connected to the water outlet of the water pump in the protective box 1, and the other end of the water outlet pipe is fixedly connected to the water inlet head. One end of the water inlet pipe is fixedly connected to the water inlet of the water pump in the protective box 1. The other end of the water inlet pipe is detachably installed with a water inlet ball, and there are multiple water inlets on the water inlet ball.

[0010] Furthermore, the water inlet pipe and the water outlet pipe are both made of soft tubes, and the water inlet ball is shaped like a sphere and is made of stainless steel.

[0011] Furthermore, a cavity is provided in the spray box, and the water outlet pipe is connected to the water spray head through the cavity.

[0012] Furthermore, the airbag assembly includes an airbag, a mounting bracket, an air pipe and a plug. The airbag is fixedly mounted on the side of a support frame 1 through multiple mounting brackets. The air pipe is fixedly mounted inside a protective box 1. One end of the air pipe is detachably connected to the airbag. The other end of the air pipe is detachably mounted with a plug. Both ends of the air pipe are provided with valve cores for controlling the inflow and outflow of gas, and an external air pump inflates the airbag through the air pipe.

[0013] Compared with the prior art, the present invention has the following advantages: (1) the present invention can inspect water bodies at different water levels by means of a crawler walking robot, a power assembly, an airbag assembly and a detection assembly, and has a wide range of applications; (2) the present invention can use a dredging assembly to comprehensively dredge the silt accumulation area, and at the same time can change the dredging angle, thereby further improving the dredging effect; (3) the detection assembly of the present invention is arranged to be tilted downward, and the waterproof motor drives the rotating shaft and the detection mechanism to make selections, thereby further improving the comprehensiveness of the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of the utility model Figure 1 .

[0015] Figure 2 This is a schematic diagram of the overall structure of the utility model Figure 2 .

[0016] Figure 3 This is a schematic diagram of the overall structure of the utility model Figure 3 .

[0017] Figure 4 This is a schematic diagram of the local structure of the utility model Figure 1 .

[0018] Figure 5 This is a schematic diagram of the local structure of the utility model Figure 2 .

[0019] Figure 6 This is a schematic diagram of the local structure of the dredging component of the utility model Figure 1 .

[0020] Figure 7 Schematic diagram of the local structure of the dredging component of this utility model Figure 2 .

[0021] Figure 8 This is a schematic diagram of the local structure of the dredging component of the utility model Figure 3 .

[0022] Figure 9 For this utility model Figure 8 Cross-sectional view along the AA direction.

[0023] Figure 10 This is a schematic diagram of the partial structure of the airbag assembly of the utility model.

[0024] Figure numbers: 101-tracked walking robot; 201-protection box one; 202-thruster assembly one; 203-light source assembly; 204-thruster assembly two; 205-support frame one; 301-protection box two; 302-rotating shaft; 303-detection mechanism; 401-injection box; 402-water inlet pipe; 403-water inlet ball; 404-water outlet pipe; 405-support frame two; 406-hinge joint one; 407-hydraulic cylinder; 408-hinge joint two; 409-hinge joint three; 410-rotating rod one; 411-rotating rod two; 412-hinge joint four; 413-hinge joint five; 414-hinge joint six; 415-spray head; 416-water inlet head; 417-cavity; 501-airbag; 502-mounting frame; 503-trachea; 504-plug. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.

[0026] Example: Figures 1-10 The water-related facility inspection robot shown has a dredging function, including a tracked walking robot 101, on which a power assembly is fixedly installed, and a detection assembly for detecting water bodies and water-related facilities is installed above the power assembly, and airbag assemblies for providing buoyancy are installed on both sides of the power assembly. The outside of the inspection robot is equipped with an air pump for inflating the airbag assembly, and a dredging assembly is installed at one end of the power assembly, and the power assembly is used to provide power for the dredging assembly.

[0027] The power assembly includes a protective box 201, a propeller assembly 202, a light source assembly 203, a propeller assembly 204 and a support frame 205. The protective box 201 is fixedly installed on the crawler walking robot 101, the support frame 205 is fixedly installed on the protective box 201, the light source assembly 203 is installed on the top of the support frame 205 at an angle downward through the mounting plate, the propeller assembly 202 is fixedly installed on the top of the inside of the support frame 205, and the propeller assembly 204 is rotatably installed on the bottom of the outside of the support frame 205. There are multiple propeller assemblies 202 and light source assemblies 203. The propeller assembly 202 is used to control the inspection robot to rise or fall in the vertical direction, and the propeller assembly 204 is used to control the inspection robot to turn or move horizontally.

