An underwater detection robot with dredging function

Abstract

The utility model provides a kind of underwater detection robot with dredging function, belong to underwater robot technical field, including dredging mechanism, including track chassis, control station being fixedly installed in the top of track chassis, dredging assembly being arranged in the front of track chassis, and cutting assembly being arranged in the front end of control station.The utility model increases dredging assembly at the front end of underwater detection robot, when underwater detection robot detects that there is silt deposition problem at underwater structure, the silt deposited underwater is stirred and extracted by front end dredging assembly, so that underwater detection robot has the dual function of detecting and dredging underwater structure, without artificial or additional equipment for secondary processing, reduce the maintenance cost and working difficulty of water conservancy facilities, improve the maintenance efficiency of water conservancy settings.

Description

Technical Field

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

[0002] With the rapid development of underwater engineering construction, the safety and stability of underwater structures are receiving 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, these underwater structures often suffer from problems such as silt deposition, debris accumulation, and plant growth, which not only affect the stability and safety of underwater structures but also pose significant challenges to inspection and maintenance work.

[0003] In existing technologies, underwater inspection robots often only have a single inspection function. For problems such as silt and debris, manual or additional equipment is required for subsequent processing, which increases the workload of daily maintenance of water conservancy facilities, resulting in low maintenance efficiency and high costs. Utility Model Content

[0004] The purpose of this invention is to provide an underwater inspection robot with dredging function, 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: An underwater inspection robot with dredging capabilities includes, The silt removal mechanism includes a tracked chassis, a control station fixedly installed on the top of the tracked chassis, a silt removal component located in front of the tracked chassis, and a cutting component located in front of the control station; The detection mechanism includes a first fixed base mounted on the outer wall of the control station, a multi-beam sonar detector fixedly mounted at the bottom of the first fixed base, a second fixed base mounted on the top front of the control station, an image acquisition module fixedly mounted inside the second fixed base, and an illumination assembly mounted on the top of the control station.

[0006] As a preferred embodiment of the present invention, the dredging assembly includes a third fixed seat disposed in front of the tracked chassis, a hydraulic motor fixedly installed on the top of the third fixed seat, a toothed roller rotatably connected to the inner wall of the third fixed seat, and toothed rollers equidistantly disposed on the outer wall of the toothed roller.

[0007] As a preferred embodiment of this utility model, the cutting assembly includes forward cutting reamers equidistantly disposed at both ends of the outer wall of the toothed roller, a first fixing ring fixedly connected to both sides of the inner wall of the third fixing seat, a fixing rod fixedly connected to the third fixing seat, a second fixing ring fixedly connected to the end of the fixing rod away from the third fixing seat, and reverse cutting reamers equidistantly disposed on the outer walls of the first fixing ring and the second fixing ring.

[0008] As a preferred embodiment of this utility model, the outer wall of the third fixed base is provided with a mud discharge assembly. The mud discharge assembly includes mud discharge holes provided on both sides of the outer wall of the third fixed base, connecting hoses fixedly installed on both sides of the outer wall of the third fixed base, a connecting joint provided on the top of the control station, a connecting elbow connected to the top of the connecting joint, and a mud discharge pipe connected to the connecting elbow away from the connecting joint.

[0009] As a preferred embodiment of this utility model, a pitch adjustment assembly is provided on the side of the control station and the third fixed seat that are close to each other. The pitch adjustment assembly includes a first connecting seat fixedly connected to both sides of the top of the tracked chassis, a connecting rod fixedly connected to both sides of the outer wall of the third fixed seat, a second connecting seat fixedly connected to both sides of the outer wall of the control station, a hydraulic cylinder hinged to the inner wall of the second connecting seat, and a third connecting seat fixedly connected to both sides of the top of the third fixed seat.

