CN106988354B - A kind of underwater foundation pile avoidance maintaining robot - Google Patents
A kind of underwater foundation pile avoidance maintaining robot Download PDFInfo
- Publication number
- CN106988354B CN106988354B CN201710250159.2A CN201710250159A CN106988354B CN 106988354 B CN106988354 B CN 106988354B CN 201710250159 A CN201710250159 A CN 201710250159A CN 106988354 B CN106988354 B CN 106988354B
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- foundation pile
- workbench
- installation part
- mounting means
- lower installation
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D37/00—Repair of damaged foundations or foundation structures
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/32—Foundations for special purposes
- E02D27/52—Submerged foundations, i.e. submerged in open water
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention discloses a kind of underwater foundation pile avoidance maintaining robots, applied to the underwater cylindricality foundation pile of maintenance, the robot includes: the rotating platform for being fixed on foundation pile, and the workbench being connect with the rotating platform, the workbench includes mounting means, lower installation part relative to mounting means rotation connection, evacuation notch is equipped on the mounting means and the lower installation part, the mounting means are equipped with upper locking mechanism, the lower installation part is equipped with lower locking mechanism, the upper locking mechanism or lower locking mechanism are used to the workbench being locked to foundation pile；An at least lifting device is installed, the lifting device connects the workbench and the workbench is driven to move along foundation pile, and by the lifting device rotating platform is rotated with the workbench on the rotating platform.It has automatic obstacle-avoiding, the high feature of cleaning efficiency.
Description
Technical field
The present invention relates to cleaning and detection technique fields, more particularly, to a kind of underwater foundation pile avoidance maintaining robot.
Background technique
It is such as over strait on more and more bridge application Yu Haiyangs and river surface with the development of road traffic and bridge technology
Bridge, overpass etc..Bridge Piles are as the critical support part for influencing bridge safty, since Partial Bridges foundation pile needs for a long time
In the water surface hereinafter, the foundation pile of such as bridge spanning the sea, is influenced by harsh ocean meteorological condition and Complex Sea beach geological environment, from
And foundation pile is caused to cause the corrosion and destruction of foundation pile because of factors such as material variation, tide constructional difficulties, additionally due to the micro- life in ocean
Object is attached to the corrosion that foundation pile is also accelerated in caused Biochemical processes on the foundation pile of ocean.Therefore need one kind that can complete under water
Foundation pile cleaning, anti-corrosion and maintenance robot.
Underwater foundation pile needs to carry out preservative treatment to foundation pile because the corrosivity working environment locating for it determines, answers in engineering
The structure erosion that armored concrete foundation pile can be effectively prevented by installing cathodic protection block on foundation pile in.Due to cathode
The presence of protection block, the conventional method along foundation pile maintenance can hit that cathodic protection is fast, to the movement band of foundation pile maintaining robot
It hinders, not can be carried out effective work.And use large-scale foundation pile to maintain equipment at high cost, difficult in maintenance, therefore, it is necessary to right
Existing underwater foundation pile maintaining robot carries out the improvement of obstacle avoidance ability.
Summary of the invention
In view of the deficiency of the prior art, the object of the present invention is to provide a kind of underwater foundation pile avoidance machine maintenances
People.It has automatic obstacle-avoiding, the high feature of cleaning efficiency.
To achieve the goals above, the technical scheme adopted by the invention is that: a kind of underwater foundation pile avoidance maintaining robot,
Applied to safeguarding underwater cylindricality foundation pile, the robot include: rotating platform for being fixed on foundation pile and with the rotary flat
The workbench of platform connection, the workbench include mounting means, relative to the lower installation of mounting means rotation connection
Evacuation notch is equipped on part, the mounting means and the lower installation part, the mounting means are equipped with upper locking mechanism, described
Lower installation part is equipped with lower locking mechanism, and the upper locking mechanism or lower locking mechanism are used to the workbench being locked to base
Stake；An at least lifting device is installed, the lifting device connects described in the workbench and drive on the rotating platform
Workbench is moved along foundation pile, and makes at least partly described rotating platform with the workbench by the lifting device
It rotates and rotates.
Further, the one of them of the lower installation part and/or the lower installation part is equipped with gear mechanism, and another one is set
There is an at least driving motor, the driving gear engaged with the gear mechanism, the sliding tooth are installed on the driving motor
Wheel drives the gear mechanism rotation, so that the lower installation part is rotated relative to the mounting means.
Further, the cleaning assemblies to clean foundation pile is installed on the mounting means and/or the lower installation part.
