CN116142425A - Maintenance equipment for underwater check backwater valve - Google Patents

Abstract

The invention relates to the field of underwater operation robots, in particular to maintenance equipment for an underwater checkback valve. The underwater check backwater valve maintenance equipment includes a chassis on which an operating manipulator and a vision system are installed. The vision system includes an image acquisition device, and a working hole that is transparent up and down is provided on the chassis. The operating manipulator can pass through the working hole to maintain the check valve under the chassis. By improving the existing underwater working robot, the present invention sets a working hole on the chassis, so it can cooperate with the feature of the check valve being installed on the ground, so that the working manipulator can pass through the working hole, and the check valve can be maintained under the chassis And other maintenance work, thus greatly reducing the requirements for the operating radius and degree of freedom of the manipulator, thus solving the problem that the existing underwater operation robot cannot be applied to the channel check valve due to the inability of the vision system and the operation manipulator to touch the check valve. maintenance problem.

Description

Maintenance equipment for underwater check backwater valve

technical field

The invention relates to the field of underwater operation robots, in particular to maintenance equipment for an underwater checkback valve.

Background technique

The slope stability, lining anti-floating stability and frost heaving damage that may be caused by the high groundwater level are one of the important technical problems faced by the main canal, which directly affects the water supply safety and water delivery efficiency. The use of check valve internal drainage is an effective measure to solve the problem of high groundwater level, that is, by installing an underwater check valve at the bottom of the channel for slope protection, when the groundwater level is higher than the water level of the channel, the valve will be opened in time and the groundwater will be discharged into the channel; When the groundwater level is lower than the water level of the channel, the valve is closed in time to prevent the channel water from leaking out. This method has higher requirements on the reliability of the check valve.

Various types of check valves are reserved for the underwater ramp, with different positions. After a period of operation, the valves will inevitably fail and need to be repaired or replaced. In addition, in order to ensure the normal and continuous operation of the check valve, it is also necessary to check the check valve Conduct regular inspections. At present, because there is no relevant special equipment, the maintenance of the check valve is carried out by professional personnel launching construction, which is not only inefficient, but also has great potential safety hazards.

Faced with the above problems, underwater robots are a better choice. For example, the application publication number is CN115218062A, and the application publication date is October 21, 2022, which discloses a special robot for underwater pipeline maintenance with strong adsorption stability and the announcement number is CN204322084U, and the authorization announcement date is May 2015. The underwater working robot disclosed in the Chinese utility model patent on March 13. The above-mentioned robots all include a crawler chassis, lights, vision systems and operating manipulators, and can be used for general underwater operations. However, since the installation position of the channel check valve is often close to the ground, when the above-mentioned robot is used for maintenance of the channel check valve, it is difficult for the manipulator and the vision system to reach the position of the check valve and cannot be used.

In addition, due to the turbulent water flow in large channels, the various components of the above-mentioned underwater robot are arranged protruding from the chassis, which will bring relatively large water flow resistance, which is not conducive to underwater walking and stability.

Contents of the invention

The purpose of the present invention is to provide a kind of maintenance equipment for underwater return check valve to solve the problem that the existing underwater operation robot cannot be applied to the maintenance of the channel check valve due to the inability of the vision system and the operation manipulator to touch the check valve. .

In order to solve the above problems, the maintenance equipment of the underwater check water valve of the present invention adopts the following technical scheme: the maintenance equipment of the underwater check water valve includes a chassis on which an operating manipulator and a vision system are installed, and the vision system The system includes an image acquisition device, and an upper and lower transparent working hole is arranged on the chassis, and the working manipulator can pass through the working hole to maintain the check valve under the chassis.

Beneficial effects: the present invention sets a working hole on the chassis by improving the existing underwater working robot, so it can cooperate with the feature of the backstop valve being installed on the ground, so that the working manipulator can pass through the working hole and check the backstop under the chassis. Valve maintenance and other maintenance work, thus greatly reducing the requirements for the operating radius and degree of freedom of the manipulator, thus solving the problem that the existing underwater operation robot cannot be applied to the channel due to the inability of the vision system and the operation manipulator to touch the check valve. Check valve maintenance issues.

