CN108408005A - A kind of bridge pier underwater detecting robot mechanical system - Google Patents
A kind of bridge pier underwater detecting robot mechanical system Download PDFInfo
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- CN108408005A CN108408005A CN201810298283.0A CN201810298283A CN108408005A CN 108408005 A CN108408005 A CN 108408005A CN 201810298283 A CN201810298283 A CN 201810298283A CN 108408005 A CN108408005 A CN 108408005A
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- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 229910000831 Steel Inorganic materials 0.000 claims description 29
- 239000010959 steel Substances 0.000 claims description 29
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 230000003014 reinforcing effect Effects 0.000 claims description 17
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000007547 defect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 210000002683 foot Anatomy 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011494 foam glass Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
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- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Combustion & Propulsion (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The present invention relates to a kind of robotic mechanical system, especially a kind of bridge pier underwater detecting robot mechanical system.It includes carrying ship (1), hoisting mechanism (2), fixed mechanism waterborne (3) and underwater testing agency (4), the end of carrying ship (1) is equipped with hoisting mechanism (2), the oblique upper of hoisting mechanism (2) is equipped with fixed mechanism waterborne (3), and fixed mechanism (3) waterborne is arranged right below underwater testing agency (4).The present invention provides to the more fast, convenient and safe detection of bridge pier, the manual work of bridge pier underwater portion is avoided, detection operation security risk is reduced.
Description
Technical field
The present invention relates to a kind of robotic mechanical system, especially a kind of bridge pier underwater detecting robot mechanical system.
Background technology
With the fast development in city, to achieve the purpose that road improvement passes through, urban road bridges will necessarily pass through mountain
River river, bridge Guo is underwater due to being month after month soaked in throughout the year, larger by water itself environment and external influence, and ship of such as opening the navigation or air flight is hit
Hit, the defects of mixed mud outer surface corroded by water body, peeled off, cracking, cause under serious conditions inside mixed mud reinforcing bar exposed
Outside, serious influence is caused to the safety of bridge superstructure.The detection of the underwater pier stud of bridge pier mostly uses greatly water under frogman at present
It is manually sounded out the people in a given scope one by one in order to break a criminal case, appearance detection is carried out by Underwater Camera, the disadvantage is that：(1) detection work is all carried out by artificial,
The examined personnel's physical condition of testing result and operation level are affected；(2) detection randomness is big, poor repeatability, as a result fixed
Position is inaccurate, and limitation is apparent；(3) it is affected by weather, is not suitable for long-time underwater operation from a security point of view.
Invention content
The object of the present invention is to provide a kind of bridge pier underwater detecting robot mechanical systems, provide compared with traditional work
More fast, convenient and safe detection avoids the manual work of bridge pier underwater portion, reduces detection operation security risk.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of bridge pier underwater detecting robot mechanical system includes carrying ship, hoisting mechanism, fixed mechanism waterborne and underwater
The end of testing agency, the carrying ship is equipped with hoisting mechanism, and the oblique upper of the hoisting mechanism is equipped with fixed mechanism waterborne, institute
That states fixed mechanism waterborne is arranged right below underwater testing agency.This bridge pier underwater detecting robot mechanical system by carrying ship,
Four parts such as hoisting mechanism, fixed mechanism waterborne and underwater testing agency form, and wherein carrying ship is responsible for the water surface of whole system
Mobile, fixed mechanism waterborne is responsible for whole system and bridge pier being connected as one, and underwater testing agency is responsible for the bridge pier water surface or less
Partial visual defects detection, and what hoisting mechanism was responsible for underwater testing agency rises or falls action.