[0028] A control box, a power supply assembly, a water pump and a hydraulic pump are fixedly installed in the protective box 201. The control box and the power supply assembly are both arranged above the inside of the protective box 201. There are two hydraulic pumps, which are respectively arranged on both sides of the inside of the protective box 201. The water pump is arranged in the middle of the inside of the protective box 201.

[0029] The detection component includes a protective box 2 301, a rotating shaft 302 and a detection mechanism 303. The protective box 2 301 is fixedly installed in the middle above the protective box 1 201. A waterproof motor is provided in the protective box 2 301. The rotating shaft 302 is rotatably installed on the protective box 2 301. The rotating shaft 302 is fixedly connected to the output shaft of the waterproof motor. The detection mechanism 303 is fixedly installed on the rotating shaft 302, and the detection mechanism 303 is tilted downward.

[0030] The dredging assembly includes a support frame 2 405, an angle adjustment mechanism and a hydraulic jet mechanism. The support frame 2 405 is fixedly installed at the end of the protective box 1 201, and the angle adjustment mechanism is installed on the support frame 2 405. There are two angle adjustment mechanisms, which are distributed on both sides of the support frame 2 405. The hydraulic jet mechanism is installed on the angle adjustment mechanism, and the hydraulic jet mechanism is connected to the power assembly.

[0031] The angle adjustment mechanism includes an articulated joint 406, a hydraulic cylinder 407, an articulated joint 408, an articulated joint 409, a rotating rod 410, a rotating rod 411, an articulated joint 412, an articulated joint 5 413 and an articulated joint 6 414. The hydraulic cylinder 407 is hinged to the upper part of the support frame 2 405 through the articulated joint 406, the rotating rod 1 410 is hinged to the lower part of the support frame 2 405 through the articulated joint 409, and the rotating rod 2 411 is hinged to the lower part of the support frame 2 405 through the articulated joint 408. On the support frame 2 405, and the hinge joint 2 408 is set between the hinge joint 1 406 and the hinge joint 3 409, the telescopic rod of the hydraulic cylinder 407 is hinged on the rotating rod 2 411 through the hinge joint 412, the rotating rod 2 411 is hinged to the hydraulic injection mechanism through the hinge joint 6 414, and the rotating rod 1 410 is hinged to the hydraulic injection mechanism through the hinge joint 5 413. The two hydraulic cylinders 407 are respectively connected to the hydraulic pump in the protective box 1 201 through corresponding waterproof oil pipes.

[0032] The hydraulic jet mechanism includes a jet box 401, a water inlet pipe 402, a water inlet ball 403, a water outlet pipe 404 and a water spray head 415. The rotating rod 2 411 is hinged to the jet box 401 through the hinge head 6 414, and the rotating rod 1 410 is hinged to the jet box 401 through the hinge head 5 413. The water inlet pipe 402 and the water outlet pipe 404 are respectively fixedly installed at the two ends of the protective box 201. A water inlet head 416 is provided in the middle of the jet box 401. One end of the water outlet pipe 404 is fixedly connected to the water outlet of the water pump in the protective box 201, and the other end of the water outlet pipe 404 is fixedly connected to the water inlet head 416. One end of the water inlet pipe 402 is fixedly connected to the water inlet of the water pump in the protective box 201. The other end of the water inlet pipe 402 is detachably installed with the water inlet ball 403, and there are multiple water inlets on the water inlet ball 403.

[0033] The water inlet pipe 402 and the water outlet pipe 404 are both made of soft tubes, and the water inlet ball 403 is spherical and made of stainless steel.

[0034] A cavity 417 is defined in the spray box 401 , and the water outlet pipe 404 is connected to the water spray head 415 through the cavity 417 .

[0035] The airbag assembly includes an airbag 501, a mounting frame 502, an air pipe 503 and a plug 504. The airbag 501 is fixedly mounted on the side of the support frame 205 through multiple mounting frames 502. The air pipe 503 is fixedly mounted inside the protective box 201. One end of the air pipe 503 is detachably connected to the airbag 501, and the other end of the air pipe 503 is detachably mounted with a plug 504. Both ends of the air pipe 503 are provided with valve cores for controlling the inflow and outflow of gas. An external inflation pump inflates the airbag 501 through the air pipe 503.

