A leakage detection robot track structure suitable for complex underwater terrain

Abstract

The utility model discloses a kind of leakage detection robot track structures suitable for complex underwater topography, belong to track technical field, in the utility model, including base and travelling mechanism, travelling mechanism includes core frame, one end of core frame is rotatably connected with transmission plate, transmission plate one end is hinged with transmission rod, the both sides of the end of transmission rod away from transmission plate are rotatably connected with driven roller, the other end of core frame is rotatably connected with limit frame, driving roller is rotatably connected in limit frame, transmission roller is provided on the top of core frame, transmission roller side is rotatably connected with the corresponding position of base one side outer wall by column, driving roller, driven roller and transmission roller outer wall are rotatably connected with track, one side of track is provided with shunt mechanism, shunt mechanism includes side plate, side plate one side outer wall is fixedly connected with storage bin, opening is formed in storage bin one side, and opening upper and lower ends are rotatably connected with bin door by rod body, two water distribution plates are provided in storage bin.

Description

Technical Field

[0001] This utility model belongs to the field of track technology, and in particular relates to a track structure for a leakage detection robot suitable for complex underwater terrain. Background Technology

[0002] Dam foundation seepage refers to the leakage of water downstream from the reservoir due to the head difference between upstream and downstream areas. This leakage occurs through pores, fissures, karst caves, faults, and other defects in the dam foundation rock. Seepage leads to long-term erosion of the dam material by water flow, resulting in decreased structural strength, the formation of cavities within the concrete, and particle loss in earth-rock dams, creating seepage channels and affecting the dam's stability. Severe seepage can cause dam failure, with large amounts of water rapidly flowing out, triggering floods, mudslides, and other natural disasters, endangering the lives and property of people downstream. Therefore, it is necessary to detect dam seepage. Seepage detection robots can be used to replace manual underwater detection operations.

[0003] Underwater transport of leak detection robots requires a tracked structure. However, existing tracked structures have poor mobility when facing complex underwater terrain, making it difficult to cross large cracks and requiring detours, which takes longer. When encountering uneven surfaces, existing tracked structures can cause the leak detection robot to bounce, potentially causing it to fall off. In addition, traditional tracked structures experience significant resistance when encountering turbulent water currents, making it difficult to move stably and affecting the transport of the leak detection robot. Utility Model Content

[0004] The purpose of this invention is to propose a track structure for a leakage detection robot suitable for complex underwater terrain in order to solve the problems of uneven road surfaces causing bumps and large water flow resistance affecting movement.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a tracked structure for a leakage detection robot suitable for complex underwater terrain, comprising a base, a leakage detection robot mounted on the top of the base, and a traveling mechanism disposed on both sides of the base. The traveling mechanism includes a core frame, a transmission plate rotatably connected to one end of the core frame, a transmission rod hinged to one end of the transmission plate, driven rollers rotatably connected to both sides of the end of the transmission rod away from the transmission plate, a limit frame rotatably connected to the other end of the core frame, and a drive roller rotatably connected within the limit frame. Above the core frame... A drive roller is provided, and one side of the drive roller is rotatably connected to the outer wall of the base via a column. A track is connected between the drive roller, the driven roller, and the outer wall of the drive roller. The rotation of the track drives the entire device forward. A diversion mechanism is provided on one side of the track. The diversion mechanism includes a side plate. A storage compartment is fixedly connected to the outer wall of one side plate. An opening is provided on one side of the storage compartment, and both ends of the opening are rotatably connected to a door via a rod. Two water-dividing plates are provided inside the storage compartment. The water-dividing plates divide the water flow to reduce the resistance of movement. The cross-sectional shape of the core frame is W-shaped.

[0006] Preferably, the storage compartment is provided with an installation plate, and two first springs are fixedly connected to one side of the installation plate. One end of the first spring is fixedly connected to the corresponding position of the inner wall of the storage compartment. The water diversion plate is fixedly installed on the other side of the installation plate. One end of the water diversion plate is set as an arc surface, which can better cut and divert the water flow.

[0007] Preferably, the diversion mechanism further includes two limiting buckles, which are fixedly connected on the same side by a U-shaped rod. The top and bottom of the U-shaped rod are rotatably connected to the top and bottom of the inner wall of the storage compartment. A second motor is fixedly installed on the top of the storage compartment. The output end of the second motor is fixedly connected to one end of the U-shaped rod. A waterproof shell is fitted on the outer wall of the second motor. The bottom of the waterproof shell is fixedly connected to the top of the storage compartment.