Bridge pier underwater detecting robot mechanical system above-mentioned, the hoisting mechanism include bearing, elevator power plant, volume
Axis reinforcing frame, spool, reel, swing arm shaft and connecting plate, the connection plate level are set to the end of carrying ship, the connecting plate
It is equipped with bearing, elevator power plant is equipped in the bearing, the elevator power plant and spool are coaxially arranged, and elevator is dynamic
Power apparatus is placed in the middle part of spool, and the both ends of the spool are mounted on reel, steel wire rope, the company are wound on the reel
The bottom surface of fishplate bar is additionally provided with swing arm shaft normal thereto；The side of the spool is additionally provided with spool reinforcing frame, and the two of spool
End is fixedly connected with the both ends of spool reinforcing frame.Hoisting mechanism is mainly responsible for the folding and unfolding action of steel wire rope, to realize underwater inspection
The raising and lowering action of mechanism is surveyed, elevator power plant therein is made of motor and turbine and worm retarder, passes through motor
A turbine and worm retarder is driven, to drive entire hoisting mechanism to act.
Bridge pier underwater detecting robot mechanical system above-mentioned, the fixed mechanism waterborne include folded arm, actuating unit, steel
Cord wheel and tube pulling, wherein folded arm include several proximate matters and connector sleeve, are connected by connector sleeve before the adjacent profiles；Institute
It states and is equipped with actuating unit on the outside of the middle part of folded arm, be equipped with wire rope pulley on the outside of the both ends of the folded arm, the one of the steel wire rope
End is set around on wire rope pulley, and the other end of the steel wire rope is set around on reel, and tube pulling, institute are equipped with beside the wire rope pulley
The straight line where tube pulling is stated perpendicular to the plane where folded arm.What fixed mechanism wherein waterborne was mainly made of proximate matter and connector sleeve
Folded arm, folded arm are acted by actuating unit to carry out folded arm and swing arm, the wire rope pulley in addition installed in folded arm and tube pulling, steel
Cord wheel drives underwater testing agency by steel wire rope, to realize the rise and fall action of underwater testing agency.
Bridge pier underwater detecting robot mechanical system above-mentioned further includes shaft, and the actuating unit includes pull rod and electronic
Push rod, the pull rod are divided into the both sides of electric pushrod, and one end of the pull rod and the end of electric pushrod are coaxially arranged, described
The other end of pull rod is set in folded arm, and the other end of the electric pushrod is fixed on through shaft in folded arm.The wherein action of folded arm
The pull rod of rear end and the actuating unit of electric pushrod composition act to carry out folded arm and swing arm.
Bridge pier underwater detecting robot mechanical system above-mentioned, the underwater testing agency include main support portion, detection dress
It sets, guider, shaft sleeve and synchronous casing, wherein main support portion is made of two ring supports, the main support portion
Upper and lower side is mounted on guider, and at least two detection devices sliding is set on guider, the main support portion
Lateral surface be equipped with shaft sleeve vertically, opening up arm pivoted end in the hoisting mechanism is placed in shaft sleeve；The main branch
The lateral surface of support part is also equipped with and synchronizes casing vertically, and the end of tube pulling is placed in synchronous casing in the fixed mechanism waterborne.Its
In underwater testing agency mainly by two semicircular ring supports as main support portion, the side up and down of ring support is equipped with
Guider of the ring-shaped guide rail as detection device, this kind of guider also function to the work reinforced ring support simultaneously
With；Shaft sleeve makes swing arm of the fixed mechanism waterborne of underwater testing agency and top in non-detection status with synchronous casing
Action synchronizes.
Bridge pier underwater detecting robot mechanical system above-mentioned, the underwater testing agency further includes buoyance module and elasticity
Stabilizer blade, the buoyance module are set to the outer middle side part of ring support, and the both ends of described two ring supports are equipped with flexible feet.
The intermediate outer fix of ring support is equipped with buoyance module made of buoyant material, and the weight of testing agency under equilibrium water is carried out with this
Amount.Flexible feet is being installed close to ring support end, to adapt to rough bridge pier cylinder.
Bridge pier underwater detecting robot mechanical system above-mentioned, the detection device include camera, lighting source, slide,
Motor, toothed belt and belt wheel, wherein camera are set to through slide sliding on guider, and lighting source, institute are equipped with by the camera
The back side for stating camera is equipped with motor, and belt wheel is equipped with below the motor, a toothed belt is equipped on the outside of the guider,
The belt wheel is meshed with toothed belt.