[0010] As a preferred embodiment of this utility model, the lighting assembly includes mounting bases fixedly installed on both sides of the top of the control station, and lighting lamps fixedly installed on the inner wall of the mounting bases.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: This underwater inspection robot with dredging function adds a dredging component at the front end. When the underwater inspection robot detects silt deposition at an underwater structure, the dredging component at the front end stirs up and extracts the silt deposited underwater. The cutting component crushes fishing nets, plastics, and other debris in the silt, which can prevent fishing nets, plastics, and other debris from tangling with the stirring rollers or clogging the silt discharge pipeline. This enables the underwater inspection robot to have the dual functions of inspecting underwater structures and dredging silt, eliminating the need for manual or additional equipment for secondary processing. This helps reduce the maintenance cost and difficulty of water conservancy facilities and improves the maintenance efficiency of water conservancy facilities. Attached Figure Description

[0012] 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. Wherein: Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram showing the external appearance of the control station, the third fixed base, and the hinged toothed roller in this utility model. Figure 3 This is a schematic diagram of the appearance of the toothed roller, the forward cutting reamer, and the image acquisition module in this utility model.

[0013] In the diagram: 100, sludge removal mechanism; 101, tracked chassis; 102, control station; 103, sludge removal assembly; 104, cutting assembly; 105, mud discharge assembly; 106, pitch adjustment assembly; 103a, third fixed seat; 103b, hydraulic motor; 103c, toothed roller; 103d, toothed roller; 104a, forward cutting reamer; 104b, first fixing ring; 104c, fixing rod; 104d, second fixing ring; 104e, reverse cutting reamer; 105a, mud discharge hole; 105b, Connecting hose; 105c, Connecting connector; 105d, Connecting elbow; 105e, Sludge discharge pipe; 106a, First connecting seat; 106b, Connecting rod; 106c, Second connecting seat; 106d, Hydraulic cylinder; 106e, Third connecting seat; 200, Detection mechanism; 201, First fixed seat; 202, Multibeam sonar detector; 203, Second fixed seat; 204, Image acquisition module; 205, Illumination assembly; 205a, Mounting base; 205b, Illumination lamp. Detailed Implementation

[0014] 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.

[0015] 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.

[0016] 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. Example

[0017] Reference Figures 1-3 This is an embodiment of the present invention, which provides an underwater inspection robot with dredging function, comprising: The silt removal mechanism 100 includes a tracked chassis 101, a control station 102 fixedly installed on the top of the tracked chassis 101, a silt removal component 103 located in front of the tracked chassis 101, and a cutting component 104 located in front of the control station 102. The detection mechanism 200 includes a first fixed base 201 disposed on the outer wall of the control station 102, a multi-beam sonar detector 202 fixedly installed at the bottom of the first fixed base 201, a second fixed base 203 disposed on the top front of the control station 102, an image acquisition module 204 fixedly installed inside the second fixed base 203, and an illumination assembly 205 disposed on the top of the control station 102.

[0018] The tracked chassis 101 is used for the underwater inspection robot's movement in the underwater environment, enabling the robot to move stably in complex underwater terrain. The control station 102 integrates an advanced control system and hydraulic power system, and communicates with the ground control console in real time, allowing underwater inspection data to be transmitted to the ground control console in real time. Simultaneously, it receives control commands from the ground control console and performs corresponding operations according to the commands, achieving remote control of the underwater inspection robot. The dredging component 103 agitates the underwater sediment at the front of the underwater inspection robot and extracts and discharges it through a horizontal sludge pump and pipelines. The cutting component 104, during the dredging process, crushes fishing nets, plastics, and other debris in the silt, preventing fishing nets from being removed. Debris such as plastic can entangle the agitator rollers or clog the mud discharge pipes. The multi-beam sonar detector 202 transmits and receives sound waves to collect three-dimensional topographic data of the underwater structure in real time. The collected signals are then transmitted to the ground control console via the control station 102, which generates a high-precision underwater topographic map. This provides detailed data support for the inspection and maintenance of the underwater structure. The image acquisition module 204 uses a high-resolution camera to capture images of the underwater structure in real time. The acquired image information is transmitted to the ground control console via the control station 102, allowing operators to visually observe the condition of the underwater structure and promptly identify potential safety hazards. The lighting component 205 provides illumination in the dim underwater environment, improving the clarity of the image acquisition.

