An emergency detection robot for underwater structure

Abstract

The utility model provides a kind of underwater structure emergency detection robot, belong to the technical field of underwater robot, including chassis, the top of chassis is provided with sensing module, the top of chassis is fixedly connected with shell.The utility model is combined by using the driving mode of tracked walking mode and underwater propeller, so that underwater robot can be in suspended state and on the top of underwater structure Stable walking and steering operation, and, adopt inflatable floating cabin structure, by inflating or exhausting to inflatable floating cabin, adjust its buoyancy, so that underwater robot can be suspended or sink in underwater operation, improve the stability and flexibility of underwater robot in underwater complex environment, and accurate delivery and fast recovery to underwater robot, so as to accurately and quickly detect underwater structure, improve the accuracy and efficiency of underwater structure emergency detection.

Description

Technical Field

[0001] This utility model belongs to the technical field of underwater robots, specifically relating to an underwater structure emergency inspection robot. Background Technology

[0002] With the rapid development of underwater engineering construction, the safety and stability of underwater structures have received increasing attention. The inspection and maintenance of underwater structures such as dams, sluices, spillways, or water diversion tunnels are crucial for the safe operation of water conservancy facilities. However, due to the complexity and unpredictability of the underwater environment, regular inspection and maintenance of underwater structures has become a challenging task.

[0003] In existing technologies, underwater robots used for underwater structure inspection use propellers to provide thrust for forward movement, surfacing, and turning. While this can meet the needs of underwater inspection to some extent, the water flow and environment at underwater structures are often complex, which can easily lead to unstable motion of the underwater robot, thus affecting the accuracy and efficiency of sudden safety inspections of underwater structures. Utility Model Content

[0004] The purpose of this invention is to provide an underwater structure emergency inspection robot, which aims to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] An underwater structure emergency inspection robot includes a base frame, a sensing module mounted on the top of the base frame, and a shell fixedly connected to the top of the base frame. The underwater structure emergency inspection robot also includes:

[0007] The drive mechanism includes support plates fixedly connected to both sides of the top of the base frame, track frames fixedly installed on both sides of the base frame, walking tracks disposed outside the track frames, a drive assembly disposed at one end of the track frames, and a steering and propulsion assembly disposed on the top of the base frame.

[0008] The floating hull mechanism includes an inflatable floating hull fixedly connected to the top of the support plate, an air tank disposed on one side of the inflatable floating hull, a connecting hose connected to the air tank, a first solenoid valve fixedly installed at one end of the inflatable floating hull, and a compartment structure disposed in the inner cavity of the inflatable floating hull.

[0009] As a preferred embodiment of the present invention, the drive assembly includes track wheels that are equidistantly rotatably connected inside the track frame, and a first servo motor installed at one end of the track frame.

[0010] As a preferred embodiment of this utility model, the steering propulsion assembly includes a fixed frame fixedly connected to both sides of the top of the base frame, a second servo motor fixedly connected to the inner wall of the fixed frame, and a propeller fixedly installed at the output end of the second servo motor.

[0011] As a preferred embodiment of this utility model, the steering propulsion assembly further includes connecting rods that are equidistantly fixed to the fixed frame, and a fairing disposed on the outside of the propeller.

[0012] As a preferred embodiment of this utility model, the compartment structure includes partitions equidistantly arranged in the inner cavity of the inflatable buoyancy chamber, inlet and outlet holes equidistantly opened at the bottom of the outer wall of the inflatable buoyancy chamber, and air guide holes opened at the top of the partitions.

[0013] As a preferred embodiment of this utility model, the compartment structure further includes an air guide pipe fixedly connected to the inside of the inflatable buoy, air outlets equidistantly opened at the top of the air guide pipe, and a second solenoid valve fixedly installed on the top of the inflatable buoy.

[0014] As a preferred embodiment of this utility model, the floating hull mechanism further includes a capacitive level gauge fixedly installed on one side of the top of the inflatable floating hull.