Compared with prior art, the invention has the beneficial effects that：
1, a kind of bridge pier underwater detecting robot mechanical system is devised, carrying ship therein is responsible for the water surface of whole system
Mobile, fixed mechanism waterborne is responsible for whole system and bridge pier being connected as one, and underwater testing agency is responsible for the bridge pier water surface or less
Partial visual defects detection, and hoisting mechanism is responsible for the action that rises or falls of underwater testing agency, is completed by the system
Bridge pier must detect work；
2, this system can realize the detection more fast, convenient and safe compared with traditional work, avoid bridge pier underwater portion
Manual work, be protected from weather influences, improve the accuracy of testing result, reduce detection operation security risk；
3, the patent name applied on the same day with applicant is the skill of " a kind of robot system detected under water for bridge pier "
Art scheme is compared, and the present invention is more simple for a kind of structure, the low mechanical system for being also easy to operation of input cost, later maintenance
Cost is relatively low, economically advantageously.
Description of the drawings
Fig. 1 is the present invention for detecting working state schematic representation when bridge pier；
Fig. 2 is the structural schematic diagram of the present invention；
Fig. 3 is the structural schematic diagram of hoisting mechanism in the present invention；
Fig. 4 is the structural schematic diagram of fixed mechanism waterborne in the present invention；
Fig. 5 is the structural schematic diagram of underwater testing agency in the present invention；
Fig. 6 is the swing arm status diagram of underwater testing agency in the present invention；
Fig. 7 is the structural schematic diagram of detection device in the present invention.
The meaning of reference numeral：1- carrying ships, 2- hoisting mechanisms, 3- fixed mechanisms waterborne, the underwater testing agencies of 4-, 5- branch
Seat, 6- elevator power plants, 7- spool reinforcing frame, 8- spools, 9- reels, 10- swing arm shafts, 11- connecting plates, 12- folded arms,
1201- proximate matters, 1202- connector sleeves, 13- actuating units, 1301- pull rods, 1302- electric pushrods, 14- wire rope pulleys, 15- are dialled
Pipe, 16- shafts, the main support portions of 17-, 1701- ring supports, 18- detection devices, 1801- cameras, 1802- lighting sources,
1803- slides, 1804- motors, 1805- toothed belts, 1806- belt wheels, 19- guiders, 20- shaft sleeves, 21- synchronizing sleeves
Pipe, 22- buoyance modules, 23- steel wire ropes, 24- flexible feets.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Specific implementation mode
The embodiment of the present invention 1：As Figure 1-Figure 4, a kind of bridge pier underwater detecting robot mechanical system includes delivery
Ship 1, hoisting mechanism 2, fixed mechanism waterborne 3 and underwater testing agency 4, the end of the carrying ship 1 are equipped with hoisting mechanism 2, institute
The oblique upper for stating hoisting mechanism 2 is equipped with fixed mechanism 3 waterborne, and the fixed mechanism 3 waterborne is arranged right below underwater detection machine
Structure 4.This bridge pier underwater detecting robot mechanical system is by carrying ship 1, hoisting mechanism 2, fixed mechanism waterborne 3 and underwater detection machine
The equal four parts composition of structure 4, wherein carrying ship 1 are responsible for the water surface movable of whole system, and fixed mechanism 3 waterborne is responsible for whole system
It is connected as one with bridge pier, underwater testing agency 4 is responsible for the bridge pier water surface and is detected with the visual defects of lower part, and hoisting mechanism 2
That is responsible for underwater testing agency 4 rises or falls action.