[0019] Specifically, the dredging assembly 103 includes a third fixed seat 103a located in front of the tracked chassis 101, a hydraulic motor 103b fixedly installed on the top of the third fixed seat 103a, a toothed roller 103c rotatably connected to the inner wall of the third fixed seat 103a, and toothed rollers 103d equidistantly arranged on the outer wall of the toothed roller 103c.

[0020] The hydraulic motor 103b is controlled by the hydraulic system in the control station 102. Its output end is connected to the toothed roller 103c via a sprocket and chain, so that the toothed roller 103c rotates inside the third fixed seat 103a under the drive of the hydraulic motor 103b. The toothed roller 103d is spirally distributed on the outer wall of the toothed roller 103c. The spiral directions of the toothed roller 103d on both sides of the toothed roller 103c are opposite, so that when the toothed roller 103c rotates, it can push the sludge and debris towards the middle of the third fixed seat 103a, so as to quickly discharge the sludge and improve the efficiency of sludge cleaning. The specific model of the hydraulic motor 103b is not limited, as long as it meets the usage requirements.

[0021] Furthermore, the cutting assembly 104 includes forward cutting reamers 104a equidistantly disposed at both ends of the outer wall of the toothed roller 103c, a first fixing ring 104b fixedly connected to both sides of the inner wall of the third fixing seat 103a, a fixing rod 104c fixedly connected to the third fixing seat 103a, a second fixing ring 104d fixedly connected to one end of the fixing rod 104c away from the third fixing seat 103a, and reverse cutting reamers 104e equidistantly disposed on the outer walls of the first fixing ring 104b and the second fixing ring 104d.

[0022] The second fixed ring 104d is fixed to the third fixed seat 103a by the fixed rod 104c, forming a support in the middle of the toothed roller 103c. During the rotation of the toothed roller 103c, the forward cutting reamer 104a rotates synchronously and moves relative to the reverse cutting reamer 104e fixed on the outer wall of the first fixed ring 104b and the second fixed ring 104d. This causes the forward cutting reamer 104a and the reverse cutting reamer 104e to form a shearing action, effectively cutting and breaking up fishing nets, plastics and other debris in the silt. This prevents fishing nets, plastics and other debris from getting tangled on the toothed roller 103c. At the same time, it prevents larger debris from clogging the sludge discharge pipeline, thereby improving the dredging efficiency and the robot's operational stability.

[0023] Furthermore, the outer wall of the third fixed base 103a is provided with a mud discharge assembly 105. The mud discharge assembly 105 includes mud discharge holes 105a provided on both sides of the outer wall of the third fixed base 103a, connecting hoses 105b fixedly installed on both sides of the outer wall of the third fixed base 103a, connecting joints 105c provided on the top of the control station 102, connecting elbows 105d connected to the top of the connecting joints 105c, and a mud discharge pipe 105e connected to the connecting elbows 105d away from the connecting joints 105c.

[0024] In this system, by connecting the connecting elbow 105d, which is connected to the sludge discharge pipe 105e, to the connecting joint 105c, and connecting the other end of the sludge discharge pipe 105e to the horizontal sludge pump, a complete sludge extraction channel is formed by the sludge discharge hole 105a, the connecting hose 105b, the connecting elbow 105d, the sludge discharge pipe 105e, and the horizontal sludge pump deployed on the ground. When the toothed roller 103c agitates the sludge, the horizontal sludge pump draws the agitated mud and water into the sludge discharge hole 105a and discharges it through the connecting hose 105b and the sludge discharge pipe 105e, thereby achieving rapid sludge removal and improving sludge removal efficiency. Furthermore, the connecting elbow 105d and the connecting joint 105c are detachable, which facilitates quick assembly and disassembly of the sludge discharge pipe 105e and the underwater robot, improving the practicality of the underwater robot.