Further, the lower installation part is equipped with detection device, and the detection device is for detecting the workbench
Barrier on moving direction.
Further, the upper locking mechanism includes telescopic device at least one, on the output shaft of the upper telescopic device
Equipped with friction plate, the friction plate is for abutting to the foundation pile, so that the workbench is fastened in the foundation pile.
Further, the lower locking mechanism includes at least once telescopic device, on the output shaft of the lower telescopic device
Equipped with friction plate, the friction plate is for abutting to the foundation pile, so that the workbench is fastened in the foundation pile.
Further, movable pulley is installed on the workbench, is passed through between the lifting device and the movable pulley
Connecting rope connection is to drive the workbench mobile.
Further, the lifting device includes the power motor of capstan winch, installation to capstan winch, and the connecting rope is wound on strand
On disk.
Further, it there are three the lifting device is set, and is evenly distributed on the rotating platform.
Further, the rotating platform includes fixing piece and the rotating member that is rotatably connected on the fixing piece, described
Lifting device is mounted on the rotating member, and the fixing piece is for banding to foundation pile.
After adopting the above structure, the invention has the advantages that compared with the prior art:
Rotating platform is mounted on the foundation pile above the water surface, and guides workbench to drop to underwater by lifting device
With foundation pile part under clean water, facilitate control cleaning positions.Evacuation notch, mounting means and lower peace are provided on workbench
Relative rotation between piece installing, so that keeping workbench mobile flat to avoid work after avoiding the protection block on notch alignment foundation pile
Shock of the platform to protection block, flexible operation.Cleaning assemblies on workbench is rotated around foundation pile, can be cleaned comprehensively in a height model
The foundation pile surface enclosed, cleaning effect are good.Rotating platform is rotated as workbench rotates, and workbench is enable to avoid any angle
Degree setting protection block, avoidance effect are good.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples:
Fig. 1 is the schematic perspective view of rotating platform in the present invention.
Fig. 2 is the configuration schematic diagram of rotating platform in the present invention.
Fig. 3 is the schematic perspective view of workbench in the present invention.
Fig. 4 is the configuration schematic diagram of workbench in the present invention.
In figure: rotating platform 10；Rotating member 11；Fixing piece 12；Lifting device 13；Power motor 131；Capstan winch 132；Connection
Rope 133；Fixed gear 14；Rotate gear 15；Workbench 20；Avoid notch 201；Mounting means 21；Lower installation part 22；Gear
Mechanism 221；Upper locking mechanism 23；Friction plate 231；Lower locking mechanism 24；Movable pulley 25；Cleaning assemblies 26；Driving motor 27；It drives
Moving gear 271；Balanced component 28；Driven gear 281.
Specific embodiment
As described below is only presently preferred embodiments of the present invention, is not intended to limit the scope of the present invention.
Embodiment, as shown in figures 1 to 4: a kind of underwater foundation pile avoidance maintaining robot is applied to safeguard underwater cylindricality base
Stake.The robot includes: rotating platform 10 for being fixed on foundation pile and the workbench 20 connecting with rotating platform 10.
Workbench 20 includes mounting means 21, relative to the lower installation part 22 of the rotation connection of mounting means 21, and mounting means 21 are under
Evacuation notch 201 is equipped on installation part 22.Mounting means 21 are equipped with upper locking mechanism 23, and lower installation part 22 is equipped with lower locking
Mechanism 24, upper locking mechanism 23 or lower locking mechanism 24 are used to workbench 20 being locked to foundation pile.It is installed on rotating platform 10
There is an at least lifting device 13, lifting device 13 connects workbench 20 and workbench 20 is driven to move along foundation pile, and passes through
Lifting device 13 rotates at least partly rotating platform 10 as workbench 20 rotates.
Foundation pile includes above water and underwater portion, and rotating platform 10 is mounted on the above water of foundation pile, workbench 20
It is connect with the lifting device 13 on rotating platform 10, wherein workbench 20 is used to safeguard and clean the underwater portion of foundation pile.It is logical
The operating position that lifting device 13 can control workbench 20 to be in cleaning foundation pile, such as underwater 5 meters, 10 meters are crossed, work can be made
Platform 20 is moved along the axis direction of foundation pile, and working depth is easy to adjust.
