Underwater structure detection robot

Abstract

The utility model relates to the technical field of ocean engineering equipment, in particular to an underwater structure detection robot which comprises a bottom plate, an internal assembly and a buoyancy material top plate, a sliding opening is formed in the top end of the bottom plate, the top end of the bottom plate is fixedly connected with a connecting plate, and the connecting plate is connected with a conformal mounting plate through an adjusting structure. Side panels which are symmetrically distributed are fixedly connected to the outer wall of the conformal mounting plate, a base pressing plate is arranged on the inner walls of the side panels, outer side wheels are arranged at the bottom of the inner wall of the base pressing plate, and a supporting bottom plate is arranged at the bottom of the inner wall of the base pressing plate. The supporting leg structure is pulled to be in an inclined state through the spring, the supporting leg structure can be conveniently attached to a small-diameter cylinder, the supporting leg structure is automatically deformed to be attached to a large-diameter cylindrical surface or plane through the thrust action of the propeller, and therefore self-adaptive climbing attachment to different operation objects is achieved; therefore, a stable operation platform is provided for grinding and detecting operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to marine engineering equipment technical field especially relates to a kind of underwater structure detection robots. BACKGROUND

[0002] Due to the influence of complex marine environment, marine structures are often attached by marine fouling organisms, in order to ensure the safety and reliability of marine structures, it is necessary to periodically remove the attached organisms and detect the safety of marine structures.

[0003] The underwater structure detection robot with the application number 202311099077.4 includes a floating carrier, a propulsion mechanism, a abutting mechanism and a cleaning device. The floating carrier includes a floating body and a main frame body, and the floating body provides buoyancy for the main frame body. The propulsion mechanism is arranged on the main frame body. The abutting mechanism includes an abutting frame and an abutting piece. The abutting frame is hinged to the main frame body, and the abutting piece is rotatably connected to the abutting frame. The propulsion mechanism pushes the floating carrier underwater to make the abutting piece abut against the surface of the marine structure, so that the robot can adapt to the surface of marine structures with different curvatures. The cleaning device includes a cleaning mechanism and a fixing device. The fixing device is fixed to the main frame body, and the cleaning mechanism is telescopically arranged in the fixing device.

[0004] The above patent document has the beneficial effects of adjusting the distance between the cleaning mechanism and the marine structure and the cleaning range of the marine structure, improving the cleaning efficiency and operation capability level of the robot. However, the above robot only uses rollers to attach to the surface of different forms of marine structures. When encountering work scenes such as cylindrical structures with large diameter changes, wall surfaces of underwater buildings, and flat bases of large equipment, the robot is prone to slipping and falling off, and cannot provide reliable support for subsequent fine work such as polishing and detection. UTILITY MODEL CONTENTS

[0005] The utility model aims to solve the above-mentioned shortcomings that the robot only uses rollers to attach to the surface of different forms of marine structures, and when encountering work scenes such as cylindrical structures with large diameter changes, wall surfaces of underwater buildings, and flat bases of large equipment, the robot is prone to slipping and falling off, and cannot provide reliable support for subsequent fine work such as polishing and detection. A kind of underwater structure detection robot is proposed.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0007] The utility model provides an underwater structure detection robot, including bottom plate, internal component, buoyancy material top plate, the top of bottom plate is equipped with the sliding mouth that is evenly distributed, the top of bottom plate is fixedly connected with the connecting plate, the connecting plate is connected with the conformal mounting plate through the adjusting structure, the outer wall of conformal mounting plate is fixedly connected with the lateral plate that is symmetrically distributed, the inner wall of lateral plate is provided with base compression plate, the inner wall bottom of base compression plate is provided with outside wheel, the inner wall bottom of base compression plate is provided with support base plate.

[0008] In some embodiments, the adjusting structure includes an upper through slot, a lower through slot, and a compression bolt, the upper through slot is arranged on the upper half of the outer wall of the connecting plate, the lower through slot is arranged on the lower half of the outer wall of the connecting plate, and the compression bolt passes through the upper through slot and the lower through slot and is slidingly connected.

[0009] In some embodiments, the connecting plate is arranged in an L shape, and the compression bolt is provided with a nut at an end away from the conformal mounting plate.

[0010] In some embodiments, the inner wall of the base compression plate is provided with a leg conformal buoyancy material, and the leg conformal buoyancy material and the buoyancy material top plate are both polyurethane foam materials.

[0011] In some embodiments, the inner wall of the lateral plate and the side wall of the base compression plate are provided with an outer wall mounting plate above, and the outer wall of the lateral plate is rotatably connected with a leg structure rotating pin.

[0012] In some embodiments, the outer wall of the base compression plate is fixedly connected with a connecting seat, and the connecting seat is connected with a tension spring.

[0013] In some embodiments, the outer wall of the lateral plate is connected with the same connecting seat as on the base compression plate, both ends of the tension spring are provided with spring hooks, and the spring hooks are respectively hung with the connecting seat.