[0015] Compared with existing technologies, the beneficial effects of this utility model are as follows: This underwater structure emergency inspection robot adopts a drive method that combines tracked walking and underwater propulsion, enabling the underwater robot to walk and turn stably in a suspended state and on top of underwater structures. Furthermore, by using an inflatable floating hull structure, the underwater robot can suspend or float underwater by inflating or deflating the hull, which improves the stability and flexibility of the underwater robot in complex underwater environments, as well as the precise deployment and rapid retrieval of the underwater robot, so as to conduct accurate and rapid inspection of underwater structures. This helps to improve the accuracy and efficiency of emergency inspection of underwater structures. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2This is a schematic diagram showing the external appearance of the drive mechanism, floatation mechanism, and steering propulsion assembly in this utility model.

[0019] Figure 3 This is a schematic diagram of the appearance of the inflatable buoy, air tank and walking track in this utility model;

[0020] Figure 4 This is a schematic diagram of the underframe, support plate, and track of this utility model;

[0021] Figure 5 This is a cross-sectional view of the inflatable buoyancy tank, the bulkhead, and the air duct in this utility model.

[0022] Figure 6 This is a schematic diagram of the appearance of the fixed frame, the second servo motor, and the guide fairing in this utility model.

[0023] In the diagram: 1. Base frame; 2. Sensing module; 3. Housing; 100. Drive mechanism; 101. Support plate; 102. Track frame; 103. Walking track; 104. Drive assembly; 104a. Track wheel; 104b. First servo motor; 105. Steering and propulsion assembly; 105a. Fixing frame; 105b. Second servo motor; 105c. Propeller; 105d. Connecting rod; 105e. Float; 200. Float mechanism; 201. Inflatable float; 202. Air tank; 203. Connecting hose; 204. First solenoid valve; 205. Compartment structure; 205a. Partition; 205b. Inlet and outlet; 205c. Air vent; 205d. Air pipe; 205e. Air outlet; 205f. Second solenoid valve; 206. Capacitive level gauge. Detailed Implementation

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0026] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0027] Example

[0028] Reference Figures 1-6 This embodiment of the present invention provides an underwater structure emergency inspection robot, including a base frame 1, a sensing module 2 disposed on the top of the base frame 1, and a shell 3 fixedly connected to the top of the base frame 1. The underwater structure emergency inspection robot also includes:

[0029] The drive mechanism 100 includes a support plate 101 fixedly connected to both sides of the top of the base frame 1, a track frame 102 fixedly installed on both sides of the base frame 1, a walking track 103 disposed outside the track frame 102, a drive assembly 104 disposed at one end of the track frame 102, and a steering propulsion assembly 105 disposed on the top of the base frame 1.

[0030] The floating hull mechanism 200 includes an inflatable floating hull 201 fixedly connected to the top of the support plate 101, an air storage tank 202 disposed on one side of the inflatable floating hull 201, a connecting hose 203 connected to the air storage tank 202, a first solenoid valve 204 fixedly installed at one end of the inflatable floating hull 201, and a compartment structure 205 disposed in the inner cavity of the inflatable floating hull 201.

[0031] The base frame 1 is used to install and fix the various modules of the underwater robot. The sensing module 2 consists of a camera, a positioning module, and an ultrasonic ranging sensor. It adopts a modular design and can be replaced with sensing modules 2 with other functions according to actual needs. It is remotely controlled through a ground console and is used for image acquisition and ranging of underwater structures, as well as sensing underwater obstacles during the movement of the underwater robot, improving the detection accuracy of underwater structures and the safety of underwater movement. The outer shell 3 is used to protect the various modules on the top of the base frame 1, and a supplementary light is installed at the front of the outer shell 3 to ensure the clarity of image acquisition. The top of the outer shell 3 is connected to underwater cables and safety ropes for power and signal transmission. The drive mechanism 100 consists of a tracked walking device and a steering and propulsion assembly 105. The tracked walking device consists of a track frame 102, walking tracks 103, and a drive assembly 105. The underwater robot is composed of four parts. By controlling the rotation of the walking tracks 103 on both sides or one side, it can stably walk and turn on the top of the underwater structure. At the same time, the underwater robot can move forward and turn through the steering propulsion component 105 while suspended, ensuring the stability and flexibility of the underwater robot in complex underwater environments. This allows the underwater robot to conduct comprehensive inspections of underwater structures through the sensing module 2. The floating pod mechanism 200 consists of an inflatable floating pod 201, an air tank 202, a connecting hose 203, a first solenoid valve 204, and a compartment structure 205. By inflating or deflating the inflatable floating pod 201, the buoyancy of the inflatable floating pod 201 can be adjusted, allowing the underwater robot to float or sink underwater. This enables the underwater robot to be accurately deployed at designated locations, improving the accuracy and efficiency of underwater inspections.

[0032] Specifically, the drive assembly 104 includes track wheels 104a that are equidistantly rotatably connected inside the track frame 102, and a first servo motor 104b installed at one end of the track frame 102.

[0033] The track frame 102 contains multiple track wheels 104a that support the walking track 103. By controlling the first servo motor 104b, the track wheels 104a, which are connected to the output end of the first servo motor 104b, are driven to rotate, thereby causing the walking track 103 on both sides or one side to rotate. This enables the underwater robot to move forward, backward, and turn, enhancing its ability to navigate in complex underwater environments. The specific model of the first servo motor 104b is not limited, as long as it meets the usage requirements.

[0034] Furthermore, the steering propulsion assembly 105 includes a fixed frame 105a fixedly connected to both sides of the top of the base frame 1, a second servo motor 105b fixedly connected to the inner wall of the fixed frame 105a, and a propeller 105c fixedly installed at the output end of the second servo motor 105b.

[0035] The second servo motor 105b and propeller 105c constitute an underwater thruster, which is mounted on both sides of the top of the base frame 1 via a mounting bracket 105a. When the underwater robot needs to move forward or turn while suspended, the ground control console automatically controls the second servo motor 105b to drive the propeller 105c to rotate, so that the two or one underwater thrusters generate thrust, thereby realizing the forward and turning movements of the underwater robot and enhancing the maneuverability and flexibility of the underwater robot in complex water flow environments. The specific model of the second servo motor 105b is not limited, as long as it meets the usage requirements.

[0036] Furthermore, the steering propulsion assembly 105 also includes connecting rods 105d that are equidistantly fixed to the mounting bracket 105a, and a fairing 105e disposed on the outside of the propeller 105c.

[0037] The guide fairing 105e is fixed to the mounting bracket 105a by multiple connecting rods 105d. It optimizes the flow direction of water after passing through the propeller 105c on the outside of the propeller 105c, reduces water flow turbulence, improves the propulsion efficiency of the propeller, and protects it. It effectively reduces the impact of the complex underwater environment on the propeller 105c and extends the service life of the propeller 105c.

[0038] Preferably, the compartment structure 205 includes a partition 205a equidistantly disposed in the inner cavity of the inflatable float 201, an inlet / outlet hole 205b equidistantly disposed at the bottom of the outer wall of the inflatable float 201, and an air guide hole 205c disposed on the top of the partition 205a.

[0039] The partition 205a divides the interior of the inflatable float 201 into multiple compartments, and inlet / outlet holes 205b are provided on both sides of the bottom of the compartments. When inflating or venting the inflatable float 201, water can be drained or water can be introduced through the inlet / outlet holes 205b. By dividing the inflatable float 201, the buoyancy distribution of the inflatable float 201 is improved. When the underwater robot moves and operates underwater, the water in the inflatable float 201 is prevented from accumulating to one side under the action of inertia, which would cause the underwater robot to capsize. This improves the stability of the underwater robot. The air vent 205c allows the gas inside each compartment to circulate and maintain the air pressure balance inside the compartment.