[0036] When the power assembly is working: multiple propeller assemblies 1 202 are used to control the inspection robot to rise or fall in the vertical direction, multiple propeller assemblies 204 are used to control the inspection robot to turn or move horizontally, and multiple light source assemblies 203 are used for lighting.

[0037] When the detection component is working: the waterproof motor in the protective box 301 drives the detection mechanism 303 to rotate through the rotating shaft 302, and the water body and water-related facilities are inspected through the detection mechanism 303. The detection mechanism 303 includes a camera and a point cloud collector. The camera is used to shoot images of the water body and water-related facilities to obtain image data of the water body and water-related facilities, and send it to the base station through the control box to facilitate staff to observe the water body and water-related facilities. The point cloud collector is used to collect point cloud data on the bottom of the water and send it to the base station through the control box to facilitate staff to know the environmental conditions of the water body.

[0038] When the dredging component is working: when silt accumulation is found at the water-related facilities through the camera and the point cloud collector, the water pump and the hydraulic pump start working, and the water pump draws water into the outlet pipe 404 through the water inlet ball 403 and the water inlet pipe 402. The outlet pipe 404 is connected with the sprinkler head 415 through the cavity 417, and then the water is sprayed out from the multiple sprinkler heads 415. At the same time, the telescopic rod of the cavity 417 moves, driving the rotating rod 2 411 to rotate, and the rotating rod 2 411 drives the injection box 401 to rotate through the hinge joint 6 414, and the injection box 401 drives the rotating rod 1 410 to rotate through the hinge joint 5 413, so that the angles of the multiple sprinkler heads 415 can be adjusted to facilitate comprehensive flushing of the silt.

[0039] When the airbag assembly is working: the plug 504 at the end of the air pipe 503 is opened, and the external air pump inflates the airbag 501 through the air pipe 503.

[0040] The working principle of this utility model is:

[0041] The inspection robot is placed in the water area that needs to be inspected. If the water level of the water area is low, the tracked walking robot 101 drives the whole body to walk in the water; if the water level of the water area is high, the power component and the airbag component drive the whole body to move in the water or underwater, and the water body and water-related facilities are inspected through the detection component. When silt removal is required, the silt removal component is used to comprehensively flush and remove silt from multiple angles in the area where silt is accumulated. It should be noted that all power parts in the utility model are made of waterproof material.

Claims

1. A water facility inspection robot with a dredging function, comprising a crawler walking robot (101), characterized in that: A power assembly is fixedly mounted on the crawler walking robot (101), a detection assembly for detecting water bodies and water-related facilities is mounted above the power assembly, air bag assemblies for providing buoyancy are mounted on both sides of the power assembly, an air pump for inflating the air bag assemblies is externally provided on the inspection robot, a dredging assembly is mounted on one end of the power assembly, and the power assembly is used to provide power for the dredging assembly.

2. A water facility inspection robot with a dredging function as claimed in claim 1, characterized in that: The power assembly includes a protective box (201), a propeller assembly (202), a light source assembly (203), a propeller assembly (204) and a support frame (205), wherein the protective box (201) is fixedly mounted on the crawler walking robot (101), the support frame (205) is fixedly mounted on the protective box (201), the light source assembly (203) is installed on the top of the support frame (205) by tilting downward through a mounting plate, the propeller assembly (202) is fixedly mounted above the inside of the support frame (205), and the propeller assembly (204) is rotatably mounted below the outside of the support frame (205), and multiple propeller assemblies (202) and light source assemblies (203) are provided, the propeller assembly (202) is used to control the inspection robot to rise or fall in the vertical direction, and the propeller assembly (204) is used to control the inspection robot to turn or move horizontally.

3. A water facility inspection robot with a dredging function as claimed in claim 2, characterized in that: A control box, a power supply assembly, a water pump and a hydraulic pump are fixedly installed in the protective box (201). The control box and the power supply assembly are both arranged above the interior of the protective box (201). Two hydraulic pumps are provided and are respectively arranged on both sides of the interior of the protective box (201). The water pump is arranged in the middle of the interior of the protective box (201).