[0008] Preferably, the mounting plate has two passage slots at the top and bottom, the cross-sectional area of ​​the passage slots is equal to the cross-sectional area of ​​the limit buckle, and the limit buckle is provided with inclined surfaces on both sides of the side connected to the U-shaped frame. The inclined surfaces reduce the interference between the limit buckle and the inner wall of the passage slot when the limit buckle rotates.

[0009] Preferably, a connecting frame is provided on both sides of the center position of the core frame, and the protrusions of the two connecting frames are hinged by a pin. A rotating frame is rotatably connected to the bottom of the connecting frame, and auxiliary wheels are rotatably connected to both ends of the rotating frame. A first sleeve rod is provided between the top ends of the two connecting frames. The two ends of the first sleeve rod are respectively rotatably connected to the top ends of the two connecting frames through blocks. A second spring is provided on the outer sleeve of the first sleeve rod, and the two ends of the second spring are respectively fixedly connected to the corresponding positions of the outer walls of the blocks at both ends of the first sleeve rod.

[0010] Preferably, a first gear is rotatably connected to the side of the core frame near the drive roller, and a second gear is fixedly installed on one side of the drive roller. A chain is connected between the first gear and the second gear for transmission.

[0011] Preferably, the core frame is provided with a rotating seat on the top of the side near the driven roller and the top of the transmission plate, and a second sleeve rod is provided between the two rotating seats. The two ends of the second sleeve rod are rotatably connected to the two rotating seats respectively through blocks. A third spring is provided on the outer sleeve of the second sleeve rod, and the two ends of the third spring are fixedly connected to the corresponding positions of the outer walls of the blocks at both ends of the second sleeve rod.

[0012] Preferably, a driver is fixedly installed on the inner wall of the base. One side of the driver is fixedly connected to one side of the first gear via a column, and a first motor is fixedly connected to the other side of the driver. The output end of the first motor is inserted into the driver.

[0013] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0014] 1. In this utility model, by setting up a traveling mechanism, when the device encounters uneven road surfaces during travel, the track can be folded and conform to the uneven parts of the road surface through the support of auxiliary wheels to cope with different road conditions, making the transportation process of the leakage robot more stable. The rotation of the driven roller can also change the shape of the track, making it easier to cross larger cracks and better adapt to complex underwater terrain, reducing the bumps of the leakage robot during transportation and preventing the leakage robot from falling off.

[0015] 2. In this utility model, by setting a diversion mechanism, when the leakage robot encounters a relatively turbulent water flow during transportation, the diversion plates on both sides can be released to cut the water flow. Diverting the water flow reduces the resistance of the water to the movement of the device, ensuring that the device can move normally underwater and ensuring that the leakage robot can be transported to the designated working position. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main structure of the track structure of a leakage detection robot suitable for complex underwater terrain proposed in this utility model;

[0017] Figure 2 This is a schematic diagram showing the disassembled structure of the track structure of a leakage detection robot suitable for complex underwater terrain proposed in this utility model.

[0018] Figure 3 This is a schematic diagram of the diversion mechanism structure of the track structure of a leakage detection robot suitable for complex underwater terrain, as proposed in this utility model.

[0019] Figure 4This is a schematic diagram of the traveling mechanism of a leakage detection robot track structure suitable for complex underwater terrain, as proposed in this utility model.