[0014] In some embodiments, both sides of the outer wall of the outside wheel are provided with outside wheel rotating pins.

[0015] In some embodiments, the inner wall bottom of the base compression plate is provided with a support base plate.

[0016] In some embodiments, the support base plate is provided with a buoyancy material fastening bolt.

[0017] Compared with the prior art, the utility model has the beneficial effects that:

[0018] The utility model discloses a four -legged structure of robot is through spring to be tilted to the state of drawing under the conventional state, and this time can be convenient to adhere to small diameter cylinder. When need to climb and adhere to big diameter cylinder or plane, the robot is through the propeller thrust effect, makes the four -legged structure automatic deformation and adheres to big diameter cylinder or plane to realize the self -adaptation of different operation object and climb and adhere, and through the propeller thrust realizes stable adhesion after the four -legged structure and the contact of climbing object, thereby provides the stable operation platform for polishing, detection operation. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A three-dimensional structure schematic view of the underwater structure detection robot is provided for the utility model;

[0020] Figure 2 A three-dimensional structure schematic view of the underwater structure detection robot is provided for the utility model;

[0021] Figure 3 A three-dimensional structure schematic view of the underwater structure detection robot is provided for the utility model;

[0022] Figure 4 A three-dimensional structure schematic view of the underwater structure detection robot is provided for the utility model.

[0023] In the drawing: 1, bottom plate, 2, internal component, 3, buoyancy material top plate, 4, sliding mouth, 5, connecting plate, 6, conformal mounting plate, 7, side panel, 8, base compression plate, 9, outer wheel, 10, support bottom plate, 11, upper through slot, 12, lower through slot, 13, compression bolt, 14, leg conformal buoyancy material, 15, outer wall mounting plate, 16, four -legged structure rotating pin shaft, 17, connecting seat, 18, elastic spring, 19, outer wheel rotating pin shaft, 20, buoyancy material fastening bolt. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0025] REFERENCE Figures 1-4The utility model provides an underwater structure detection robot, including bottom plate 1, internal component 2, buoyancy material top plate 3, the top of bottom plate 1 is equipped with the sliding mouth 4 of uniform distribution, the top of bottom plate 1 is fixedly connected with the connecting plate 5, the connecting plate 5 is connected with the conformal mounting plate 6 through adjusting structure, the outer wall of conformal mounting plate 6 is fixedly connected with the lateral plate 7 of symmetrical distribution, the inner wall of lateral plate 7 is provided with base compression plate 8, the inner wall bottom of base compression plate 8 is provided with outside wheel 9, the inner wall bottom of base compression plate 8 is provided with support base plate 10.

[0026] Need to explain, internal component 2, buoyancy material top plate 3 are prior art, adopt the specific model specification and need according to the actual specification of the device etc. Type determination, specific type selection calculation method adopts prior art in the field, therefore, it is not repeated.

[0027] Further, the adjusting structure includes an upper through slot 11, a lower through slot 12, and a compression bolt 13. The upper through slot 11 is disposed on the upper half of the outer wall of the connecting plate 5. The lower through slot 12 is disposed on the lower half of the outer wall of the connecting plate 5. The compression bolt 13 passes through the upper through slot 11 and the lower through slot 12 and is slidingly connected.

[0028] Wherein, through the setting of the upper through slot 11 and the lower through slot 12, the conformal mounting plate 6 can adjust different heights according to actual needs, so that the compression mechanism can better adapt to the surface of different marine structures.

[0029] Further, the connecting plate 5 is in an L shape. The compression bolt 13 is provided with a nut at the end away from the conformal mounting plate 6.

[0030] Wherein, through the threaded connection of the nut and the compression bolt 13, the conformal mounting plate 6 can be stably installed on the connecting plate 5, making it more convenient to replace.

[0031] Further, the inner wall of the base compression plate 8 is provided with a leg conformal buoyancy material 14. The leg conformal buoyancy material 14 and the buoyancy material top plate 3 are both polyurethane foam materials.

[0032] Wherein, the leg contains a leg conformal buoyancy material, ensuring that the underwater robot chassis system has zero buoyancy. When the robot performs other tasks, the robot leg chassis system can be quickly removed, and the underwater buoyancy of the robot remains unchanged, which is beneficial for the robot to quickly adapt to different working environments.

[0033] Further, the inner wall of the lateral plate 7 and the side wall of the base compression plate 8 are provided with an outer wall mounting plate 15. The outer wall of the lateral plate 7 is rotatably connected with a support leg structure rotating pin 16.

[0034] Wherein, by disassembling the outer wall mounting plate 15, the installation and replacement of the leg conforming buoyancy material 14 can be realized; the leg structure rotating pin shaft 16 can realize the rotation of the leg, so as to realize the adaptation to the cylindrical, wall surface and other structures.

[0035] Further, the outer wall of the base compression plate 8 is fixedly connected with a connecting seat 17, and the connecting seat 17 is connected with an elastic spring 18.

