The invention discloses a bridge underwater detection climbing type robot. The bridge underwater detection climbing type robot is characterized by comprising a frame, a clamping mechanism, an annularcrawling driving device, two lifting crawling driving devices, a surface cleaning device, a horizontal propeller and a lifting propeller; the clamping mechanism comprises two upper clamping arms, twolower clamping arms, a first motor, a first worm, a first turbine, an upper rotating disc, a lower rotating disc, two upper connecting rods, two lower connecting rods and two vertical connecting rods;the annular crawling driving device comprises a middle frame, two side wing frames, two upper caterpillar bands, two lower caterpillar bands, two middle conveying belts, two first rotary driving mechanisms and two second rotary driving mechanisms; and the surface cleaning device, the horizontal propeller, the lifting propeller, a camera, an image sonar device, a lighting device and a flaw detection device are arranged on a middle frame of the frame. The bridge underwater detection climbing type robot can simultaneously detect the overwater part and underwater part of a bridge pier. The invention further discloses a working method.
本发明公开了一种桥梁水下检测攀爬式机器人,其特征在于:包括机架、夹抱机构、环向爬行驱动装置、两个升降爬行驱动装置、表面清理装置、水平推进器和升降推进器;所述夹抱装置包括两个上夹臂、两个下夹臂、第一电机、第一蜗杆、第一涡轮、上转盘、下转盘、两个上连杆、两个下连杆和两个立连杆;该环向爬行驱动装置包括中间架、两个侧翼架、两个上履带、两个下履带、两个中间传送带、两个第一旋转驱动机构和两个第二旋转驱动机构;该机架的中间架上设置有表面清理装置、水平推进器、升降推进器、摄像机、图像声呐装置、照明装置及探伤装置。本发明可实现同时对桥梁桥墩水上部位和水下部位检测作业。本发明还公开了一种工作方法。
Bridge underwater detection climbing type robot and working method
一种桥梁水下检测攀爬式机器人及工作方法
2020-12-15
Patent
Electronic Resource
Chinese
IPC: | B25J Manipulatoren , MANIPULATORS / B08B Reinigen allgemein , CLEANING IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES |