CN108408005B - Pier underwater detection robot system - Google Patents
Pier underwater detection robot system Download PDFInfo
- Publication number
- CN108408005B CN108408005B CN201810298283.0A CN201810298283A CN108408005B CN 108408005 B CN108408005 B CN 108408005B CN 201810298283 A CN201810298283 A CN 201810298283A CN 108408005 B CN108408005 B CN 108408005B
- Authority
- CN
- China
- Prior art keywords
- underwater
- arm
- wire rope
- hoisting
- steel wire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 121
- 230000007246 mechanism Effects 0.000 claims abstract description 177
- 229910000831 Steel Inorganic materials 0.000 claims description 50
- 239000010959 steel Substances 0.000 claims description 50
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 42
- 230000003014 reinforcing effect Effects 0.000 claims description 20
- 238000004804 winding Methods 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 238000005286 illumination Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract 1
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 230000001174 ascending effect Effects 0.000 description 7
- 230000007547 defect Effects 0.000 description 7
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- 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
Abstract
The invention relates to a robot mechanical system, in particular to an underwater bridge pier detection robot mechanical system. The device comprises a carrying ship (1), a hoisting mechanism (2), an overwater fixing mechanism (3) and an underwater detection mechanism (4), wherein the hoisting mechanism (2) is arranged at the end part of the carrying ship (1), the overwater fixing mechanism (3) is arranged above the hoisting mechanism (2) in an inclined manner, and the underwater detection mechanism (4) is arranged under the overwater fixing mechanism (3). The invention provides the method for detecting the bridge pier more quickly, conveniently and safely, avoids manual operation of the underwater part of the bridge pier, and reduces the safety risk of detection operation.
Description
Technical Field
The invention relates to a robot mechanical system, in particular to an underwater bridge pier detection robot mechanical system.
Background
Along with the rapid development of cities, in order to achieve the purpose of improving road traffic, urban roads and bridges inevitably pass through mountain rivers, and bridges are soaked under water for years and months, so that the influence of the water self environment and the outside is great, such as the impact of navigation ships, the outer surface of concrete is corroded by water, peeled off, cracked and other defects, and in severe cases, the exposed reinforcing steel bars in the concrete are caused, so that the safety of the upper structure of the bridge is seriously influenced. At present, the detection of pier underwater pier columns mostly adopts frogman to launch for manual touch-row, and appearance detection is carried out by means of an underwater camera, and the defects are that: (1) The detection work is carried out manually, and the detection result is greatly influenced by the physical condition and the operation level of the detection personnel; (2) The detection randomness is large, the repeatability is poor, the result positioning is inaccurate, and the limitation is obvious; (3) Is greatly affected by weather, and is unsuitable for long-time underwater operation from the viewpoint of safety.
Disclosure of Invention
The invention aims to provide the underwater bridge pier detection robot system, which is faster, more convenient and safer than the traditional operation, avoids the manual operation of the underwater bridge pier part and reduces the safety risk of the detection operation.
In order to solve the technical problems, the invention adopts the following technical scheme:
The pier underwater detection robot system comprises a carrying ship, a hoisting mechanism, an underwater fixing mechanism and an underwater detection mechanism, wherein the hoisting mechanism is arranged at the end part of the carrying ship, the underwater fixing mechanism is arranged above the hoisting mechanism in an inclined manner, and the underwater detection mechanism is arranged under the underwater fixing mechanism. The bridge pier underwater detection robot mechanical system consists of four parts, namely a carrying ship, a hoisting mechanism, an underwater fixing mechanism and an underwater detection mechanism, wherein the carrying ship is responsible for the water surface movement of the whole system, the underwater fixing mechanism is responsible for connecting the whole system and the bridge pier into a whole, the underwater detection mechanism is responsible for the apparent defect detection of the part below the water surface of the bridge pier, and the hoisting mechanism is responsible for the ascending or descending action of the underwater detection mechanism.
The bridge pier underwater detection robot system comprises a support, a hoisting power device, a reel reinforcing frame, a reel, a spreading arm rotating shaft and a connecting plate, wherein the connecting plate is horizontally arranged at the end part of a carrier, the connecting plate is provided with the support, the hoisting power device is arranged in the support and is coaxially arranged with the reel, the hoisting power device is arranged in the middle of the reel, the reels are arranged at two ends of the reel, a steel wire rope is wound on the reel, and the bottom surface of the connecting plate is also provided with the spreading arm rotating shaft vertical to the reel; one side of the scroll is also provided with a scroll reinforcing frame, and two ends of the scroll are fixedly connected with two ends of the scroll reinforcing frame. The hoisting mechanism is mainly responsible for the winding and unwinding actions of the steel wire rope, so that the lifting and descending actions of the underwater detection mechanism are realized, the hoisting power device consists of a motor and a worm gear reducer, and the motor drives the worm gear reducer, so that the whole hoisting mechanism is driven to act.
The underwater bridge pier detection robot system comprises a water fixing mechanism, a water fixing mechanism and a water fixing mechanism, wherein the water fixing mechanism comprises a holding arm, a power mechanism, a steel wire rope wheel and a poking pipe, the holding arm comprises a plurality of sections and connecting sleeves, and the adjacent sections are connected through the connecting sleeves; the middle part outside of embracing the arm is equipped with power unit, the both ends outside of embracing the arm all is equipped with the wire rope sheave, wire rope's one end is around locating on the wire rope sheave, wire rope's the other end is around locating on the reel, wire rope sheave next door is equipped with the driving tube, the straight line that the driving tube is located is perpendicular to the plane that embraces the arm place. The water fixing mechanism mainly comprises a holding arm formed by sectional materials and connecting sleeves, the holding arm carries out holding arm and arm unfolding actions through a power mechanism, and in addition, a steel wire rope wheel and a shifting tube are arranged on the holding arm, and the steel wire rope wheel drives the underwater detection mechanism through a steel wire rope, so that the lifting and descending actions of the underwater detection mechanism are realized.
The underwater bridge pier detection robot mechanical system further comprises a rotating shaft, the power mechanism comprises a pull rod and an electric push rod, the pull rod is arranged on two sides of the electric push rod respectively, one end of the pull rod and the end of the electric push rod are coaxially arranged, the other end of the pull rod is arranged on the arm, and the other end of the electric push rod is fixed on the arm through the rotating shaft. Wherein, the power mechanism composed of the pull rod and the electric push rod at the action rear end of the arm holding is used for carrying out the arm holding and arm unfolding actions.
The underwater detection mechanism comprises a main supporting part, a detection device, a guide device, a rotating shaft sleeve and a synchronous sleeve, wherein the main supporting part consists of two annular brackets, the guide devices are arranged on the upper side edge and the lower side edge of the main supporting part, at least two detection devices are arranged on the guide devices in a sliding manner, the rotating shaft sleeve is vertically arranged on the outer side face of the main supporting part, and the end part of a rotating shaft of a spreading arm in the hoisting mechanism is arranged in the rotating shaft sleeve; the outer side surface of the main supporting part is also vertically provided with a synchronous sleeve, and the end part of the shifting tube in the water fixing mechanism is arranged in the synchronous sleeve. The underwater detection mechanism mainly comprises two semicircular annular supports serving as main supporting parts, annular guide rails are arranged on the upper side edge and the lower side edge of each annular support and serve as guide devices of the detection device, and the guide devices also play a role in reinforcing the annular supports; the rotating shaft sleeve and the synchronous sleeve enable the underwater detection mechanism and the above water fixing mechanism to be synchronous in the unfolding arm action in the non-detection state.
The underwater detection mechanism for the bridge pier comprises a buoyancy component and elastic support legs, wherein the buoyancy component is arranged in the middle of the outer side of the annular supports, and the elastic support legs are arranged at the two ends of the two annular supports. A buoyancy component made of buoyancy materials is arranged at the middle outer side of the annular support, so that the weight of the underwater detection mechanism is balanced. Elastic support legs are arranged at the end parts close to the annular support and are used for adapting to the rugged pier cylindrical surfaces.