[0040] Furthermore, the compartment structure 205 also includes an air duct 205d fixedly connected inside the inflatable buoy 201, an air outlet 205e equidistantly opened on the top of the air duct 205d, and a second solenoid valve 205f fixedly installed on the top of the inflatable buoy 201.

[0041] The air duct 205d passes through each partition 205a, and one end is connected to the first solenoid valve 204. When the inflatable float 201 is inflated, the compressed air in the air tank 202 passes through the first solenoid valve 204 and enters each compartment of the inflatable float 201 through the air outlet 205e at the top of the air duct 205d, so as to achieve uniform input of compressed air into each compartment of the inflatable float 201. By controlling the opening of the second solenoid valve 205f, the gas in the inflatable float 201 is discharged under pressure. At the same time, water outside the inflatable float 201 enters the compartment of the inflatable float 201 through the inlet and outlet holes 205b, thereby reducing the buoyancy of the inflatable float 201 so that the underwater robot can perform diving operations. The specific model of the second solenoid valve 205f is not limited, as long as it meets the usage requirements.

[0042] Furthermore, the buoy mechanism 200 also includes a capacitive level gauge 206 fixedly installed on one side of the top of the inflatable buoy 201.

[0043] The capacitive level gauge 206 monitors the liquid level in the inflatable buoy 201 in real time and transmits the measurement signal to the ground control console. This allows the ground control console to accurately control the amount of gas in the inflatable buoy 201 when it is being inflated or deflated, ensuring the stability and buoyancy requirements of the underwater structure emergency inspection robot during underwater operations. The specific model of the capacitive level gauge 206 is not limited, as long as it meets the usage requirements.

[0044] In use, the underwater robot is deployed to the location requiring inspection. The second solenoid valve 205f, controlled by the ground control console, expels air from the inflatable buoyancy chamber 201. Simultaneously, water from outside the buoyancy chamber 201 enters through the inlet / outlet port 205b. As the water level in the buoyancy chamber 201 increases, buoyancy gradually decreases. After the underwater robot sinks to the designated depth, the ground control console automatically closes the second solenoid valve 205f, allowing the underwater robot to suspend in the water or land on the surface of the underwater structure. When the underwater robot is suspended, the second servo motor 105b, controlled by the ground control console, drives the propeller 105c of the thruster to rotate, enabling the underwater robot to move forward and turn. When the underwater robot needs to walk on the surface of the underwater structure, the first servo motor 104b, controlled by the ground control console, drives the walking track 103 to rotate, enabling the underwater robot to move forward, backward, and turn on the surface of the underwater structure. Simultaneously, the underwater structure has an emergency response mechanism. The inspection robot also has autonomous navigation and obstacle avoidance functions. It can move autonomously according to the preset inspection path. During the movement, it uses the sensing module 2 to collect images or perform ultrasonic ranging on the location to be inspected and transmits the data back to the ground control console. The ground control console analyzes the images and other data to identify and assess potential problems in the underwater structure. When the inspection of the underwater structure is completed, the ground control console controls the opening of the first solenoid valve 204. Compressed air in the air tank 202 enters the interior of the inflatable float 201 under pressure, causing the water in the inflatable float 201 to be discharged through the inlet and outlet holes 205b. As the water volume in the inflatable float 201 decreases, the buoyancy gradually increases, thereby controlling the underwater robot to float to the surface. The underwater robot can then be retrieved. During the inflation or deflation of the inflatable float 201, the capacitive level gauge 206 continuously monitors the changes in the liquid level in the inflatable float 201 and feeds the data back to the ground control console in real time to ensure that the control system accurately controls the buoyancy of the inflatable float 201.

