CN218496775U - Tracked hull underwater detection device - Google Patents

Abstract

The utility model discloses a crawler-type hull underwater detection device, which includes a crawler-type driving mechanism and a box body, and also includes several underwater propellers, a hull detachment mechanism, a lifting adjustment mechanism and a detection machine; the crawler-type driving mechanism is installed on the opposite side of the box body The two sides of the crawler-type drive mechanism are equipped with permanent magnetic adsorption components, and the crawler-type drive mechanism is adsorbed on the hull to drive the box to move forward; several underwater propellers are installed on the other opposite sides of the box; one end of the lifting adjustment mechanism is connected to the The box body is fixedly connected, and the other end of the lifting adjustment mechanism is fixedly connected with the detector, and the lifting adjustment mechanism is used to adjust the detection position of the detector; the hull detachment mechanism is installed at the bottom of the box body, and is used to separate the crawler drive mechanism from the hull. The utility model can detect the surface of the hull downward during the traveling process, and can also be separated from the hull at any time and move in the water, with high flexibility and wide movable range.

Description

Tracked hull underwater detection device

technical field

The utility model relates to the technical field of ship engineering, in particular to a crawler-type hull underwater detection device.

Background technique

Most of the hulls need to be driven on the sea surface for a long time, and are vulnerable to wear, corrosion, impact and other damage, and need regular inspections, and most of the hulls are inspected on the shore. The hulls in motion cannot know the problems of the hull in time, so they need to dive into the water to inspect the hull .

On the one hand, most of the traditional hull detection devices are operated by people in the ship who dive into the water to detect the hull. They are easily affected by waves and hull movement during operation, and are not safe and difficult to detect, which greatly affects the detection effect. In recent years, remote-controlled submersibles have become more common for simple underwater operations instead of divers, but large-scale remote-controlled submersibles require professional operators and lifting equipment, and are expensive, making it difficult to be widely used; while micro-controlled submersibles can be operated by a single person , but its anti-flow ability is poor, generally only able to meet the underwater operation at a flow rate of 1 knot, and the underwater stability is poor, resulting in a great impact on positioning accuracy and image quality. Therefore, the current detection means or methods cannot meet the real-time detection and maintenance assessment of underwater damage parts, especially the rapid damage assessment is more difficult in the case of emergency repairs away from base escort fleets or large surface ships. Chinese patent application number 201720732040.4 discloses an underwater crawler-type hull detection device, which adopts permanent magnetic adsorption technology, which can not be affected by the state of the ship and sea conditions, and adopts low-light imaging technology, which can realize underwater image acquisition in turbid waters , improve the underwater image quality, facilitate underwater image recognition and processing, and use a movable adjustable camera to detect the front and top of the hull. However, there are still defects: the crawler-type drive mechanism can only absorb the hull and move slowly. It can only walk on the hull and cannot travel in the water. It has low flexibility. Some detection sites cannot be reached by the crawler-type drive mechanism. In high areas, the range of motion is limited, and the surface at the bottom of the device cannot be detected. Therefore, it is necessary to design a new underwater hull detection device to solve the above problems.

Utility model content

The utility model provides a crawler-type hull underwater detection device, which can detect the surface of the hull downward during the traveling process, and can also be separated from the hull at any time and move in the water, with high flexibility and wide movable range.

In order to achieve the above object, the technical solution adopted by the utility model is:

The crawler-type hull underwater detection device includes a crawler-type driving mechanism and a box body, and also includes a number of underwater propellers, a hull detachment mechanism, a lifting adjustment mechanism and a detection machine; the crawler-type driving mechanism is installed on the opposite side of the box body. On both sides, the crawler-type driving mechanism is provided with a permanent magnetic adsorption assembly, and the crawler-type driving mechanism is adsorbed on the hull to drive the box to move forward; several of the underwater propellers are installed on the other opposite sides of the box. On both sides; one end of the lifting adjustment mechanism is fixedly connected to the box body, the other end of the lifting adjustment mechanism is fixedly connected to the detector, and the lifting adjustment mechanism is used to adjust the detection position of the detector; The hull disengagement mechanism is installed at the bottom of the box, and is used to disengage the crawler drive mechanism from the hull.

Further, the hull detachment mechanism includes two push plates and two drive motors, the two push plates are hinged to the bottom of the box, and each of the drive motors is connected to one of the push plates through a transmission mechanism, respectively. Drive the corresponding push plate to turn over.

Further, the number of the underwater propellers is set to four, wherein two of the underwater propellers are arranged at intervals on one side of the front end of the box, and the remaining two of the underwater propellers are arranged at intervals on the The opposite side of the rear end of the box body; the four propellers are used to push the box body to move in suspension in the water.