The bridge pier underwater detection robot system comprises a camera, an illumination light source, a sliding seat, a motor, a toothed belt and a belt wheel, wherein the camera is arranged on the guide device in a sliding mode through the sliding seat, the illumination light source is arranged beside the camera, the motor is arranged on the back face of the camera, the belt wheel is arranged below the motor, the toothed belt is paved on the outer side of the guide device, and the belt wheel is meshed with the toothed belt.
Compared with the prior art, the invention has the following advantages:
1. The underwater bridge pier detection robot system is designed, wherein a carrier is in charge of moving the whole system on the water surface, a water fixing mechanism is in charge of connecting the whole system with a bridge pier into a whole, an underwater detection mechanism is in charge of detecting apparent defects of parts below the water surface of the bridge pier, a hoisting mechanism is in charge of lifting or descending actions of the underwater detection mechanism, and the bridge pier detection work is completed through the system;
2. compared with the traditional operation, the system can realize faster, more convenient and safer detection, avoids manual operation of the underwater part of the bridge pier, is not influenced by weather, improves the accuracy of detection results, and reduces the safety risk of detection operation;
3. Compared with the technical scheme of the robot system for bridge pier underwater detection, which is applied by the applicant on the same day, the invention is a mechanical system which has simpler structure, low input cost and easy operation, and has lower cost of later maintenance and more economic advantage.
Drawings
FIG. 1 is a schematic view of the working state of the present invention for detecting a bridge pier;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a schematic view of the hoisting mechanism according to the present invention;
FIG. 4 is a schematic view of the structure of the water-borne fixing mechanism of the present invention;
FIG. 5 is a schematic view of the structure of the underwater detection mechanism of the present invention;
FIG. 6 is a schematic view of the deployment arm of the underwater detection mechanism of the present invention;
FIG. 7 is a schematic diagram of the structure of the detecting device in the present invention.
Meaning of reference numerals: 1-carrier, 2-hoisting mechanism, 3-water fixing mechanism, 4-underwater detection mechanism, 5-support, 6-hoisting power device, 7-reel reinforcing frame, 8-reel, 9-reel, 10-arm-expanding shaft, 11-connecting plate, 12-arm-embracing, 1201-section bar, 1202-connecting sleeve, 13-power mechanism, 1301-pull rod, 1302-electric push rod, 14-wire rope wheel, 15-deflector tube, 16-shaft, 17-main support, 1701-annular support, 18-detection device, 1801-camera 1802-illumination light source, 1803-slide, 1804-motor, 1805-toothed belt, 1806-belt wheel, 19-guiding device, 20-shaft sleeve, 21-synchronous sleeve, 22-buoyancy component, 23-wire rope, 24-elastic support.
The invention is further described below with reference to the drawings and the detailed description.
Detailed Description
Example 1 of the present invention: as shown in fig. 1-4, the pier underwater detection robot mechanical system comprises a carrier boat 1, a hoisting mechanism 2, an underwater fixing mechanism 3 and an underwater detection mechanism 4, wherein the hoisting mechanism 2 is arranged at the end part of the carrier boat 1, the underwater fixing mechanism 3 is arranged above the hoisting mechanism 2 in an inclined manner, and the underwater detection mechanism 4 is arranged under the underwater fixing mechanism 3. The bridge pier underwater detection robot mechanical system consists of four parts, namely a carrier boat 1, a winding mechanism 2, an on-water fixing mechanism 3 and an underwater detection mechanism 4, wherein the carrier boat 1 is responsible for the water surface movement of the whole system, the on-water fixing mechanism 3 is responsible for connecting the whole system and the bridge pier into a whole, the underwater detection mechanism 4 is responsible for the apparent defect detection of the part below the water surface of the bridge pier, and the winding mechanism 2 is responsible for the ascending or descending action of the underwater detection mechanism 4.