Hoisting mechanism 2 includes bearing 5, elevator power plant 6, spool reinforcing frame 7, spool 8, reel 9,10 and of swing arm shaft
Connecting plate 11, the horizontal end for being set to carrying ship 1 of the connecting plate 11, the connecting plate 11 are equipped with bearing 5, the bearing 5
Interior to be equipped with elevator power plant 6, the elevator power plant 6 and spool 8 are coaxially arranged, and elevator power plant 6 is placed in spool 8
Middle part, the both ends of the spool 8 are mounted on reel 9, steel wire rope 23 are wound on the reel 9, the connecting plate 11
Bottom surface is additionally provided with swing arm shaft 10 normal thereto；The side of the spool 8 is additionally provided with spool reinforcing frame 7, and the both ends of spool 8
It is fixedly connected with the both ends of spool reinforcing frame 7.Hoisting mechanism 2 is mainly responsible for the folding and unfolding action of steel wire rope 23, underwater to realize
The raising and lowering of testing agency 4 acts, and elevator power plant 6 therein is made of motor and turbine and worm retarder, passes through
Motor drives a turbine and worm retarder, to drive entire hoisting mechanism 2 to act.
Fixed mechanism 3 waterborne includes folded arm 12, actuating unit 13, wire rope pulley 14 and tube pulling 15, and wherein folded arm 12 includes
Several proximate matters 1201 and connector sleeve 1202, the adjacent profiles 1201 are connected by connector sleeve 1202 before；The folded arm 12
Middle part on the outside of be equipped with actuating unit 13, be equipped with wire rope pulley 14 on the outside of the both ends of the folded arm 12, the steel wire rope 23
One end is set around on wire rope pulley 14, and the other end of the steel wire rope 23 is set around on reel 9, and 14 side of the wire rope pulley is set
There is tube pulling 15, the straight line where the tube pulling 15 is perpendicular to the plane where folded arm 12.Fixed mechanism 3 wherein waterborne is mainly by type
The folded arm 12 that material 1201 is formed with connector sleeve 1202, folded arm 12 are acted by actuating unit 13 to carry out folded arm and swing arm, in addition
The wire rope pulley 14 installed in folded arm 12 and tube pulling 15, wire rope pulley 14 drive underwater testing agency 4 by steel wire rope 23, from
And realize the rise and fall action of underwater testing agency 4.Bridge pier underwater detecting robot mechanical system further includes shaft 16, described
Actuating unit 13 includes pull rod 1301 and electric pushrod 1302, and the pull rod 1301 is divided into the both sides of electric pushrod 1302, institute
One end and the end of electric pushrod 1302 for stating pull rod 1301 are coaxially arranged, and the other end of the pull rod 1301 is set to folded arm 12
On, the other end of the electric pushrod 1302 is fixed on through shaft 16 in folded arm 12.The wherein pull rod of the action rear end of folded arm 12
1301 actuating units 13 formed with electric pushrod 1302 act to carry out folded arm and swing arm.
Specifically, the folded arm 12 that fixed mechanism 3 waterborne is mainly made of aluminium section bar 1201 and steel connector sleeve 1202, folded arm
12 actuating units 13 being made up of with electric pushrod 1302 pull rod 1301 of rear end act to carry out folded arm and swing arm, in addition exist
The wire rope pulley 14 installed in folded arm 12 and tube pulling 15, wire rope pulley 14 drive underwater testing agency 4 by steel wire rope 23, to
Realize the rise and fall action of underwater testing agency 4, and tube pulling 15 is to drive underwater detection machine when embracing bridge pier action in initial
Structure 4 is realized together embraces bridge pier action.
Embodiment 2：As shown in figs 1 to 6, a kind of bridge pier underwater detecting robot mechanical system includes carrying ship 1, elevator
Mechanism 2, fixed mechanism waterborne 3 and underwater testing agency 4, the end of the carrying ship 1 are equipped with hoisting mechanism 2, the hoist engine
The oblique upper of structure 2 is equipped with fixed mechanism 3 waterborne, and the fixed mechanism 3 waterborne is arranged right below underwater testing agency 4.This bridge
Pier underwater detecting robot mechanical system is by carrying ship 1, hoisting mechanism 2, fixed mechanism waterborne 3 and underwater testing agency 4 etc. four
Part forms, and wherein carrying ship 1 is responsible for the water surface movable of whole system, and fixed mechanism 3 waterborne is responsible for whole system and bridge pier
It is connected as one, underwater testing agency 4 is responsible for the bridge pier water surface and is detected with the visual defects of lower part, and hoisting mechanism 2 is responsible for water
Lower testing agency 4 rises or falls action.
