The invention relates to the technical field of robots, and discloses an underwater structure surface defect detection robot which comprises a shell, a framework, a buoy, a swing stopping device and a self-unhooking device, and the framework is designed at the bottom and the side edge of the shell in a conformal mode and attached to the inner wall of the corresponding shell. The oscillation stopping device comprises an upper oscillation stopping mechanism arranged on the lower portion of the buoy and an oscillation stopping base arranged on the top of the robot, and the upper oscillation stopping mechanism and the oscillation stopping base are arranged in a matched mode. The self-unhooking device comprises a movable part and a fixed part which are matched with each other, the fixed part loosens the movable part under the action of buoyancy, so that the movable part is separated from the fixed part, and the fixed part can lock the movable part under the condition of no buoyancy. The robot has the beneficial effects that the high-stability bionic streamline configuration defect detection robot adapting to various underwater dam face working conditions is provided, flow resistance and disturbance resistance can be achieved, and fine detection of defects is achieved.

    本发明涉及机器人技术领域,公开了一种水下结构物表面缺陷检测机器人,包括壳体、所述壳体底部以及侧边共形设计且贴合于对应壳体内壁的骨架、浮标、止荡装置以及自脱钩装置;所述止荡装置包括设置于浮标下部的上止荡机构和设置于机器人顶部的止荡底座,所述上止荡机构与止荡底座为匹配设置;所述自脱钩装置包括相互匹配设置的活动部和固定部,所述固定部在浮力作用下松开活动部,使得活动部与固定部分离,在没有浮力的情况下,固定部能够锁紧活动部。本发明的有益效果为提供了一种适应水下多种坝面工况的高稳性、仿生流线构型缺陷检测机器人,能够抗流抗扰,实现缺陷的精细化检测。


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    Title :

    Underwater structure surface defect detection robot


    Additional title:

    一种水下结构物表面缺陷检测机器人


    Contributors:
    XU PENGFEI (author) / WANG ZIPENG (author) / LI JUNJIE (author) / WANG YANJIE (author) / KAI YAN (author) / CAO QINGBO (author) / SUN CHENGRUI (author) / WANG YISHENG (author)

    Publication date :

    2024-01-30


    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 / B25J Manipulatoren , MANIPULATORS / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01S RADIO DIRECTION-FINDING , Funkpeilung



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