The hoisting mechanism 2 comprises a support 5, a hoisting power device 6, a reel reinforcing frame 7, a reel 8, a reel 9, a spreading arm rotating shaft 10 and a connecting plate 11, wherein the connecting plate 11 is horizontally arranged at the end part of the carrier 1, the support 5 is arranged on the connecting plate 11, the hoisting power device 6 is arranged in the support 5, the hoisting power device 6 and the reel 8 are coaxially arranged, the hoisting power device 6 is arranged in the middle part of the reel 8, the reels 9 are arranged at two ends of the reel 8, a steel wire rope 23 is wound on the reels 9, and the spreading arm rotating shaft 10 vertical to the connecting plate 11 is also arranged on the bottom surface of the connecting plate 11; one side of the scroll 8 is also provided with a scroll reinforcing frame 7, and two ends of the scroll 8 are fixedly connected with two ends of the scroll reinforcing frame 7. The hoisting mechanism 2 is mainly responsible for the winding and unwinding actions of the steel wire rope 23 so as to realize the ascending and descending actions of the underwater detection mechanism 4, wherein the hoisting power device 6 consists of a motor and a worm gear reducer, and the motor drives the worm gear reducer so as to drive the whole hoisting mechanism 2 to act.
The water fixing mechanism 3 comprises a holding arm 12, a power mechanism 13, a steel wire rope wheel 14 and a shifting pipe 15, wherein the holding arm 12 comprises a plurality of section bars 1201 and connecting sleeves 1202, and the adjacent section bars 1201 are connected through the connecting sleeves 1202; the power mechanism 13 is arranged on the outer side of the middle of the arm 12, the steel wire rope sheaves 14 are arranged on the outer sides of the two ends of the arm 12, one end of the steel wire rope 23 is wound on the steel wire rope sheaves 14, the other end of the steel wire rope 23 is wound on the winding drum 9, a shifting pipe 15 is arranged beside the steel wire rope sheaves 14, and a straight line where the shifting pipe 15 is located is perpendicular to a plane where the arm 12 is located. The water upper fixing mechanism 3 mainly comprises a holding arm 12 formed by a section 1201 and a connecting sleeve 1202, the holding arm 12 carries out holding arm and arm unfolding actions through a power mechanism 13, in addition, a steel wire rope wheel 14 and a shifting tube 15 are arranged on the holding arm 12, and the steel wire rope wheel 14 drives the underwater detection mechanism 4 through a steel wire rope 23, so that the lifting and descending actions of the underwater detection mechanism 4 are realized. The bridge pier underwater detection robot mechanical system further comprises a rotating shaft 16, the power mechanism 13 comprises a pull rod 1301 and an electric push rod 1302, the pull rod 1301 is arranged on two sides of the electric push rod 1302 in a separated mode, one end of the pull rod 1301 and the end portion of the electric push rod 1302 are coaxially arranged, the other end of the pull rod 1301 is arranged on the arm holding 12, and the other end of the electric push rod 1302 is fixed on the arm holding 12 through the rotating shaft 16. The arm holding and expanding actions are performed by a power mechanism 13 consisting of a pull rod 1301 and an electric push rod 1302 at the action rear end of the arm holding 12.
Specifically, the water fixing mechanism 3 mainly comprises an arm holding 12 formed by an aluminum section 1201 and a steel connecting sleeve 1202, the arm holding 12 carries out arm holding and arm expanding actions through a power mechanism 13 formed by a pull rod 1301 at the rear end and an electric push rod 1302, in addition, a steel wire rope wheel 14 and a poking pipe 15 are arranged on the arm holding 12, the steel wire rope wheel 14 drives the underwater detection mechanism 4 through a steel wire rope 23, so that the lifting and descending actions of the underwater detection mechanism 4 are realized, and the poking pipe 15 drives the underwater detection mechanism 4 to realize the bridge holding actions together when the initial bridge holding actions.