Hoisting mechanism 2 includes bearing 5, elevator power plant 6, spool reinforcing frame 7, spool 8, reel 9,10 and of swing arm shaft
Connecting plate 11, the horizontal end for being set to carrying ship 1 of the connecting plate 11, the connecting plate 11 are equipped with bearing 5, the bearing 5
Interior to be equipped with elevator power plant 6, the elevator power plant 6 and spool 8 are coaxially arranged, and elevator power plant 6 is placed in spool 8
Middle part, the both ends of the spool 8 are mounted on reel 9, steel wire rope 23 are wound on the reel 9, the connecting plate 11
Bottom surface is additionally provided with swing arm shaft 10 normal thereto；The side of the spool 8 is additionally provided with spool reinforcing frame 7, and the both ends of spool 8
It is fixedly connected with the both ends of spool reinforcing frame 7.Hoisting mechanism 2 is mainly responsible for the folding and unfolding action of steel wire rope 23, underwater to realize
The raising and lowering of testing agency 4 acts, and elevator power plant 6 therein is made of motor and turbine and worm retarder, passes through
Motor drives a turbine and worm retarder, to drive entire hoisting mechanism 2 to act.
Fixed mechanism 3 waterborne includes folded arm 12, actuating unit 13, wire rope pulley 14 and tube pulling 15, and wherein folded arm 12 includes
Several proximate matters 1201 and connector sleeve 1202, the adjacent profiles 1201 are connected by connector sleeve 1202 before；The folded arm 12
Middle part on the outside of be equipped with actuating unit 13, be equipped with wire rope pulley 14 on the outside of the both ends of the folded arm 12, the steel wire rope 23
One end is set around on wire rope pulley 14, and the other end of the steel wire rope 23 is set around on reel 9, and 14 side of the wire rope pulley is set
There is tube pulling 15, the straight line where the tube pulling 15 is perpendicular to the plane where folded arm 12.Fixed mechanism 3 wherein waterborne is mainly by type
The folded arm 12 that material 1201 is formed with connector sleeve 1202, folded arm 12 are acted by actuating unit 13 to carry out folded arm and swing arm, in addition
The wire rope pulley 14 installed in folded arm 12 and tube pulling 15, wire rope pulley 14 drive underwater testing agency 4 by steel wire rope 23, from
And realize the rise and fall action of underwater testing agency 4.
Underwater testing agency 4 includes main support portion 17, detection device 18, guider 19, shaft sleeve 20 and synchronizing sleeve
Pipe 21, wherein main support portion 17 is made of two ring supports 1701, the side up and down of the main support portion 17, which is mounted on, leads
To device 19, the sliding of at least two detection device 18 is set on guider 19, and the lateral surface of the main support portion 17 is perpendicular
It is directly equipped with shaft sleeve 20, the end of swing arm shaft 10 is placed in shaft sleeve 20 in the hoisting mechanism 2；The main support portion
17 lateral surface is also equipped with and synchronizes casing 21 vertically, and the end of tube pulling 15 is placed in synchronous casing 21 in the fixed mechanism 3 waterborne
It is interior.Wherein underwater testing agency 4 is mainly used as main support portions 17, ring support 1701 by two semicircular ring supports 1701
Side up and down guider 19 of the ring-shaped guide rail as detection device 18 be installed, this kind of guider 19 also functions to pair simultaneously
The effect that ring support 1701 is reinforced；Shaft sleeve 20 is with synchronous casing 21 so that the water of underwater testing agency 4 and top
Swing arm action of the upper fixed mechanism 3 in non-detection status synchronizes.Underwater testing agency 4 further includes that buoyance module 22 and elasticity are propped up
Foot 24, the buoyance module 22 are set to the outer middle side part of ring support 1701, and the both ends of described two ring supports 1701 are all provided with
Flexible stabilizer blade 24.The intermediate outer fix of ring support 1701 is equipped with buoyance module 22 made of buoyant material, is come with this
The weight of testing agency 4 under equilibrium water.Flexible feet 24 is being installed close to 1701 end of ring support, to adapt to bumps not
Flat bridge pier cylinder.