[0020] Legend: 1. Base; 2. Driver; 3. First motor; 4. Diverting mechanism; 401. Side plate; 402. Storage compartment; 403. Door; 404. Mounting plate; 405. Diverting plate; 406. Passage groove; 407. First spring; 408. Limit buckle; 409. Second motor; 410. Waterproof shell; 5. Traveling mechanism; 501. Core frame; 502. Connecting frame; 503. Rotating frame; 504. Auxiliary wheel; 505. First sleeve rod; 506. Second spring; 507. Transmission plate; 508. Transmission rod; 509. Driven roller; 510. Second sleeve rod; 511. Third spring; 512. Limiting frame; 513. Drive roller; 514. First gear; 515. Second gear; 516. Chain; 517. Transmission roller; 518. Track. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figure 1-4 This utility model provides a technical solution: a tracked structure for a leakage detection robot suitable for complex underwater terrain, including a base 1, a leakage detection robot mounted on the top of the base 1, a traveling mechanism 5, and two sides of the traveling mechanism 5. The traveling mechanism 5 includes a core frame 501, a transmission plate 507 rotatably connected to one end of the core frame 501, a transmission rod 508 hinged to one end of the transmission plate 507, driven rollers 509 rotatably connected to both sides of the end of the transmission rod 508 away from the transmission plate 507, a limit frame 512 rotatably connected to the other end of the core frame 501, and a drive roller 513 rotatably connected inside the limit frame 512. Above the core frame 501... A transmission roller 517 is provided, and one side of the transmission roller 517 is rotatably connected to the corresponding position of the outer wall of the base 1 via a column. A track 518 is connected between the drive roller 513, the driven roller 509 and the outer wall of the transmission roller 517. The rotation of the track 518 drives the entire device to move forward. A diversion mechanism 4 is provided on one side of the track 518. The diversion mechanism 4 includes a side plate 401. A storage compartment 402 is fixedly connected to the outer wall of one side of the side plate 401. An opening is opened on one side of the storage compartment 402, and both the upper and lower ends of the opening are rotatably connected to a compartment door 403 via a rod. Two water dividing plates 405 are provided inside the storage compartment. The water dividing plates 405 divide the water flow to reduce the resistance to movement.

[0023] A connecting frame 502 is provided on both sides of the center position of the core frame 501, and the protrusions of the two connecting frames 502 are hinged by a pin. A rotating frame 503 is rotatably connected to the bottom of the connecting frame 502. Auxiliary wheels 504 are rotatably connected to both ends of the rotating frame 503. A first sleeve rod 505 is provided between the top ends of the two connecting frames 502. The two ends of the first sleeve rod 505 are rotatably connected to the top ends of the two connecting frames 502 through blocks respectively. A second spring 506 is sleeved on the first sleeve rod 505. The two ends of the second spring 506 are fixedly connected to the corresponding positions of the outer walls of the blocks at both ends of the first sleeve rod 505.

[0024] A first gear 514 is rotatably connected to the side of the core frame 501 near the drive roller 513, and a second gear 515 is fixedly installed on one side of the drive roller 513. A chain 516 is connected between the first gear 514 and the second gear 515 for transmission.

[0025] Rotary seats are provided on the top of the core frame 501 near the driven roller 509 and on the top of the transmission plate 507. A second sleeve rod 510 is provided between the two rotating seats. The two ends of the second sleeve rod 510 are rotatably connected to the two rotating seats through blocks respectively. A third spring 511 is provided on the outer sleeve of the second sleeve rod 510. The two ends of the third spring 511 are fixedly connected to the corresponding positions of the outer walls of the blocks at both ends of the second sleeve rod 510.

[0026] A driver 2 is fixedly installed on the inner wall of the base 1. One side of the driver 2 is fixedly connected to one side of the first gear 514 through a column. The other side of the driver 2 is fixedly connected to the first motor 3. The output end of the first motor 3 is inserted into the driver 2.

[0027] Specifically, the first motor 3 drives the first gear 514 to rotate via the driver 2. Both the first gear 514 and the second gear 515 mesh with the chain 516. The first gear 514 drives the second gear 515 to rotate via the chain 516. The rotation of the second gear 515 drives the drive roller 513 to rotate. The inner wall of the track 518 is provided with insertion teeth, which mesh with the grooves on the outer wall of the drive roller 513. The drive roller 513 drives the track 518 to rotate. The outer walls of the driven roller 509 and the transmission roller 517 are both connected to the track 518. The drive roller 513 drives the driven roller 509 and the transmission roller 517 to rotate via the track 518, causing the entire device to move forward. When there are bumps or depressions on the ground during the movement, the track 518 will fold when it reaches a bump or depression, and the second spring 506 will push outward with elastic force. The two connecting frames 502 are moved so that they remain relatively fixed in position with the hinge position as the center. The rotating frame 503 at the bottom of the connecting frame 502 is tilted along the direction of the road surface protrusion or depression, so that the outer wall of the auxiliary wheel 504 and the inner wall of the track 518 keep sliding relative to each other. This ensures that the outer wall of the track 518 can still fit tightly with the road surface protrusion or depression when it folds, thus ensuring the friction force during operation. When it is necessary to pass through a crack of a larger width, the transmission plate 507 can rotate with one end of the core frame 501 as the center. The second sleeve rod 510 compresses the third spring 511, and the transmission rod 508 rotates with the center position as the reference, so that the two driven rollers 509 can fit in the direction of the crack and cross the crack better. After crossing the crack, the third spring 511 pushes the transmission plate 507 back to its original position with its elasticity, ensuring that the track 518 fits tightly with the horizontal ground.