[0036] Wherein, the outer wall of the base compression plate 8 is pulled to an inclined state by the elastic spring 18, at which time it is convenient to adhere to the small diameter cylinder.

[0037] Further, the outer wall of the side plate 7 is connected with the same connecting seat 17 as that on the base compression plate 8, and the two ends of the elastic spring 18 are provided with spring hooks, which are respectively hung with the connecting seat 17.

[0038] Wherein, the connecting seat 17 is installed on the outer wall of the base compression plate 8 and the side plate 7 by bolts, and the elastic spring 18 is installed on the two connecting seats 17 by the spring hooks.

[0039] Further, the two outer walls of the outer side wheel 9 are provided with outer side wheel rotating pin shafts 19.

[0040] Wherein, the outer side wheel rotating pin shaft 19 penetrates the outer wall of the base compression plate 8 and is rotatably connected.

[0041] Further, the inner wall of the base compression plate 8 is provided with a support bottom plate 10 at the bottom.

[0042] Wherein, the support bottom plate 10 mainly provides greater friction when facing a relatively flat working surface, prevents the robot from rolling randomly on the horizontal plane, and improves the adaptability of the underwater robot chassis.

[0043] Further, the support bottom plate 10 is provided with buoyancy material fastening bolts 20.

[0044] Wherein, the buoyancy material fastening bolt 20 on each leg is provided with two, and the buoyancy material fastening bolt 20 penetrates the outer wall of the base compression plate 8 and the outer wall of the support bottom plate 10 at the same time, the bottom end of the support bottom plate 10 is made of rubber material, which has good anti-skid type.

[0045] Working principle: when using the device, first in the normal state of the four legs of the robot structure by the elastic spring 18 to tilt state, at this time can be convenient attached to the small diameter cylinder, when need to climb on large diameter cylinder or plane, the robot through the propeller thrust effect, make the leg structure automatic deformation and attached to the large diameter cylindrical surface or plane, so as to realize the self adaptive climbing of different work object, through the leg structure and climbing object contact, through the propeller thrust to realize stable adhesion, the bottom of the leg structure is support bottom plate 10 and outside wheel 9, outside wheel 9 can quickly adapt to the arc curved surface, and support bottom plate 10 when facing relatively flat work surface, can provide greater friction, prevent the robot in the horizontal plane randomly rolling, improve the adaptability of the underwater robot chassis, conformal mounting plate 6 through the compression bolt 13 and robot main frame connection, can be quickly removed, change other chassis system, such as track type chassis system, so as to make the robot adapt to different work task.

[0046] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art in the technical range disclosed by the present application, according to the technical scheme of the present application and the utility model concept to replace or change, should be covered in the protection scope of the present application.

Claims

1. An underwater structure inspection robot comprising a base plate, internal components, a buoyancy material top plate, characterized in that, The top end of the bottom plate is provided with sliding ports in uniform distribution, the top end of the bottom plate is fixedly connected with a connecting plate, the connecting plate is connected with a conformal mounting plate through an adjusting structure, the outer wall of the conformal mounting plate is fixedly connected with side panels in symmetrical distribution, the inner wall of the side panel is provided with a base compression plate, and the inner wall bottom of the base compression plate is provided with an outside wheel.

2. The underwater structure inspection robot of claim 1, wherein, The adjusting structure comprises an upper through groove, a lower through groove and a compression bolt, the upper through groove is arranged on the upper half of the outer wall of the connecting plate, the lower through groove is arranged on the lower half of the outer wall of the connecting plate, and the compression bolt passes through the upper through groove and the lower through groove and is connected in sliding mode.

3. The underwater structure inspection robot of claim 2, wherein, The connecting plate is arranged in an L shape, and the end of the compression bolt away from the conformal mounting plate is provided with a nut.

4. The underwater structure inspection robot of claim 1, wherein, The inner wall of the base compression plate is provided with a leg conformal buoyancy material, and the leg conformal buoyancy material and the buoyancy material top plate are both polyurethane foam materials.

5. The underwater structure inspection robot of claim 1, wherein, The outer wall mounting plate is arranged above the inner wall of the side panel and the sidewall of the base compression plate, and the outer wall of the side panel is rotatably connected with a supporting leg structure rotating pin.

6. The underwater structure inspection robot of claim 1, wherein, The outer wall of the base compression plate is fixedly connected with a connecting seat, and the connecting seat is connected with an elastic spring.

7. The underwater structure inspection robot of claim 6, wherein, The outer wall of the side panel is connected with the same connecting seat as on the base compression plate, both ends of the elastic spring are provided with spring hooks, and the spring hooks are respectively hung with the connecting seat.

8. The underwater structure inspection robot of claim 1, wherein, The outer walls on both sides of the outside wheel are provided with outside wheel rotating pin shafts.

9. The underwater structure inspection robot of claim 1, wherein, The inner wall bottom of the base compression plate is provided with a supporting bottom plate.

10. The underwater structure inspection robot of claim 9, wherein, The supporting bottom plate is provided with a buoyancy material fastening bolt.

Images