The variant reconstruction mechanism of the underwater pier detection robot is characterized in that the variant reconstruction mechanism comprises a plurality of underwater execution unit bodies which are of the same structure and are connected into a whole, each underwater execution unit body comprises five frame bodies of the same structure and a posture adjusting unit, and the multiple frame bodies are connected through the posture adjusting units; the posture adjusting unit comprises a corner motor, a corner rack, a rack seat, an angle sensor, a guide sliding strip and a guide sliding strip seat, when the corner motor of the posture adjusting unit acts, the corner rack moves relative to the rack seat, the guide sliding strip moves relative to the guide sliding strip seat, a hinge supporting point on the inner side of the underwater execution unit body rotates, and the underwater execution unit body is driven to rotate. Different states of folding and unfolding can be achieved on the outer side, and variant reconstruction of the underwater execution unit body is achieved. According to the invention, under the complex hydrogeological condition, the underwater bridge pier can be supported in an unfolded posture, and then the underwater bridge pier can be supported in a folded posture to embrace the bridge pier, so that a good stable platform is provided for detection equipment.

    本发明涉及一种水下桥墩检测机器人的变体重构机构,其创新点在于:包括多个结构相同且连为一体的水下执行单元体,每个水下执行单元体均包括五个结构相同的框架体和姿态调整单元,多个框架体之间通过姿态调整单元衔接,所述姿态调整单元包括转角电机、转角齿条、齿条座、角度传感器、导向滑条和导向滑条座,所述姿态调整单元的转角电机动作时,使转角齿条相对齿条座移动,导向滑条相对导向滑条座移动,所述水下执行单元体内侧的铰接支点发生转动,外侧可实现合拢和展开不同状态,实现水下执行单元体的变体重构。本发明能够在复杂水文地质情况下以展开姿态能够靠得上水下桥墩,并再靠上后调整为合拢姿态环抱桥墩,为检测设备提供良好的稳定平台。


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    Title :

    Variant reconstruction mechanism of underwater pier detection robot


    Additional title:

    一种水下桥墩检测机器人的变体重构机构


    Contributors:

    Publication date :

    2023-04-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein



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