Evacuation notch 201 is equipped on mounting means 21 and lower installation part 22, the width of the evacuation notch 201 is greater than foundation pile
On protection block width, when protection block be located at evacuation notch 201 rectilinear direction on when, workbench 20 can be moved along foundation pile
It is dynamic, and the impact to protection block is avoided by avoiding notch 201.Upper locking is respectively equipped in mounting means 21 and lower installation part 22
Mechanism 23 and lower locking mechanism 24 pass through upper locking mechanism 23 when avoiding notch 201 and protection block is not at same straight line
And/or lower locking mechanism 24 come control mounting means 21 and/or lower installation part 22 rotation come adjust evacuation notch 201 position,
So that protection block is located in the rectilinear direction of evacuation notch 201.
For example, upper locking mechanism 23 is locked to foundation pile, so that lower installation part 22 rotates an angle around mounting means 21, under making
Evacuation notch 201 on installation part 22 turns in the rectilinear direction of protection block.Lower locking mechanism 24 is controlled again is locked to foundation pile,
And upper locking mechanism 23 unclamps the locking to foundation pile, mounting means 21 rotate an angle around lower installation part 22, make mounting means 21
On evacuation notch 201 also turn in the rectilinear direction of protection block.13 work belt of lifting device is controlled again moves workbench 20
It is risen or fallen along foundation pile.
Workbench 20 adjusts and avoids working after rotating an angle on original position after protection block, is located at the water surface
On rotatable platform for convenience of power transmit and uniform force, need to also be rotated with the rotation of workbench 20.In upper installation
Cleaning assemblies 26 to clean foundation pile is installed on part 21 and/or lower installation part 22, is mounted on as preferred cleaning assemblies 26
The lower part of mounting means 21.Cleaning assemblies 26 on workbench 20 is set on foundation pile and rotates around foundation pile, can make foundation pile
Circumferential surface clean up, cleaning effect is good.
As shown in figure 3 and figure 4: in one embodiment, the one of them of lower installation part 22 and/or lower installation part 22 is set
There is gear mechanism 221, another one is equipped with an at least driving motor 27, is equipped on driving motor 27 and engages with gear mechanism 221
Driving gear 271, driving gear 271 drive gear mechanism 221 rotate so that lower installation part 22 is relative to 21 turns of mounting means
It is dynamic.
Wherein, the section of mounting means 21 is in " C " font, and the section of lower installation part 22 is in " C " font, in lower installation part 22
Its section is in inverted " F " font after being equipped with gear mechanism 221.Lower installation part 22 and lower 22 plug connection of installation part, it is as follows
The lower end flange of 22 clamping mounting means 21 of installation part so that be mounted on the driving motor 27 of the upper end flange of mounting means 21 with
Gear mechanism 221 engages.Optionally, workbench 20 is closed up by least two parts and is formed and be set in outside foundation pile, flat in work
The place of closing up of platform 20 has through-hole, and foundation pile is in through-hole.As mounting means 21 and/or lower installation part 22 have two parts to close up
It is formed.
Workbench 20 can realize the rotating function between mounting means 21 and lower installation part 22 by gear structure.On
Installation part 21 and lower 22 one of them gear mechanism 221 of installation part, then another one installs driving motor 27.With the peace of mounting means 21
Driving motor 27 is filled, lower installation part 22 is installed for gear mechanism 221.
Mounting means 21 are fixed on foundation pile by upper locking mechanism 23, and the axis of the output shaft of driving motor 27 is parallel to
The axis of rotation of mounting means 21.Gear mechanism 221 is the internal gear being connected on lower installation part 22, drives gear 271 and tooth
Take turns the engagement connection of mechanism 221.Control driving motor 27 rotates after mounting means 21 are locked to foundation pile by upper locking mechanism 23, makes
Lower installation part 22 is rotated around foundation pile.
Optionally, a driving motor 27 is installed on mounting means 21, several nibble is also equipped on mounting means 21
It is bonded to an at least balanced component 28 for gear mechanism 221, balanced component 28 is equipped with driven gear 281, driven gear 281 and tooth
Mechanism 221 is taken turns to engage.It optionally, there are two balanced component 28 is set, and is in angular distribution in mounting means 21 with driving motor 27
On.Lower installation part 22 is driven to rotate by driving motor 27, to make workbench 20 that can circumferentially rotate around foundation pile.Pass through control
System control, stops after lower installation part 22 can be made to rotate an angle, and rotation direction can be forward or reverse, thus convenient
The orientation of control evacuation notch 201.
After lower installation part 22 turns to predeterminated position, driving motor 27 stops operating, and lower locking mechanism 24 is by lower fixation
Plate is locked to foundation pile.Upper locking mechanism 23 unlocks.Driving motor 27 starts turning, and turns to upper mounted plate around foundation pile pre-
If position.Driving motor 27 stops operating, and lower locking mechanism 24 unlocks.Lifting device 13 controls workbench 20 along foundation pile
It is mobile, and control cleaning assemblies 26 and foundation pile is cleaned and safeguarded.