[0025] Furthermore, a pitch adjustment assembly 106 is provided on the side of the control station 102 and the third fixed seat 103a that are close to each other. The pitch adjustment assembly 106 includes a first connecting seat 106a fixedly connected to the top two sides of the tracked chassis 101, a connecting rod 106b fixedly connected to the outer wall of the third fixed seat 103a, a second connecting seat 106c fixedly connected to the outer wall of the control station 102, a hydraulic cylinder 106d hinged to the inner wall of the second connecting seat 106c, and a third connecting seat 106e fixedly connected to the top two sides of the third fixed seat 103a.

[0026] The connecting rods 106b on both sides of the third fixed seat 103a are hinged to the first connecting seats 106a on both sides of the front end of the tracked chassis 101, allowing the third fixed seat 103a to rotate around the connection between the connecting rods 106b and the first connecting seats 106a. The hydraulic cylinders 106d are installed on both sides of the top of the control station 102, and their output ends are hinged to the third connecting seat 106e. The two hydraulic cylinders 106d are controlled by the hydraulic system in the control station 102. By controlling the extension and retraction length of the hydraulic cylinders 106d, the third fixed seat 103a can be pushed to adjust its pitch around the connection between the connecting rods 106b and the first connecting seats 106a, thereby realizing flexible adjustment of the working height of the toothed roller 103c to adapt to the sludge cleaning needs of different depths. The specific model of the hydraulic cylinder 106d is not limited, as long as it meets the usage requirements.

[0027] Furthermore, the lighting assembly 205 includes mounting bases 205a fixedly installed on both sides of the top of the control station 102, and a lighting lamp 205b fixedly installed on the inner wall of the mounting base 205a.

[0028] The lighting lamp 205b is installed on the top sides of the control station 102 via the mounting bracket 205a to provide illumination in the dark underwater environment and improve the clarity of image acquisition. The lighting lamp 205b is electrically connected to the control station 102, and the specific signal is not limited, as long as it meets the usage requirements.

[0029] In operation, the operator first connects the connecting elbow 105d of the sludge discharge pipe 105e to the connecting joint 105c of the underwater inspection robot. Using a suspension or underwater propulsion method, the underwater inspection robot is placed in the water area to be inspected. The operator then manipulates the underwater inspection robot to move to the required inspection location. The underwater inspection robot moves according to the planned route, using the multi-beam sonar detector 202 and image acquisition module 204 to inspect the underwater structure. When silt is present at the underwater structure, the operator sets the dredging area through the ground control console and plans the dredging route for the underwater inspection robot. Subsequently, the hydraulic motor 103b and the horizontal sludge pump on the ground are started. The hydraulic motor 103b drives the toothed roller 103c to rotate via a sprocket and chain. At the same time, the telescopic rod of the hydraulic cylinder 106d extends, lowering the height of the third fixed seat 103a and the toothed roller 103c. The rotating toothed roller 103c agitates the underwater silt, causing it to be drawn into the discharge hole 105a with the water flow and discharged through the connecting hose 105b and the discharge pipe 105e. During the rotation of the toothed roller 103c, the forward cutting blade 104a and the reverse cutting blade 104e form a shearing action, cutting and breaking up fishing nets, plastics and other debris in the silt, preventing them from getting tangled on the toothed roller 103c. By observing the clarity of the discharged water, the operator can judge the dredging effect. After completing the dredging operation, the operator re-inspects the underwater structure and evaluates the dredging effect in the area.