Furthermore, the vision system includes a vision manipulator, the image acquisition device is installed on the vision manipulator, and the working hole also constitutes a perforation through which the vision manipulator can pass. The arrangement of the visual manipulator enables the image acquisition device to have a wider field of view and more precise visual positioning, thereby improving the operating efficiency and success rate of the manipulator.

Furthermore, a cleaning robot arm is also provided on the chassis, and the working hole also constitutes a through hole through which the cleaning robot arm can pass. The cleaning robot arm can be used to assist in cleaning the sludge and other sundries deposited on the check valve to improve the efficiency of maintenance operations.

Further, the washing robot arm is provided with a washing spray head. As the cleaning executive part of the cleaning robot arm, the flushing nozzle has the advantages of simple structure, easy control and installation.

Furthermore, the working hole is located in the middle of the chassis. When the working hole is arranged at the middle part of the chassis, it is convenient for other components to be arranged around it, and meanwhile, the stability of the chassis during the working process of the working manipulator can be maintained.

Furthermore, a casing is provided on the chassis, and the components installed on the upper part of the chassis are all housed in the casing. The casing creates a smooth surface on the upper part of the chassis, helping to reduce water resistance.

Furthermore, the casing is provided with an inner cover that covers the working hole inside. The inner cover can separate the working hole from other spaces in the casing to achieve the effect of protecting the equipment in the casing.

Furthermore, the left and right sides of the chassis are respectively provided with front and rear side fins, and the side fins are equipped with a swing driving device. The front and rear side fins can use the water flow in the channel to adjust the attitude of the equipment and the upward and downward pressure.

Furthermore, an underwater propeller is installed on the chassis. The underwater thruster can drive the device to sail underwater or counteract the thrust of the water flow when it is stationary.

Furthermore, a floating antenna is connected to the chassis, and the connection between the floating antenna and the chassis simultaneously forms a rescue rope. Because the water will isolate the electronic signal, the floating antenna can realize interactive communication between the shore and the equipment, and the connection between the floating antenna and the chassis also forms a rescue rope to ensure the reliability of the equipment operation, for example, to prevent the equipment from getting lost.

Description of drawings

Fig. 1 is the schematic structural view of embodiment 1 of the maintenance equipment for underwater reverse check water valve of the present invention;

Fig. 2 is the structure schematic diagram that removes casing of embodiment 1 of the underwater reverse check water valve maintenance equipment of the present invention;

Fig. 3 is the sectional view of embodiment 1 of the maintenance equipment for underwater reverse check water valve of the present invention;

Fig. 4 is a schematic diagram of the use state of Embodiment 1 of the maintenance equipment for the underwater reverse check water valve of the present invention.

In the figure: 101, chassis; 11, rescue hook; 12, front side fin; 13, rear side fin; 14, drive motor; 15, working hole; 31. High-pressure cleaning pump; 104. Chassis; 41. Lighting headlight; 105. Battery; 106. Propeller; 107. Visual robotic arm; 71. Image acquisition device; 108. Walking camera; 109. Control integrated box; 110 . Antenna; 1001. Trailer.

Detailed ways

Embodiment 1 of the maintenance equipment for the underwater check backwater valve of the present invention:

As shown in FIGS. 1-4 , the underwater check valve maintenance equipment includes a chassis 101 , a working manipulator 102 , a vision system, a cleaning robot arm 103 and a casing 104 .

Chassis 101 is the basis of the entire device. In this embodiment, what is specifically used is an electric crawler chassis. As shown in Figures 2 and 3, chassis 101 adopts a cavity structure, that is, a battery compartment is integrated on it. A battery 105 is installed, and the battery 105 can provide the required energy for the operation and operation of the equipment. In addition to the tracks, the chassis 101 is also integrated with a propeller 106 through a tail stock. In this embodiment, the propeller 106 is a propeller with rudders, which can be used to propel the equipment to sail underwater, or counteract the water flow when it is stationary. thrust. In order to meet emergency requirements, a rescue hook 11 is provided at the front of the chassis 101 .