Example 2: as shown in fig. 1-6, the pier underwater detection robot mechanical system comprises a carrier boat 1, a hoisting mechanism 2, an underwater fixing mechanism 3 and an underwater detection mechanism 4, wherein the hoisting mechanism 2 is arranged at the end part of the carrier boat 1, the underwater fixing mechanism 3 is arranged above the hoisting mechanism 2 in an inclined manner, and the underwater detection mechanism 4 is arranged under the underwater fixing mechanism 3. The bridge pier underwater detection robot mechanical system consists of four parts, namely a carrier boat 1, a winding mechanism 2, an on-water fixing mechanism 3 and an underwater detection mechanism 4, wherein the carrier boat 1 is responsible for the water surface movement of the whole system, the on-water fixing mechanism 3 is responsible for connecting the whole system and the bridge pier into a whole, the underwater detection mechanism 4 is responsible for the apparent defect detection of the part below the water surface of the bridge pier, and the winding mechanism 2 is responsible for the ascending or descending action of the underwater detection mechanism 4.
The hoisting mechanism 2 comprises a support 5, a hoisting power device 6, a reel reinforcing frame 7, a reel 8, a reel 9, a spreading arm rotating shaft 10 and a connecting plate 11, wherein the connecting plate 11 is horizontally arranged at the end part of the carrier 1, the support 5 is arranged on the connecting plate 11, the hoisting power device 6 is arranged in the support 5, the hoisting power device 6 and the reel 8 are coaxially arranged, the hoisting power device 6 is arranged in the middle part of the reel 8, the reels 9 are arranged at two ends of the reel 8, a steel wire rope 23 is wound on the reels 9, and the spreading arm rotating shaft 10 vertical to the connecting plate 11 is also arranged on the bottom surface of the connecting plate 11; one side of the scroll 8 is also provided with a scroll reinforcing frame 7, and two ends of the scroll 8 are fixedly connected with two ends of the scroll reinforcing frame 7. The hoisting mechanism 2 is mainly responsible for the winding and unwinding actions of the steel wire rope 23 so as to realize the ascending and descending actions of the underwater detection mechanism 4, wherein the hoisting power device 6 consists of a motor and a worm gear reducer, and the motor drives the worm gear reducer so as to drive the whole hoisting mechanism 2 to act.
The water fixing mechanism 3 comprises a holding arm 12, a power mechanism 13, a steel wire rope wheel 14 and a shifting pipe 15, wherein the holding arm 12 comprises a plurality of section bars 1201 and connecting sleeves 1202, and the adjacent section bars 1201 are connected through the connecting sleeves 1202; the power mechanism 13 is arranged on the outer side of the middle of the arm 12, the steel wire rope sheaves 14 are arranged on the outer sides of the two ends of the arm 12, one end of the steel wire rope 23 is wound on the steel wire rope sheaves 14, the other end of the steel wire rope 23 is wound on the winding drum 9, a shifting pipe 15 is arranged beside the steel wire rope sheaves 14, and a straight line where the shifting pipe 15 is located is perpendicular to a plane where the arm 12 is located. The water upper fixing mechanism 3 mainly comprises a holding arm 12 formed by a section 1201 and a connecting sleeve 1202, the holding arm 12 carries out holding arm and arm unfolding actions through a power mechanism 13, in addition, a steel wire rope wheel 14 and a shifting tube 15 are arranged on the holding arm 12, and the steel wire rope wheel 14 drives the underwater detection mechanism 4 through a steel wire rope 23, so that the lifting and descending actions of the underwater detection mechanism 4 are realized.