Further, the number of the lifting adjustment mechanism is set to two, and the number of the detection machines is also set to two; one of the lifting adjustment mechanisms is installed between the two underwater propellers on the same side of the box. In between, another lifting adjustment mechanism is installed between the two underwater thrusters on the other side of the box.

Further, the lifting adjustment mechanism includes a connecting arm and a telescopic arm, one end of the connecting arm is fixedly connected to the corresponding side of the box body; one end of the telescopic arm is fixedly connected to the connecting arm, and the telescopic arm The other end is fixedly connected with one end of the detector to drive the detector to move up and down.

Further, the detection machine includes a zoom detection camera, a fixed-focus detection camera, a low-light CCD camera, a long-wave lighting lamp and a sealed housing; the zoom detection camera, the fixed-focus detection camera, the low-light The CCD cameras are arranged side by side in turn and integrated on the sealed housing, the front end of the sealed housing is set as the detection end, and the long-wave lighting lamp is installed on the detection end of the sealed housing.

Further, the detection machine is also provided with a distance-measuring radar, and the distance-measuring radar is installed at the detection end of the sealed casing.

Further, a safety rope is also provided on the top of the box.

The beneficial effects of the utility model are:

1) The crawler drive mechanism is adsorbed on the hull and drives the box to move forward. After reaching the detection position, adjust the detection distance of the detection machine by adjusting the lifting adjustment mechanism. After the detection is completed, continue to transfer to the next position. When the transfer position is far or When encountering a position with a higher step, the crawler drive mechanism can be propped away from the hull through the hull detachment mechanism, and the underwater propeller is started at the same time, and the underwater propeller is used to move the device in the water and transfer to other areas for work.

2) The box body can be designed with buoyant materials to offset part of the gravity, making it easier for the underwater propeller to maintain the balance of the device's suspension and reduce the energy consumption of the underwater propeller.

3) The device is equipped with two detection positions, respectively for the front end and the rear end position of the device, and at the same time, the hull detection is carried out at the front and rear, and the work efficiency is higher; the lifting mechanism can adjust the distance between the detection machine and the measured object, and the detection height is controllable , the detection accuracy is more accurate.

4) The long-wave lighting suppresses the scattering of impurities in turbid waters and provides better lighting effects for underwater operations. At the same time, the cooperation of the zoom detection camera, lifting adjustment mechanism and ranging radar can precisely control the detection machine and the measured point. The distance, and automatically adjust the focal length of the camera, can get a clear hull detection image. The device adopts low-light imaging technology, which can not only collect video data under normal sea conditions, but also realize underwater image collection in turbid waters, improve the quality of underwater images, and facilitate underwater image recognition and processing

Description of drawings

Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is described in further detail, wherein:

Fig. 1 is the perspective view of the utility model;

Fig. 2 is the perspective view of the angle of elevation in the utility model;

Fig. 3 is the enlarged view of place A in Fig. 2;

Fig. 4 is the cross-sectional schematic view of the utility model cross-sectional angle;

Drawing logo:

1—Crawler drive mechanism, 2—Case body, 3—Underwater thruster, 4—Hull detachment mechanism, 5—Elevating adjustment mechanism, 6—Detector, 7—Safety rope, 11—Permanent magnetic adsorption component, 41— Push plate, 42—drive motor, 51—connecting arm, 52—telescopic arm, 61—zooming detection camera, 62—fixed focus detection camera, 63—low-light CCD camera, 64—long-wave lighting lamp, 65—sealed shell body, 66—ranging radar.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or there can also be an intervening component. When a component is said to be "connected" to another component, it may be directly connected to the other component or there may be intervening components at the same time. When a component is said to be "set on" another component, it can be set directly on the other component or there may be a centered component at the same time, when a component is said to be "set in the middle", it is not just set in the middle , as long as it is not set within the range defined by both ends belonging to the middle. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of this invention. The terminology used herein in the description of the present utility model is only for the purpose of describing specific embodiments, and is not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Please refer to Figures 1 to 4, the crawler-type hull underwater detection device (hereinafter referred to as the device) includes a crawler-type drive mechanism 1 and a box body 2, and also includes a number of underwater thrusters 3, a hull detachment mechanism 4, and a lifting adjustment mechanism. Mechanism 5 and detector 6; the crawler-type driving mechanism 1 is installed on opposite sides of the box body 2, and the crawler-type driving mechanism 1 is provided with a permanent magnetic adsorption assembly 11, and the crawler-type driving mechanism 1 is adsorbed Drive the box body 2 to advance on the hull; several underwater propellers 3 are installed on the remaining opposite sides of the box body 2; one end of the lifting adjustment mechanism 5 is fixedly connected with the box body 2, so that The other end of the lifting adjustment mechanism 5 is fixedly connected with the detector 6, and the lifting adjustment mechanism 5 is used to adjust the detection position of the detector 6; the hull disengagement mechanism 4 is installed at the bottom of the box body 2, It is used to separate the crawler drive mechanism 2 from the hull. Specifically, the box body 2 is designed to be sealed and waterproof. The box body is provided with a main control module, a wireless control module and a power supply. The power supply is used to supply power to the device, and the main control module is used to control the operation of the device. , the wireless control module is used for wireless connection with the external controller, for receiving instructions from the external controller; the crawler drive mechanism includes a drive motor, a sprocket and two roller chains arranged on both sides of the box body 2 , the outer sides of the two roller chains are provided with track shoes, the drive motor is connected to the sprocket, the sprocket is connected to the roller chain, and the track shoes are inlaid with permanent magnetic adsorption Component 11, the permanent magnetic adsorption component 11 is a pot magnetic chuck; the lifting adjustment mechanism 5 can adjust the distance between the detector 6 and the measured point, so as to facilitate the alignment of the object. The utility model can detect the surface of the hull downward during the traveling process, and can also be separated from the hull at any time and move in the water, with high flexibility and wide movable range.