4. A water facility inspection robot with a dredging function as claimed in claim 3, characterized in that: The detection assembly includes a second protective box (301), a rotating shaft (302) and a detection mechanism (303). The second protective box (301) is fixedly installed in the middle above the first protective box (201). A waterproof motor is provided in the second protective box (301). The rotating shaft (302) is rotatably installed on the second protective box (301). The rotating shaft (302) is fixedly connected to the output shaft of the waterproof motor. The detection mechanism (303) is fixedly installed on the rotating shaft (302). The detection mechanism (303) is arranged to be tilted downward.

5. The water facility inspection robot with dredging function according to claim 4, characterized in that: The dredging assembly includes a second support frame (405), an angle adjustment mechanism and a hydraulic jet mechanism. The second support frame (405) is fixedly installed at the end of the first protective box (201). The angle adjustment mechanism is installed on the second support frame (405). There are two angle adjustment mechanisms, which are distributed on both sides of the second support frame (405). The hydraulic jet mechanism is installed on the angle adjustment mechanism, and the hydraulic jet mechanism is connected to the power assembly.

6. The water facility inspection robot with dredging function according to claim 5, characterized in that: The angle adjustment mechanism includes an articulated joint 1 (406), a hydraulic cylinder (407), an articulated joint 2 (408), an articulated joint 3 (409), a rotating rod 1 (410), a rotating rod 2 (411), an articulated joint 4 (412), an articulated joint 5 (413) and an articulated joint 6 (414). The hydraulic cylinder (407) is hinged to the upper side of the support frame 2 (405) through the articulated joint 1 (406). The rotating rod 1 (410) is hinged to the lower side of the support frame 2 (405) through the articulated joint 3 (409). The rotating rod 2 (411) is hinged to the lower side of the support frame 2 (405) through the articulated joint 2 (408). ) is hinged on support frame 2 (405), and hinge joint 2 (408) is arranged between hinge joint 1 (406) and hinge joint 3 (409), the telescopic rod of the hydraulic cylinder (407) is hinged on rotating rod 2 (411) through hinge joint 4 (412), the rotating rod 2 (411) is hinged to the hydraulic injection mechanism through hinge joint 6 (414), the rotating rod 1 (410) is hinged to the hydraulic injection mechanism through hinge joint 5 (413), and the two hydraulic cylinders (407) are respectively connected to the hydraulic pump in protective box 1 (201) through corresponding waterproof oil pipes.

7. The water facility inspection robot with dredging function according to claim 6, characterized in that: The hydraulic jet mechanism comprises a jet box (401), a water inlet pipe (402), a water inlet ball (403), a water outlet pipe (404) and a water spray head (415). The second rotating rod (411) is hinged to the jet box (401) via a sixth hinge joint (414). The first rotating rod (410) is hinged to the jet box (401) via a fifth hinge joint (413). The water inlet pipe (402) and the water outlet pipe (404) are respectively fixedly mounted at both ends of the first protective box (201). The jet box A water inlet head (416) is provided in the middle of (401), one end of the water outlet pipe (404) is fixedly connected to the water outlet of the water pump in the protective box (201), the other end of the water outlet pipe (404) is fixedly connected to the water inlet head (416), one end of the water inlet pipe (402) is fixedly connected to the water inlet of the water pump in the protective box (201), and the other end of the water inlet pipe (402) is detachably mounted with a water inlet ball (403), and a plurality of water inlets are provided on the water inlet ball (403).

8. The water facility inspection robot with dredging function according to claim 7, characterized in that: The water inlet pipe (402) and the water outlet pipe (404) are both made of soft tubes, and the water inlet ball (403) is shaped like a sphere and is made of stainless steel.

9. The water facility inspection robot with dredging function according to claim 8, characterized in that: A cavity (417) is provided in the spray box (401), and the water outlet pipe (404) is connected to the water spray head (415) through the cavity (417).

10. The water facility inspection robot with dredging function according to claim 9, characterized in that: The airbag assembly includes an airbag (501), a mounting frame (502), an air pipe (503) and a plug (504), wherein the airbag (501) is fixedly mounted on the side of a support frame (205) via a plurality of mounting frames (502), and the air pipe (503) is fixedly mounted inside a protective box (201), one end of the air pipe (503) is detachably connected to the airbag (501), and the other end of the air pipe (503) is detachably mounted with a plug (504), and both ends of the air pipe (503) are provided with valve cores for controlling the inflow and outflow of gas, and an external air pump inflates the airbag (501) through the air pipe (503).

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