Embodiment 3：As shown in Fig. 1-Fig. 7, a kind of bridge pier underwater detecting robot mechanical system includes carrying ship 1, elevator
Mechanism 2, fixed mechanism waterborne 3 and underwater testing agency 4, the end of the carrying ship 1 are equipped with hoisting mechanism 2, the hoist engine
The oblique upper of structure 2 is equipped with fixed mechanism 3 waterborne, and the fixed mechanism 3 waterborne is arranged right below underwater testing agency 4.This bridge
Pier underwater detecting robot mechanical system is by carrying ship 1, hoisting mechanism 2, fixed mechanism waterborne 3 and underwater testing agency 4 etc. four
Part forms, and wherein carrying ship 1 is responsible for the water surface movable of whole system, and fixed mechanism 3 waterborne is responsible for whole system and bridge pier
It is connected as one, underwater testing agency 4 is responsible for the bridge pier water surface and is detected with the visual defects of lower part, and hoisting mechanism 2 is responsible for water
Lower testing agency 4 rises or falls action.
Hoisting mechanism 2 includes bearing 5, elevator power plant 6, spool reinforcing frame 7, spool 8, reel 9,10 and of swing arm shaft
Connecting plate 11, the horizontal end for being set to carrying ship 1 of the connecting plate 11, the connecting plate 11 are equipped with bearing 5, the bearing 5
Interior to be equipped with elevator power plant 6, the elevator power plant 6 and spool 8 are coaxially arranged, and elevator power plant 6 is placed in spool 8
Middle part, the both ends of the spool 8 are mounted on reel 9, steel wire rope 23 are wound on the reel 9, the connecting plate 11
Bottom surface is additionally provided with swing arm shaft 10 normal thereto；The side of the spool 8 is additionally provided with spool reinforcing frame 7, and the both ends of spool 8
It is fixedly connected with the both ends of spool reinforcing frame 7.Hoisting mechanism 2 is mainly responsible for the folding and unfolding action of steel wire rope 23, underwater to realize
The raising and lowering of testing agency 4 acts, and elevator power plant 6 therein is made of motor and turbine and worm retarder, passes through
Motor drives a turbine and worm retarder, to drive entire hoisting mechanism 2 to act.
Fixed mechanism 3 waterborne includes folded arm 12, actuating unit 13, wire rope pulley 14 and tube pulling 15, and wherein folded arm 12 includes
Several proximate matters 1201 and connector sleeve 1202, the adjacent profiles 1201 are connected by connector sleeve 1202 before；The folded arm 12
Middle part on the outside of be equipped with actuating unit 13, be equipped with wire rope pulley 14 on the outside of the both ends of the folded arm 12, the steel wire rope 23
One end is set around on wire rope pulley 14, and the other end of the steel wire rope 23 is set around on reel 9, and 14 side of the wire rope pulley is set
There is tube pulling 15, the straight line where the tube pulling 15 is perpendicular to the plane where folded arm 12.Fixed mechanism 3 wherein waterborne is mainly by type
The folded arm 12 that material 1201 is formed with connector sleeve 1202, folded arm 12 are acted by actuating unit 13 to carry out folded arm and swing arm, in addition
The wire rope pulley 14 installed in folded arm 12 and tube pulling 15, wire rope pulley 14 drive underwater testing agency 4 by steel wire rope 23, from
And realize the rise and fall action of underwater testing agency 4.