In order to be able to utilize water currents to adjust the posture of the equipment and the equipment to float up and down, front side fins 12 and rear side fins 13 are respectively arranged on the left and right sides of the chassis 101, and each front side fin 12 and rear side fins 13 are connected to the chassis 101 rotation fit, the axis of rotation extends along the left and right directions, and the drive motors 14 configured separately are used as swing drive devices. When in use, the angles of the front fins 12 and the rear fins 13 can be individually controlled, thereby realizing the control of the equipment. Flexible adjustment of posture.

As shown in Figure 2, the operation manipulator 102, the vision system, and the cleaning robot arm 103 are all installed on the chassis 101. As can be seen in conjunction with Figure 3, a working hole 15 is set in the middle of the chassis 101, and the working hole 15 runs through the chassis 101 up and down. For the above mechanical arms to pass through to perform corresponding operations. In this embodiment, the working hole 15 adopts a counterbore structure, and an accessory rack 16 is set on the step surface formed between the upper section and the lower section of the counterbore, and the accessory rack 16 is used for storing and maintaining the check valve. Required accessories (such as valve cover, etc.). The operation manipulator 102 is installed on the radial side of the manipulator operation hole 15, and the cleaning manipulator 103 is installed on the above-mentioned step surface of the counterbore. In this embodiment, the cleaning manipulator 103 specifically adopts a flushing cleaning method. , on which a flushing nozzle is arranged, and a high-pressure cleaning pump 31 is arranged, and the high-pressure cleaning pump 31 is installed on the chassis 101 .

The vision system is used to collect images at the working position, so that the operation manipulator 102 and the cleaning robot arm 103 can be operated accurately. In this embodiment, the vision system is equipped with a vision manipulator 107, and the image acquisition device 71 (camera) of the vision system is installed on the vision manipulator 107. Through the movement of the vision manipulator 107, the maintenance site can be accurately searched. . Of course, in order to obtain a clear and bright image, the image acquisition device 71 is equipped with a light source system. The vision robot arm 107 is installed at the side opposite to the cleaning robot arm 103 on the periphery of the working hole 15 .

The casing 104 is installed on the upper part of the chassis 101, and its outer surface is a smooth structure, and the above-mentioned mechanical arms, high-pressure cleaning pump 31, and swing driving device are all covered in it, so that the outer surface of the equipment forms an approximately streamlined structure , can greatly reduce the flow resistance. For walking lighting, a lighting headlight 41 is set on the casing 104, and a walking camera probe 108 is set on the top of the casing in order to realize automatic obstacle avoidance walking and guidance. As shown in FIG. 2 , the control integration box 109 as the general control part of the equipment is also covered in the casing 104 .

As shown in Figures 1, 2, and 4, in order to maintain real-time communication with the shore, in this embodiment, an antenna 110 is disposed on the chassis 101. Since the water will isolate electronic signals, in this embodiment, the antenna 110 uses a floating The antenna, the connection between the floating antenna and the chassis 101 is a steel cable, which simultaneously constitutes a rescue rope. A storage hole is provided on the tailstock of the chassis 101, and the floating antenna can be stored in the storage hole after being folded when not in use.

As shown in Figure 4, when using this device for channel check valve maintenance, it can be transported to the target location by trailer 1001, and after unloading, it can move into the channel by its own power until it reaches the underwater working position. In the process of moving down, the lighting headlight 41 can be used for lighting, and the walking camera probe 108 is used to collect the surrounding image information to provide a moving reference. When reaching the check valve to be maintained, the equipment can be directly moved to the check valve. Then, observe the situation of the check valve through the visual robot arm 107, wash the check valve through the cleaning robot arm 103, and perform maintenance (opening, disassembly and flushing, etc.) on the check valve through the working robot arm 102 operate. Each mechanical arm is directly inserted under the chassis 101 through the working holes provided on the chassis, so the working radius is relatively small, and general mechanical arms can meet the requirements.

