The underwater bridge pier detection robot is characterized in that the underwater bridge pier detection robot comprises a plurality of underwater execution unit bodies, and each underwater execution unit body comprises an active crawling single body, a follow-up crawling single body, an underwater execution control cabin body and a navigation single body which are connected into a whole in series through a posture adjusting unit; the whole robot is in an unfolded state and sails to the piers on the water surface through the sailing single bodies, and the underwater execution control cabin controls the posture adjusting unit to act, so that the robot adjusts the posture to be folded and stably surrounds the peripheries of the piers with different outer diameters. The device can be attached to the peripheral face of a bridge pier through the crawling single bodies and crawl in the vertical direction or the transverse direction of the bridge pier, and the navigation single bodies are provided with detection units and can conduct appearance or underwater foundation detection on the underwater bridge pier. According to the invention, the underwater bridge pier can be supported under the complex hydrogeology condition, the robot can be ensured to be stable and not to shake in the detection process, the robot can be suitable for detection of bridge piers with different outer diameters, and the detection precision can be improved at the same time.
本发明涉及一种水下桥墩检测机器人,其创新点在于:包括多个水下执行单元体,每个水下执行单元体均包括由姿态调整单元串联为一体的主动爬行单体,随动爬行单体,水下执行控制舱体和航渡单体,机器人整体呈打开舒展状态并由航渡单体在水面航行至桥墩处,所述水下执行控制舱体控制姿态调整单元动作,使机器人调整姿态合拢并稳定环抱在不同外径的桥墩外周,可通过爬行单体扒贴在桥墩外周面并沿着桥墩竖直方向或横向方向爬行,所述航渡单体上设有探测单元并能对水下桥墩实施外观或水下基础探测。本发明能在复杂水文地质情况下靠的上水下桥墩,且能够在检测过程中保证机器人自身稳得住、不晃动,及能适用不同外径桥墩检测,同时还能提高检测精度。
Underwater bridge pier detection robot
一种水下桥墩检测机器人
2022-12-06
Patent
Elektronische Ressource
Chinesisch
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