[0028] The storage compartment 402 is equipped with an installation plate 404. Two first springs 407 are fixedly connected to one side of the installation plate 404. One end of the first spring 407 is fixedly connected to the corresponding position on the inner wall of the storage compartment 402. The water-dividing plate 405 is fixedly installed on the other side of the installation plate 404.

[0029] The diversion mechanism 4 also includes two limit buckles 408. The same side of the two limit buckles 408 is fixedly connected by a U-shaped rod, and the top and bottom of the U-shaped rod are rotatably connected to the top and bottom of the inner wall of the storage compartment 402. A second motor 409 is fixedly installed on the top of the storage compartment 402. The output end of the second motor 409 is fixedly connected to one end of the U-shaped rod. A waterproof shell 410 is fitted on the outer wall of the second motor 409, and the bottom of the waterproof shell 410 is fixedly connected to the top of the storage compartment 402.

[0030] The mounting plate 404 has two passage slots 406 at the top and bottom. The cross-sectional area of ​​the passage slots 406 is equal to that of the limit buckle 408. The limit buckle 408 has bevels on both sides of the side connected to the U-shaped frame.

[0031] Specifically, the upper and lower limit buckles 408 are tightly fitted to one side of the mounting plate 404 on the same side, locking the position of the mounting plate 404 and compressing the first spring 407. The second motor 409 drives the limit buckles 408 to rotate through the U-shaped frame. The limit buckles 408 rotate from the position of the passage slot 406 to the side of the mounting plate 404, releasing the mounting plate 404 so that it can move. The first spring 407 pushes the mounting plate 404 outward through its elastic force. The mounting plate 404 drives the water divider plate 405 installed on one side to pop outward together, so that the water divider plate 405 pushes open the door 403 on one side of the storage compartment 402 and extends out of the storage compartment 402. The arc surface of the water divider plate 405 cuts the water flow, reducing the resistance of the water flow when the device moves.

[0032] It should be noted that the leakage detection robot described above can be equipped with devices such as piezometers, flow meters, or leakage detectors. This part is well-known technology in the field and will not be elaborated here.

[0033] It should be noted that the driver 2 in the above description is a gearbox, which can change the torque and transmission direction. This part is well known in the field and will not be elaborated here.

[0034] It should be noted that the selection of the first motor 3 and the second motor 409 in the above description is as needed. Both the first motor 3 and the second motor 409 are controlled by PLC. This part is well-known technology in the field and will not be elaborated here.

[0035] Working principle: When in use, the operator first installs the leakage detection robot on the base 1, then places the entire device in the water and starts the first motor 3 to move the device forward. The operator controls the direction of movement of the device through the remote control. If the device encounters a relatively rapid water flow during movement, the second motor 409 is started to make the water-dividing plate 405 pop out of the storage compartment 402, dividing the water flow to ensure the normal movement of the device. After reaching the designated position, the first motor 3 is turned off to stop the device from moving and the leakage detection robot starts the leakage detection work. After the leakage detection is completed, the device is retrieved. The operator manually presses the water-dividing plate 405 back into the storage compartment 402, starts the second motor 409 to lock the position of the water-dividing plate 405, and then closes the compartment door 403.