Underwater testing agency 4 includes main support portion 17, detection device 18, guider 19, shaft sleeve 20 and synchronizing sleeve
Pipe 21, wherein main support portion 17 is made of two ring supports 1701, the side up and down of the main support portion 17, which is mounted on, leads
To device 19, the sliding of at least two detection device 18 is set on guider 19, and the lateral surface of the main support portion 17 is perpendicular
It is directly equipped with shaft sleeve 20, the end of swing arm shaft 10 is placed in shaft sleeve 20 in the hoisting mechanism 2；The main support portion
17 lateral surface is also equipped with and synchronizes casing 21 vertically, and the end of tube pulling 15 is placed in synchronous casing 21 in the fixed mechanism 3 waterborne
It is interior.Wherein underwater testing agency 4 is mainly used as main support portions 17, ring support 1701 by two semicircular ring supports 1701
Side up and down guider 19 of the ring-shaped guide rail as detection device 18 be installed, this kind of guider 19 also functions to pair simultaneously
The effect that ring support 1701 is reinforced；Shaft sleeve 20 is with synchronous casing 21 so that the water of underwater testing agency 4 and top
Swing arm action of the upper fixed mechanism 3 in non-detection status synchronizes.
Specifically, underwater testing agency 4 is mainly used as main branch by two semicircular foam glass steel ring supports 1701
Support part 17, about 1701 side of ring support are equipped with guider 19 of the nonmetallic ring-shaped guide rail as detection device 18, ring
Shape guide rail also functions to the effect reinforced ring support 1701 simultaneously.The intermediate outer fix of ring support 1701 is equipped with
Buoyance module 22 made of buoyant material carry out the weight of testing agency 4 under equilibrium water with this.Close to 1701 end of ring support
Flexible feet 24 is installed, to adapt to rough bridge pier cylinder.Shaft sleeve 20 is with synchronous casing 21 so that underwater inspection
It is synchronous in the swing arm action of non-detection status with the fixed mechanism waterborne 3 of top to survey mechanism 4.Detection device 18 includes camera
1801, lighting source 1802, slide 1803, motor 1804, toothed belt 1805 and belt wheel 1806, wherein camera 1801 is through slide
1803 slidings are set on guider 19, and 1801 side of the camera is equipped with lighting source 1802, and the back side of the camera 1801 is set
There are motor 1804,1804 lower section of the motor to be equipped with belt wheel 1806, the outside of the guider 19 is equipped with a toothed belt
1805, the belt wheel 1806 is meshed with toothed belt 1805.
Claims (7)
1. a kind of bridge pier underwater detecting robot mechanical system, which is characterized in that including carrying ship (1), hoisting mechanism (2), water
The end of upper fixed mechanism (3) and underwater testing agency (4), the carrying ship (1) is equipped with hoisting mechanism (2), the hoist engine
The oblique upper of structure (2) is equipped with fixed mechanism waterborne (3), and the fixed mechanism (3) waterborne is arranged right below underwater testing agency
(4)。
2. bridge pier underwater detecting robot mechanical system according to claim 1, which is characterized in that the hoisting mechanism
(2) include bearing (5), elevator power plant (6), spool reinforcing frame (7), spool (8), reel (9), swing arm shaft (10) and company
Fishplate bar (11), the horizontal end for being set to carrying ship (1) of the connecting plate (11), the connecting plate (11) are equipped with bearing (5), institute
It states and is equipped with elevator power plant (6) in bearing (5), the elevator power plant (6) and spool (8) are coaxially arranged, and elevator is dynamic
Power apparatus (6) is placed in the middle part of spool (8), and the both ends of the spool (8) are mounted on reel (9), are wound on the reel (9)
There are steel wire rope (23), the bottom surface of the connecting plate (11) to be additionally provided with swing arm shaft (10) normal thereto；The one of the spool (8)
Side is additionally provided with spool reinforcing frame (7), and the both ends of spool (8) are fixedly connected with the both ends of spool reinforcing frame (7).