2 and 4, the hull disengagement mechanism 4 includes two push plates 41 and two drive motors 42, the two push plates 41 are hinged to the bottom of the box body 2, and each drive motor 42 passes A transmission mechanism is in transmission connection with one of the push plates 41, respectively driving the corresponding push plates 41 to turn over. The transmission mechanism can be driven by a gear structure, and the conventional gear structure can be realized by using the existing technology, and can be designed according to the actual situation, and will not be repeated here. After the push plate 41 turned over, the crawler-type driving mechanism 1 could be propped away from the hull. When the device is working, the crawler-type driving mechanism 1 is adsorbed on the hull and drives the box to move forward. After reaching the detection position, the detection machine and detection distance are adjusted by adjusting the lifting adjustment mechanism 5. After the detection is completed, continue to transfer to the next position. When the position is far away or a position with high steps is encountered, the crawler drive mechanism 1 can be propped away from the hull through the hull detachment mechanism 4, and the underwater propeller 3 is started at the same time, and the device is moved in the water by the underwater propeller 3, and the transfer to work in other areas. The box body 2 can be designed with buoyant materials to offset part of the gravity, making it easier for the underwater propeller 3 to maintain the balance state of the device suspension, and reduce the energy consumption of the underwater propeller 3 .

Please refer to Fig. 2, the number of said underwater propellers 3 is set to four, wherein two of said underwater propellers 3 are arranged on one side of the front end of said box body 2 at intervals, and the remaining two said underwater propellers The propellers 3 are arranged at intervals on the opposite side of the rear end of the box body 2; the four propellers are used to propel the box body to float and move in the water. Specifically, the front end direction of the box body 2 corresponds to the forward direction of the crawler-type drive mechanism 1 , and the rear end direction of the box body 2 corresponds to the backward direction of the crawler-type drive mechanism 1 . Four underwater propellers 3 are positioned at the four corners of the casing, which can drive the device to move in water.

Please continue to refer to shown in Figure 2, the number of the lifting adjustment mechanism 5 is set to two, and the number of the detection machine 6 is also set to two; one of the lifting adjustment mechanisms 5 is installed on the same side of the box body 2 Between the two underwater propellers 3, another lifting adjustment mechanism 5 is installed between the two underwater propellers 3 on the other side of the box body 2. The device is equipped with two detection positions, respectively for the front end and the rear end position of the device, and the hull detection is performed at both the front and rear sides at the same time, and the work efficiency is higher.

The lifting adjustment mechanism 5 includes a connecting arm 51 and a telescopic arm 52, one end of the connecting arm 51 is fixedly connected to the corresponding side of the box body 2; one end of the telescopic arm 52 is fixedly connected to the connecting arm, so The other end of the telescopic arm 52 is fixedly connected with one end of the detector 6 to drive the detector 6 to move up and down. Specifically, each connecting arm 51 is fixedly connected to one side of the box body 2; the telescopic arm 52 adopts a driving device capable of underwater telescopic operation, the specific principle and implementation means have been disclosed in the prior art, and will not be described here. repeat. The telescopic arm 52 can adjust the distance between the detection machine and the object under test, the detection height is controllable, and the detection accuracy is more accurate.

