The invention relates to the technical field of underwater robots, in particular to a multi-motion-mode amphibious robot for dam defect detection. A battery is arranged in the main body on the rear side of the sealed cabin; buoyancy blocks are arranged in the main body on the left side and the right side of the sealed cabin; a sensing auxiliary mechanism and a propelling mechanism are arranged on the main body; and a moving mechanism is arranged at the bottom of the main body. Manual operation is replaced by mechanical operation, the risk is reduced while the working efficiency is effectively improved, the robot can be arranged at any position of a dam body, and various scene operations such as autonomous cross-medium laying and recycling, underwater collision avoidance, in-situ fine detection and disturbance resistance can be achieved through paddle-wheel-foot multi-mode combined movement; the dam defect detection robot can meet the defect detection work requirements of most dams, overcomes the defects that a common underwater robot is complex to deploy and recycle, and underwater detection of a dam body easily causes sediments to influence optical detection, and solves the problems existing in the prior art.

    本发明涉及水下机器人技术领域,尤其涉及大坝缺陷检测用多运动模式两栖机器人。它包括主体,在主体内设有密封舱,在密封舱后侧的主体内设有电池,在密封舱左右两侧的主体内设有浮力块,在主体上设有感知辅助机构,在主体上设有推进机构,在主体底部设有移动机构。它以机械操作代替人工操作,有效提高工作效率的同时,降低风险,机器人可以布放在坝体的任何位置,通过“桨‑轮‑足”多模式组合运动,可以实现自主跨介质的布放及回收、水中避碰、原位精细探测、抗扰动等多种场景作业,能够满足绝大多数大坝的缺陷检测工作需求,弥补了普通水下机器人布放回收复杂、坝体水下检测容易激起沉积物影响光学检测的不足,解决了现有技术中存在的问题。


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    Title :

    Multi-motion-mode amphibious robot for dam defect detection


    Additional title:

    大坝缺陷检测用多运动模式两栖机器人


    Contributors:
    BAI GUIQIANG (author) / LI HAOMING (author) / QIN HONGDE (author) / ZHU ZHONGBEN (author) / MOU XIAOKAI (author) / DU JINGANG (author) / CAO CONG (author)

    Publication date :

    2025-03-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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