3. bridge pier underwater detecting robot mechanical system according to claim 2, which is characterized in that the fixed machine waterborne
Structure (3) includes folded arm (12), actuating unit (13), wire rope pulley (14) and tube pulling (15), and wherein folded arm (12) includes several
Proximate matter (1201) and connector sleeve (1202), the adjacent profiles (1201) pass through connector sleeve (1202) and connect before；The folded arm
(12) it is equipped with actuating unit (13) on the outside of middle part, wire rope pulley (14) is equipped on the outside of the both ends of the folded arm (12), it is described
One end of steel wire rope (23) is set around on wire rope pulley (14), and the other end of the steel wire rope (23) is set around on reel (9), institute
It states and is equipped with tube pulling (15) beside wire rope pulley (14), the straight line where the tube pulling (15) is perpendicular to flat where folded arm (12)
Face.
4. bridge pier underwater detecting robot mechanical system according to claim 3, which is characterized in that further include shaft
(16), the actuating unit (13) includes pull rod (1301) and electric pushrod (1302), and the pull rod (1301) is divided into electronic
The both sides of push rod (1302), one end and the end of electric pushrod (1302) of the pull rod (1301) are coaxially arranged, the pull rod
(1301) the other end is set in folded arm (12), and the other end of the electric pushrod (1302) is fixed on folded arm through shaft (16)
(12) on.
5. bridge pier underwater detecting robot mechanical system according to claim 3, which is characterized in that the underwater detection machine
Structure (4) includes main support portion (17), detection device (18), guider (19), shaft sleeve (20) and synchronous casing (21),
Middle main support portion (17) is made of two ring supports (1701), and the side up and down of the main support portion (17) is mounted on guiding
Device (19), at least two detection device (18) sliding is set on guider (19), outside the main support portion (17)
Side vertical is equipped with shaft sleeve (20), and the end of swing arm shaft (10) is placed in shaft sleeve (20) in the hoisting mechanism (2)
It is interior；The lateral surface of the main support portion (17) is also equipped with and synchronizes casing (21) vertically, tube pulling in the fixed mechanism (3) waterborne
(15) end is placed in synchronous casing (21).
6. bridge pier underwater detecting robot mechanical system according to claim 5, which is characterized in that the underwater detection machine
Structure (4) further includes buoyance module (22) and flexible feet (24), and the buoyance module (22) is set to the outer of ring support (1701)
The both ends of middle side part, described two ring supports (1701) are equipped with flexible feet (24).
7. bridge pier underwater detecting robot mechanical system according to claim 5, which is characterized in that the detection device
(18) include camera (1801), lighting source (1802), slide (1803), motor (1804), toothed belt (1805) and belt wheel
(1806), wherein camera (1801) is set to through slide (1803) sliding on guider (19), is equipped with by the camera (1801)
The back side of lighting source (1802), the camera (1801) is equipped with motor (1804), and belt wheel is equipped with below the motor (1804)
(1806), a toothed belt (1805), the belt wheel (1806) and toothed belt are equipped on the outside of the guider (19)
(1805) it is meshed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810298283.0A CN108408005B (en) | 2018-04-03 | 2018-04-03 | Pier underwater detection robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810298283.0A CN108408005B (en) | 2018-04-03 | 2018-04-03 | Pier underwater detection robot system |
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| Publication Number | Publication Date |
|---|---|
| CN108408005A true CN108408005A (en) | 2018-08-17 |
| CN108408005B CN108408005B (en) | 2024-04-19 |
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| CN109959406A (en) * | 2019-04-17 | 2019-07-02 | 福州大学 | Wheeled hinged cantilever underwater foundation detection device and its working method |
| CN110550167A (en) * | 2019-06-04 | 2019-12-10 | 上海浦江桥隧运营管理有限公司 | Pier safety inspection ROV carrier |
| CN110886215A (en) * | 2019-12-16 | 2020-03-17 | 刘童童 | Bridge detection structure and detection method thereof |
| CN111216849A (en) * | 2020-03-13 | 2020-06-02 | 中交元洋(大连)桥梁水下检测有限公司 | Bridge underwater detection ship |
| CN112078768A (en) * | 2020-09-17 | 2020-12-15 | 南京弘新锐科技有限公司 | Annular robot for underwater pier column operation |
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