Embodiment 2 of the maintenance equipment for the underwater check backwater valve of the present invention:

In Embodiment 1 of the maintenance equipment for the underwater checkback valve of the present invention, the working hole is set at the middle position of the chassis. In this embodiment, according to the layout requirements of the components on the chassis, the working holes are arranged at the front end of the chassis.

Embodiment 3 of the maintenance equipment for the underwater checkback valve of the present invention:

In Embodiment 1 of the maintenance equipment for the underwater checkback valve of the present invention, the image acquisition device of the vision system is equipped with a vision manipulator. In this embodiment, the image acquisition device of the vision system is fixed on the chassis, and it always faces the working position.

Embodiment 4 of the maintenance equipment for the underwater check backwater valve of the present invention:

In Embodiment 1 of the maintenance equipment for the underwater checkback valve of the present invention, the casing only plays the role of covering the components on the chassis. In this embodiment, the casing is provided with an inner cover that covers the working hole. The inner cover can separate the working hole from other spaces in the casing to achieve the effect of protecting the equipment in the casing.

Embodiment 5 of the maintenance equipment for the underwater check backwater valve of the present invention:

In Embodiment 1 of the maintenance equipment for the underwater reverse check water valve of the present invention, the cleaning robot arm is equipped with a flushing nozzle, and the purpose of cleaning is achieved by flushing. In this embodiment, a scraper is provided on the cleaning robot arm to clean the check valve by scraping. Of course, in other embodiments, the scraper can also be replaced by combs, bristles and the like.

Embodiment 6 of the maintenance equipment for the underwater check backwater valve of the present invention:

In Embodiment 1 of the underwater checkback valve maintenance equipment of the present invention, the chassis adopts an electric chassis and integrates a battery compartment, and the battery in the battery compartment provides all the energy required for the equipment to work. In this embodiment, the way of power supply on shore is adopted, and power is supplied to the equipment from the shore through wires to provide the power required for work.

Claims (10)

1. Underwater checkback valve maintenance equipment, including a chassis, the chassis is equipped with a working manipulator and a vision system, and the vision system includes an image acquisition device, and it is characterized in that, on the chassis, there are up and down transparent The working hole, the operating manipulator can pass through the working hole to maintain the check valve under the chassis. 2. The maintenance equipment for underwater reverse check water valve according to claim 1, wherein the vision system includes a vision manipulator, the image acquisition device is installed on the vision manipulator, and the working hole At the same time, it forms a perforation through which the vision robot arm can pass. 3 . The maintenance equipment for underwater reverse check water valve according to claim 1 , wherein the chassis is further provided with a cleaning robot arm, and the working hole also forms a perforation through which the cleaning robot arm can pass. 4 . 4. The maintenance equipment for underwater reverse check water valve according to claim 3, characterized in that, the washing robot arm is provided with a washing nozzle. 5. The maintenance equipment for underwater reverse check water valve according to claim 1, characterized in that, the working hole is arranged in the middle of the chassis. 6. The underwater reverse check water valve maintenance equipment according to any one of claims 1-5, characterized in that, the chassis is provided with a casing, and the components installed on the upper part of the chassis are all covered by the said chassis. in the chassis. 7 . The maintenance equipment for underwater reverse check water valve according to claim 6 , characterized in that, the casing is provided with an inner cover that covers the working hole. 7 . 8. The underwater reverse check valve maintenance equipment according to any one of claims 1-5, characterized in that, the left and right sides of the chassis are respectively provided with front and rear side fins, and the side fins are configured With swing drive. 9. The maintenance equipment for underwater reverse check water valve according to any one of claims 1-5, characterized in that an underwater propeller is installed on the chassis. 10. The underwater reverse check valve maintenance equipment according to any one of claims 1-5, characterized in that a floating antenna is connected to the chassis, and the connection between the floating antenna and the chassis is simultaneously Form a rescue rope.

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