Please refer to shown in Fig. 3, described detection machine 6 comprises zoom detection camera 61, fixed-focus detection camera 62, low-light CCD camera 63, long-wave lighting lamp 64 and sealed casing 65; Described zoom detection camera 61, The fixed-focus detection camera 62 and the low-light CCD camera 63 are arranged side by side in sequence and integrated on the sealed casing 65. The front end of the sealed casing 65 is set as a detection end, and the long-wave lighting lamp 64 is installed At the detection end of the sealed housing 65 . The detection machine 6 is also provided with a ranging radar 66 , and the ranging radar 66 is installed at the detection end of the sealed casing 65 . The rear end of the sealed housing 65 is rotatably connected to the telescopic arm 52; the long-wave lighting lamp 64 suppresses impurities in turbid waters from affecting scattering, and provides better lighting effects for underwater operations. At the same time, the zoom detection camera 61 and the lifting adjustment mechanism 5. With the cooperation of the ranging radar 66, the distance between the detection machine 6 and the measured point can be accurately controlled, and the focal length of the camera can be automatically adjusted to obtain a clear hull detection image. The device adopts low-light imaging technology, which can not only collect video data under normal sea conditions, but also realize underwater image collection in turbid waters, improve the quality of underwater images, and facilitate underwater image recognition and processing.

A safety rope 7 is also provided on the top of the box body 2 . When the device breaks down, the device can be pulled back by the safety rope 7 to reduce losses.

The above embodiments are only used to illustrate the technical solution of the utility model and not to limit it. Any modification or equivalent replacement that does not depart from the spirit and scope of the utility model shall be covered within the scope of the utility model technical solution.

Claims (8)

1. The crawler-type hull underwater detection device includes a crawler-type driving mechanism and a casing, and is characterized in that it also includes a number of underwater propellers, a hull disengagement mechanism, a lifting adjustment mechanism and a detection machine; the crawler-type driving mechanism is installed on On the opposite sides of the box body, the crawler-type drive mechanism is provided with a permanent magnetic adsorption assembly, and the crawler-type drive mechanism is adsorbed on the hull to drive the box body forward; several underwater propellers are installed on the The remaining opposite sides of the box body; one end of the lifting adjustment mechanism is fixedly connected to the box body, the other end of the lifting adjustment mechanism is fixedly connected to the detector, and the lifting adjustment mechanism is used to adjust the The detection position of the detector; the hull disengagement mechanism is installed at the bottom of the box, and is used to disengage the crawler drive mechanism from the hull. 2. The crawler-type hull underwater detection device according to claim 1, wherein the hull detachment mechanism comprises two push plates and two driving motors, and the two push plates are hinged to the bottom of the box body, each The driving motor is connected to one of the push plates through a transmission mechanism, and respectively drives the corresponding push plates to turn over. 3. The crawler-type hull underwater detection device according to claim 2, wherein the number of said underwater thrusters is set to four, wherein two said underwater thrusters are arranged at intervals at the front end of said box body The other two underwater propellers are arranged at intervals on the opposite side of the rear end of the box; the four propellers are used to propel the box to float and move in the water. 4. crawler type hull underwater detection device according to claim 3, is characterized in that, the quantity of described lifting adjustment mechanism is set to two, and the quantity of described detection machine is also set to two; Wherein one described lifting adjustment mechanism It is installed between the two underwater propellers on the same side of the box, and the other lifting adjustment mechanism is installed between the two underwater propellers on the other side of the box. 5. The crawler-type hull underwater detection device according to claim 4, wherein the lifting adjustment mechanism includes a connecting arm and a telescopic arm, and one end of the connecting arm is fixedly connected to the corresponding side of the box; One end of the telescopic arm is fixedly connected to the connecting arm, and the other end of the telescopic arm is fixedly connected to one end of the detector, so as to drive the detector to move up and down. 6. crawler type hull underwater detection device according to claim 1, is characterized in that, described detection machine comprises zoom detection camera, fixed focus detection camera, low-light CCD camera, long-wave lighting lamp and sealed casing; The zoom detection camera, the fixed-focus detection camera, and the low-light CCD camera are arranged side by side in sequence and integrated on the sealed casing, the front end of the sealed casing is set as the detection end, and the long-wave illumination A lamp is mounted on the detection end of the sealed housing. 7. The crawler hull underwater detection device according to claim 6, characterized in that, the detection machine is also provided with a ranging radar, and the ranging radar is installed at the detection end of the sealed casing. 8. The crawler-type hull underwater detection device according to claim 1, wherein a safety rope is further provided on the top of the box.

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