The invention relates to a crawling mechanism of an underwater pier detection robot, which is characterized in that the crawling mechanism comprises a crawling frame, a crawling mounting plate and two groups of crawling units with the same structure, the crawling units climb up and down in the vertical direction of an underwater pier and walk left and right in the transverse direction of the underwater pier, and the crawling mounting plate is arranged on the crawling frame; the two groups of crawling units are vertically arranged on the crawling mounting plate, a longitudinal crawling unit is arranged at the upper part of the crawling mounting plate, a transverse crawling unit is arranged at the lower part of the crawling mounting plate, each crawling unit comprises a wheel carrier, a wheel carrier bottom plate and an omnidirectional wheel, the wheel carrier bottom plate is detachably connected with the crawling mounting plate, and the wheel carrier and the wheel carrier bottom plate are assembled into a whole through an obstacle crossing damping unit; and the omnidirectional wheel is rotationally connected with the wheel carrier through a rotating shaft. The robot can be attached to the cambered surface of a cylinder, can achieve omnidirectional crawling on the cylindrical surface, can stably stay on the cylindrical surface for a long time, and provides a stable platform for detection equipment.

    本发明涉及一种水下桥墩检测机器人的爬行机构,其创新点在于:包括爬行框架和爬行安装板,以及沿着水下桥墩竖直方向上下爬行和沿着水下桥墩横向方向左右行走的两组结构相同的爬行单元,所述爬行安装板设在爬行框架上,两组爬行单元呈上下布置在爬行安装板上,且爬行安装板的上部是纵向爬行单元,下部是横向爬行单元,所述爬行单元包括轮架、轮架底板和全向轮,所述轮架底板与爬行安装板可拆卸连接,且轮架通过越障减震单元与轮架底板装配为一体,所述全向轮通过转轴与轮架转动连接。本发明能在柱体弧面贴合,可以实现柱面全向爬行,以及在柱面长时间稳定停留,为检测设备提供稳定平台。


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    Title :

    Crawling mechanism of underwater pier detection robot


    Additional title:

    一种水下桥墩检测机器人的爬行机构


    Contributors:

    Publication date :

    2023-10-20


    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



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