Cleaning assemblies 26 is installed on lower installation part 22, cleaning assemblies 26 includes the high pressure water jets that can export high-pressure fluid
Head is used to clean the cleaning mode of foundation pile for moving or rotating to clean the cleaning brush of foundation pile or other cleaning assemblies 26.
At the same time, cleaning assemblies 26 can rotate under the drive of lower installation part 22 along foundation pile, clean the outer peripheral surface of foundation pile comprehensively.Under
Mountable probe assembly, such as survey meter on installation part 22, defectoscope, analyzer etc., for detect foundation pile fault of construction or
Detect the water environment data etc. near foundation pile.
Lower installation part 22 is equipped with detection device, and detection device is used to detect the obstacle on 20 moving direction of workbench
Object.Detection device can detecte the protection block on foundation pile, and avoiding workbench 20, directly impact is in protection block, to cause machine
The damage of device people.The orientation that protection block is detected by detection device controls the rotational angle of workbench 20 by control system,
So that the adjustment evacuation notch 201 of workbench 20, makes it to be aligned to protection block, it is easy to operate.
Upper locking mechanism 23 or lower locking mechanism 24 are to be locked to foundation pile for workbench 20.In a specific embodiment
In, upper locking mechanism 23 or lower locking mechanism 24 include an at least telescopic device, as telescoping mechanism uses hydraulic cylinder mechanism.It stretches
The output shaft of compression apparatus is stretched out and is connected on foundation pile, so that workbench 20 is fastened in foundation pile.Optionally, pacify on output shaft
Equipped with friction plate 231, which is connected on foundation pile, wherein the materials systems such as rubber or nylon can be used in friction plate 231
At.Preferably, there are three telescopic device sets, and it is evenly distributed on workbench 20.
Being connected to the mode on foundation pile by telescopic device makes workbench 20 be stabilized in the predeterminated position on foundation pile, installation
It is convenient.Friction plate 231 can expand the contact area of output shaft and foundation pile, and installation is stablized.Telescopic device can by stretch out or
The mode of retraction locks or unlocks, so that workbench 20 is fixed or moves along foundation pile, it is easy to operate.
Movable pulley 25 is installed on workbench 20, is connected between lifting device 13 and movable pulley 25 by connecting rope 133
To drive workbench 20 mobile.Workbench 20 is connected by connecting rope 133 moves workbench 20 along foundation pile.
Movable pulley 25 is installed to be connected to lifting device 13 on workbench 20, workbench 20 is gone up and down flexibly, by workbench 20
Weight transmitting to lifting device 13 and rotating platform 10 on, power needed for lifting device 13 reduce.
Movable pulley 25 may be mounted on lower installation part 22, also may be mounted on mounting means 21.Optionally, movable pulley
25 are mounted on lower installation part 22.It can make rotating platform 10 and lower 22 synchronous rotary of installation part, protect evacuation notch 201 to it
The movement of workbench 20 is smooth after protecting block.
See figure 1 and figure 2: in one embodiment, lifting device 13 includes capstan winch 132, installation to capstan winch 132
Power motor 131, connecting rope 133 is on capstan winch 132.Power motor 131 drives capstan winch 132 to rotate, and the one of connecting rope 133
End is shunk or is unfolded on capstan winch 132, and with the rotation of capstan winch 132, so that workbench 20 carries out elevating movement.
There are three lifting device 13 is set, and it is evenly distributed on rotating platform 10.Lifting device 13, which is arranged three, can make workbench
20 stress equalizations are maintained at stable moving condition, prevent workbench 20 from deflecting, and the resistance of motion is small.
Rotating platform 10 includes fixing piece 12 and the rotating member 11 being rotatably connected on fixing piece 12, and lifting device 13 is installed
On rotating member 11, fixing piece 12 is for banding to foundation pile.Fixed gear 14 is installed on fixing piece 12, is set on rotating member 11
There are several rotate gears 15 engaged with fixed gear 14, optionally, rotate gear 15 sets there are three and is evenly distributed on rotation
On part 11.
Rotating platform 10 is fixed on the portion waterborne of foundation pile, and rotating member 11 and fixing piece 12 can close up to form rotation by two parts
Turn platform 10 and is fixed on foundation pile.Rotating platform 10 can be convenient installation lifting device 13 and other auxiliary equipments, such as power,
The devices such as water supply.Fixing piece 12 is fastened on foundation pile after closing up by fastener, easy for installation, and position is easy to adjust.Rotating member
11 are connected to workbench 20 by lifting device 13, and with the rotation of workbench 20, rotating member 11 is rotated around foundation pile, is avoided
Connecting rope 133 or cable etc. are easy to operate on foundation pile.