[0045] In summary, the combination of tracked walking and underwater propulsion enables the underwater robot to walk and turn stably in a suspended state and on top of underwater structures. Furthermore, the use of an inflatable buoyancy structure allows the underwater robot to float or sink underwater by inflating or deflating the buoyancy of the buoyancy 201, improving the stability and flexibility of the underwater robot in complex underwater environments. It also enables precise deployment and rapid recovery of the underwater robot, facilitating accurate and rapid inspection of underwater structures and improving the accuracy and efficiency of emergency underwater structure inspection.

[0046] The inflatable float 201 is divided into multiple compartments by a partition 205a, and inlet / outlet holes 205b are provided on both sides of the bottom of the compartments. When inflating or venting the inflatable float 201, water can be drained or water can be introduced through the inlet / outlet holes 205b. By dividing the inflatable float 201, the buoyancy distribution of the inflatable float 201 is improved, and the air pressure inside each compartment is kept balanced through the air guide hole 205c. This prevents water in the inflatable float 201 from accumulating to one side due to inertia when the underwater robot is moving and operating underwater, thus preventing the underwater robot from capsizing and further improving the stability of the underwater robot.

[0047] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of this utility model. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structural equivalents but also equivalent structures. Without departing from the scope of this invention, other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments. Therefore, this invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0048] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the present invention as currently considered, or those features that are not relevant to implementing the present invention) may be omitted.

[0049] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0050] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An underwater structure emergency inspection robot, comprising a base frame (1), characterized in that: A sensing module (2) is provided on the top of the base frame (1), and a shell (3) is fixedly connected to the top of the base frame (1). The underwater structure emergency inspection robot also includes: The drive mechanism (100) includes a support plate (101) fixedly connected to the top two sides of the base frame (1), a track frame (102) fixedly installed on both sides of the base frame (1), a walking track (103) disposed outside the track frame (102), a drive assembly (104) disposed at one end of the track frame (102), and a steering propulsion assembly (105) disposed on the top of the base frame (1). The floating hull mechanism (200) includes an inflatable floating hull (201) fixedly connected to the top of the support plate (101), an air tank (202) disposed on one side of the inflatable floating hull (201), a connecting hose (203) connected to the air tank (202), a first solenoid valve (204) fixedly installed at one end of the inflatable floating hull (201), and a compartment structure (205) disposed in the inner cavity of the inflatable floating hull (201).

2. The underwater structure emergency inspection robot according to claim 1, characterized in that: The drive assembly (104) includes track wheels (104a) that are equidistantly rotatably connected inside the track frame (102), and a first servo motor (104b) installed at one end of the track frame (102).

3. The underwater structure emergency inspection robot according to claim 2, characterized in that: The steering propulsion assembly (105) includes a fixed frame (105a) fixedly connected to both sides of the top of the base frame (1), a second servo motor (105b) fixedly connected to the inner wall of the fixed frame (105a), and a propeller (105c) fixedly installed at the output end of the second servo motor (105b).

4. The underwater structure emergency inspection robot according to claim 3, characterized in that: The steering propulsion assembly (105) also includes connecting rods (105d) that are fixedly connected at equal intervals to the fixed frame (105a), and a fairing (105e) disposed on the outside of the propeller (105c).

5. The underwater structure emergency inspection robot according to claim 4, characterized in that: The compartment structure (205) includes a partition (205a) equidistantly arranged in the inner cavity of the inflatable buoy (201), an inlet and outlet hole (205b) equidistantly opened at the bottom of the outer wall of the inflatable buoy (201), and an air guide hole (205c) opened at the top of the partition (205a).

6. The underwater structure emergency inspection robot according to claim 5, characterized in that: The compartment structure (205) also includes an air duct (205d) fixedly connected inside the inflatable buoy (201), an air outlet (205e) equidistantly opened on the top of the air duct (205d), and a second solenoid valve (205f) fixedly installed on the top of the inflatable buoy (201).

7. The underwater structure emergency inspection robot according to claim 6, characterized in that: The floating hull mechanism (200) also includes a capacitive level gauge (206) fixedly installed on one side of the top of the inflatable floating hull (201).

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