The invention relates to the technical field of underwater operation, and discloses a crawling device for a dam underwater detection robot, which comprises at least one set of wheel leg type mechanism, angle adjusting mechanism and length adjusting mechanism, the upper end part of the length adjusting mechanism is connected with the robot; the wheel leg type mechanism comprises a shell, an adsorption unit and crawling wheels arranged on the lower portion of the shell. The adsorption unit comprises a suction cup arranged on the lower portion of the shell and used for enabling the suction cup to be adsorbed to the dam face in a negative pressure adsorption mode. The length adjusting mechanism is used for adjusting the distance between the wheel-leg type mechanism and the robot body; the angle adjusting mechanism is used for adjusting the angle of the wheel-leg type mechanism relative to the horizontal dam face. The underwater robot has the beneficial effects that the underwater robot can adapt to the inclined dam face ranging from 0 degree to 90 degrees, so that the underwater robot can be stably adsorbed to the underwater inclined dam face, and meanwhile, height and angle errors caused by operation of the two wheel-leg type mechanisms can be compensated.

    本发明涉及水下作业技术领域,公开了一种大坝水下检测机器人用的爬行装置,包括至少一组成套设置的轮腿式机构、角度调节机构、长度调节机构;所述长度调节机构的上端部与机器人连接;所述轮腿式机构包括壳体、吸附单元和设置于壳体下部的爬行轮;所述吸附单元包括设置于壳体下部的吸盘,用于通过负压吸附方式使得吸盘吸附在坝面上;所述长度调节机构用于调节轮腿式机构与机器人本体的距离;所述角度调节机构用于调节轮腿式机构相对于水平坝面的角度。本发明的有益效果为:能够适应0°~90°之间的倾斜坝面,使得水下机器人能够稳定吸附在水下倾斜坝面上,同时能够补偿两组轮腿式机构作业时带来的高度和角度误差。


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    Title :

    Crawling device for dam underwater detection robot


    Additional title:

    一种大坝水下检测机器人用的爬行装置


    Contributors:
    ZHANG LEI (author) / ZHU YUHANG (author) / LI JUNJIE (author) / WANG YANJIE (author)

    Publication date :

    2024-02-06


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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