Cleaning assemblies is widely used at present, and other structures and principle are same as the prior art, and which is not described herein again.
Claims (9)
1. a kind of underwater foundation pile avoidance maintaining robot is applied to safeguard underwater cylindricality foundation pile, which is characterized in that the robot packet
Include: rotating platform for being fixed on foundation pile and the workbench connecting with the rotating platform, the workbench include
Mounting means, relative to the lower installation part of mounting means rotation connection, on the mounting means and the lower installation part
Equipped with evacuation notch, the mounting means are equipped with upper locking mechanism, and the lower installation part is equipped with lower locking mechanism, the locking
Determine mechanism or lower locking mechanism is used to the workbench being locked to foundation pile；At least one lifting is installed on the rotating platform
Device, the lifting device connects the workbench and the workbench is driven to move along foundation pile, and passes through the lifting
Device rotates at least partly described rotating platform as the workbench rotates, mounting means and/or described
Cleaning assemblies to clean foundation pile is installed on lower installation part.
2. robot according to claim 1, which is characterized in that its of the lower installation part and/or the lower installation part
Middle one is equipped with gear mechanism, and another one is equipped with an at least driving motor, is equipped with and the gear mechanism on the driving motor
The driving gear of structure engagement, the driving gear band moves the gear mechanism rotation, so that the lower installation part is relative to described
Mounting means rotation.
3. robot according to claim 1, which is characterized in that the lower installation part is equipped with detection device, the inspection
Device is surveyed to be used to detect the barrier on the workbench moving direction.
4. robot according to claim 1, which is characterized in that the upper locking mechanism includes the dress that stretches at least one
It sets, the output shaft of the upper telescopic device is equipped with friction plate, and the friction plate is for abutting to the foundation pile, so that the work
The foundation pile is fastened in as platform.
5. robot according to claim 1, which is characterized in that the lower locking mechanism includes the dress that at least once stretches
It sets, the output shaft of the lower telescopic device is equipped with friction plate, and the friction plate is for abutting to the foundation pile, so that the work
The foundation pile is fastened in as platform.
6. robot according to claim 1, which is characterized in that be equipped with movable pulley, the liter on the workbench
It is connected between falling unit and the movable pulley by connecting rope to drive the workbench mobile.
7. robot according to claim 6, which is characterized in that the lifting device includes capstan winch, installation to capstan winch
Power motor, the connecting rope is on capstan winch.
8. robot according to claim 7, which is characterized in that there are three the lifting device is set, and be evenly distributed on
On the rotating platform.
9. robot according to claim 1, which is characterized in that the rotating platform includes fixing piece and is rotatably connected on
Rotating member on the fixing piece, the lifting device are mounted on the rotating member, and the fixing piece is for banding to foundation pile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710250159.2A CN106988354B (en) | 2017-04-17 | 2017-04-17 | A kind of underwater foundation pile avoidance maintaining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710250159.2A CN106988354B (en) | 2017-04-17 | 2017-04-17 | A kind of underwater foundation pile avoidance maintaining robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106988354A CN106988354A (en) | 2017-07-28 |
| CN106988354B true CN106988354B (en) | 2019-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710250159.2A Active CN106988354B (en) | 2017-04-17 | 2017-04-17 | A kind of underwater foundation pile avoidance maintaining robot |
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| CN (1) | CN106988354B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760803B (en) * | 2018-12-27 | 2021-02-05 | 中国航天空气动力技术研究院 | Underwater cleaning robot |
| CN109895974A (en) * | 2019-04-08 | 2019-06-18 | 江苏科技大学 | A kind of suction type propeller cleaning device |
| CN110158670B (en) * | 2019-05-27 | 2021-03-16 | 宁波工程学院 | Ocean foundation pile monitoring device of crawling |
| CN112627525A (en) * | 2020-12-03 | 2021-04-09 | 张皖龙 | Construction method for manufacturing assembled building heat-insulating layer |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL2532790T3 (en) * | 2011-06-10 | 2014-01-31 | Bauer Spezialtiefbau | Method for producing an underwater foundation element, adjustment head for an underwater foundation element and underwater working assembly |
| CN205272025U (en) * | 2015-12-31 | 2016-06-01 | 南京铁道职业技术学院 | Small robot uses light rotary platform |
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| CN106988354A (en) | 2017-07-28 |
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