[0030] In summary, by adding a dredging component 103 to the front end of the underwater inspection robot, when the underwater inspection robot detects silt deposition at an underwater structure, the dredging component 103 agitates and extracts the silt deposited underwater. Furthermore, the cutting component 104 pulverizes fishing nets, plastics, and other debris in the silt during the silt removal process, preventing these objects from tangling with the agitator rollers or clogging the silt discharge pipes. This gives the underwater inspection robot the dual function of inspecting and dredging underwater structures, eliminating the need for manual or additional equipment for secondary processing, reducing the maintenance costs and difficulty of water conservancy facilities, and improving the maintenance efficiency of water conservancy facilities. The underwater inspection robot combines two detection methods: a multi-beam sonar detector 202 and an image acquisition module 204. It can collect three-dimensional terrain data of underwater structures in real time, providing high-precision topographic maps for underwater structure inspection. Meanwhile, the image acquisition module 204 can capture images of underwater structures in real time, allowing operators to intuitively observe the condition of underwater structures. The two detection methods complement each other, making underwater inspection more comprehensive and accurate, and enabling operators to intuitively observe the condition of underwater structures and promptly detect potential safety hazards.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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 inspection robot with dredging function, characterized in that: include, The sludge removal mechanism (100) includes a tracked chassis (101), a control station (102) fixedly installed on the top of the tracked chassis (101), a sludge removal component (103) disposed in front of the tracked chassis (101), and a cutting component (104) disposed in front of the control station (102). The detection mechanism (200) includes a first fixed base (201) disposed on the outer wall of the control station (102), a multi-beam sonar detector (202) fixedly installed at the bottom of the first fixed base (201), a second fixed base (203) disposed on the top front of the control station (102), an image acquisition module (204) fixedly installed inside the second fixed base (203), and an illumination assembly (205) disposed on the top of the control station (102).

2. The underwater inspection robot with dredging function according to claim 1, characterized in that: The dredging assembly (103) includes a third fixed seat (103a) disposed in front of the tracked chassis (101), a hydraulic motor (103b) fixedly mounted on the top of the third fixed seat (103a), a toothed roller (103c) rotatably connected to the inner wall of the third fixed seat (103a), and toothed rollers (103d) equidistantly disposed on the outer wall of the toothed roller (103c).

3. The underwater inspection robot with dredging function according to claim 2, characterized in that: The cutting assembly (104) includes forward cutting reamers (104a) equidistantly arranged at both ends of the outer wall of the toothed roller (103c), a first fixing ring (104b) fixedly connected to both sides of the inner wall of the third fixing seat (103a), a fixing rod (104c) fixedly connected to the third fixing seat (103a), a second fixing ring (104d) fixedly connected to the end of the fixing rod (104c) away from the third fixing seat (103a), and reverse cutting reamers (104e) equidistantly arranged on the outer walls of the first fixing ring (104b) and the second fixing ring (104d).

4. The underwater inspection robot with dredging function according to claim 3, characterized in that: The outer wall of the third fixed base (103a) is provided with a mud discharge assembly (105). The mud discharge assembly (105) includes mud discharge holes (105a) on both sides of the outer wall of the third fixed base (103a), connecting hoses (105b) fixedly installed on both sides of the outer wall of the third fixed base (103a), connecting joints (105c) on the top of the control station (102), connecting elbows (105d) connected to the top of the connecting joints (105c), and a mud discharge pipe (105e) connected to the connecting elbows (105d) away from the connecting joints (105c).

5. The underwater inspection robot with dredging function according to claim 4, characterized in that: A pitch adjustment assembly (106) is provided on one side of the control station (102) and the third fixed seat (103a) that are close to each other. The pitch adjustment assembly (106) includes a first connecting seat (106a) fixedly connected to the top two sides of the tracked chassis (101), a connecting rod (106b) fixedly connected to the outer side of the third fixed seat (103a), a second connecting seat (106c) fixedly connected to the outer side of the control station (102), a hydraulic cylinder (106d) hinged to the inner wall of the second connecting seat (106c), and a third connecting seat (106e) fixedly connected to the top two sides of the third fixed seat (103a).

6. The underwater inspection robot with dredging function according to claim 5, characterized in that: The lighting assembly (205) includes mounting bases (205a) fixedly installed on both sides of the top of the control station (102), and a lighting lamp (205b) fixedly installed on the inner wall of the mounting base (205a).

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