[0036] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A track structure for a leakage detection robot suitable for complex underwater terrain, characterized in that, include: A base (1) is provided, and a leakage detection robot is mounted on the top of the base (1); A traveling mechanism (5) is provided on both sides of the base (1). The traveling mechanism (5) includes a core frame (501). A transmission plate (507) is rotatably connected to one end of the core frame (501). A transmission rod (508) is hinged to one end of the transmission plate (507). Driven rollers (509) are rotatably connected to both sides of the end of the transmission rod (508) away from the transmission plate (507). A limiting mechanism is rotatably connected to the other end of the core frame (501). The positioning frame (512) has a drive roller (513) rotatably connected inside the positioning frame (512). A transmission roller (517) is provided above the core frame (501). One side of the transmission roller (517) is rotatably connected to the outer wall of the base (1) at a corresponding position through a column. A track (518) is connected between the outer wall of the drive roller (513), the driven roller (509), and the transmission roller (517). The rotation of the track (518) drives the entire device to move forward. Among them, a diversion mechanism (4) is provided on one side of the track (518). The diversion mechanism (4) includes a side plate (401). A storage compartment (402) is fixedly connected to the outer wall of one side of the side plate (401). An opening is provided on one side of the storage compartment (402), and both the upper and lower ends of the opening are rotatably connected to a door (403) through a rod. Two water-dividing plates (405) are provided inside the storage compartment. The water-dividing plates (405) divide the water flow to reduce the resistance to movement.

2. The track structure of a leakage detection robot suitable for complex underwater terrain as described in claim 1, characterized in that, The storage compartment (402) is provided with an installation plate (404). Two first springs (407) are fixedly connected to one side of the installation plate (404). One end of the first spring (407) is fixedly connected to the corresponding position of the inner wall of the storage compartment (402). The water-dividing plate (405) is fixedly installed on the other side of the installation plate (404).

3. The track structure of a leakage detection robot suitable for complex underwater terrain as described in claim 1, characterized in that, The diversion mechanism (4) also includes two limiting buckles (408). The two limiting buckles (408) are fixedly connected on the same side by a U-shaped rod. The top and bottom of the U-shaped rod are rotatably connected to the top and bottom of the inner wall of the storage compartment (402). A second motor (409) is fixedly installed on the top of the storage compartment (402). The output end of the second motor (409) is fixedly connected to one end of the U-shaped rod. A waterproof shell (410) is fitted on the outer wall of the second motor (409). The bottom of the waterproof shell (410) is fixedly connected to the top of the storage compartment (402).

4. The track structure of a leakage detection robot suitable for complex underwater terrain according to claim 2, characterized in that, The mounting plate (404) has two passage slots (406) at the top and bottom. The cross-sectional area of ​​the passage slots (406) is equal to that of the limit buckle (408). The limit buckle (408) has inclined surfaces on both sides of the side connected to the U-shaped frame.

5. The track structure of a leakage detection robot suitable for complex underwater terrain according to claim 1, characterized in that, The core frame (501) has connecting frames (502) on both sides of its center position, and the protrusions of the two connecting frames (502) are hinged by pins. The bottom of the connecting frame (502) is rotatably connected to a rotating frame (503), and both ends of the rotating frame (503) are rotatably connected to auxiliary wheels (504). A first sleeve rod (505) is provided between the top ends of the two connecting frames (502). The two ends of the first sleeve rod (505) are rotatably connected to the top ends of the two connecting frames (502) through blocks. A second spring (506) is sleeved on the first sleeve rod (505), and the two ends of the second spring (506) are fixedly connected to the corresponding positions of the outer walls of the blocks at both ends of the first sleeve rod (505).

6. The track structure of a leakage detection robot suitable for complex underwater terrain according to claim 1, characterized in that, The core frame (501) is rotatably connected to a first gear (514) on the side near the drive roller (513), and a second gear (515) is fixedly installed on one side of the drive roller (513). A chain (516) is connected between the first gear (514) and the second gear (515).

7. The track structure of a leakage detection robot suitable for complex underwater terrain according to claim 1, characterized in that, The core frame (501) is provided with a rotating seat on the top of the side near the driven roller (509) and the top of the transmission plate (507), and a second sleeve rod (510) is provided between the two rotating seats. The two ends of the second sleeve rod (510) are rotatably connected to the two rotating seats respectively through blocks. A third spring (511) is provided on the outer sleeve of the second sleeve rod (510), and the two ends of the third spring (511) are fixedly connected to the corresponding positions of the outer walls of the blocks at both ends of the second sleeve rod (510).

8. The track structure of a leakage detection robot suitable for complex underwater terrain according to claim 1, characterized in that, The base (1) has a driver (2) fixedly installed on its inner wall. One side of the driver (2) is fixedly connected to one side of the first gear (514) through a column. The other side of the driver (2) is fixedly connected to a first motor (3). The output end of the first motor (3) is inserted into the driver (2).

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