The underwater detection mechanism 4 comprises a main support part 17, a detection device 18, a guide device 19, a rotating shaft sleeve 20 and a synchronous sleeve 21, wherein the main support part 17 consists of two annular brackets 1701, the guide device 19 is arranged on the upper side edge and the lower side edge of the main support part 17, the at least two detection devices 18 are arranged on the guide device 19 in a sliding manner, the rotating shaft sleeve 20 is vertically arranged on the outer side surface of the main support part 17, and the end part of the expanding arm rotating shaft 10 in the hoisting mechanism 2 is arranged in the rotating shaft sleeve 20; the outer side surface of the main supporting part 17 is also vertically provided with a synchronous sleeve 21, and the end part of the shifting tube 15 in the water fixing mechanism 3 is arranged in the synchronous sleeve 21. Wherein the underwater detection mechanism 4 mainly comprises two semicircular annular supports 1701 as main supporting parts 17, annular guide rails are arranged on the upper side and the lower side of the annular supports 1701 as guiding devices 19 of the detection device 18, and the guiding devices 19 also play a role in reinforcing the annular supports 1701; the rotating shaft sleeve 20 and the synchronizing sleeve 21 synchronize the arm unfolding actions of the underwater detection mechanism 4 and the upper water fixing mechanism 3 in the non-detection state. The underwater detection mechanism 4 further comprises a buoyancy component 22 and elastic support legs 24, wherein the buoyancy component 22 is arranged in the middle of the outer sides of the annular supports 1701, and the elastic support legs 24 are arranged at two ends of the two annular supports 1701. A buoyancy module 22 of buoyancy material is mounted at a position intermediate and outboard of the toroidal support 1701 to balance the weight of the underwater detection mechanism 4. An elastic leg 24 is mounted near the end of the ring 1701 to accommodate the rugged pier cylinder.
Example 3: as shown in fig. 1-7, the pier underwater detection robot mechanical system comprises a carrier boat 1, a hoisting mechanism 2, an underwater fixing mechanism 3 and an underwater detection mechanism 4, wherein the hoisting mechanism 2 is arranged at the end part of the carrier boat 1, the underwater fixing mechanism 3 is arranged above the hoisting mechanism 2 in an inclined manner, and the underwater detection mechanism 4 is arranged under the underwater fixing mechanism 3. The bridge pier underwater detection robot mechanical system consists of four parts, namely a carrier boat 1, a winding mechanism 2, an on-water fixing mechanism 3 and an underwater detection mechanism 4, wherein the carrier boat 1 is responsible for the water surface movement of the whole system, the on-water fixing mechanism 3 is responsible for connecting the whole system and the bridge pier into a whole, the underwater detection mechanism 4 is responsible for the apparent defect detection of the part below the water surface of the bridge pier, and the winding mechanism 2 is responsible for the ascending or descending action of the underwater detection mechanism 4.
The hoisting mechanism 2 comprises a support 5, a hoisting power device 6, a reel reinforcing frame 7, a reel 8, a reel 9, a spreading arm rotating shaft 10 and a connecting plate 11, wherein the connecting plate 11 is horizontally arranged at the end part of the carrier 1, the support 5 is arranged on the connecting plate 11, the hoisting power device 6 is arranged in the support 5, the hoisting power device 6 and the reel 8 are coaxially arranged, the hoisting power device 6 is arranged in the middle part of the reel 8, the reels 9 are arranged at two ends of the reel 8, a steel wire rope 23 is wound on the reels 9, and the spreading arm rotating shaft 10 vertical to the connecting plate 11 is also arranged on the bottom surface of the connecting plate 11; one side of the scroll 8 is also provided with a scroll reinforcing frame 7, and two ends of the scroll 8 are fixedly connected with two ends of the scroll reinforcing frame 7. The hoisting mechanism 2 is mainly responsible for the winding and unwinding actions of the steel wire rope 23 so as to realize the ascending and descending actions of the underwater detection mechanism 4, wherein the hoisting power device 6 consists of a motor and a worm gear reducer, and the motor drives the worm gear reducer so as to drive the whole hoisting mechanism 2 to act.
The water fixing mechanism 3 comprises a holding arm 12, a power mechanism 13, a steel wire rope wheel 14 and a shifting pipe 15, wherein the holding arm 12 comprises a plurality of section bars 1201 and connecting sleeves 1202, and the adjacent section bars 1201 are connected through the connecting sleeves 1202; the power mechanism 13 is arranged on the outer side of the middle of the arm 12, the steel wire rope sheaves 14 are arranged on the outer sides of the two ends of the arm 12, one end of the steel wire rope 23 is wound on the steel wire rope sheaves 14, the other end of the steel wire rope 23 is wound on the winding drum 9, a shifting pipe 15 is arranged beside the steel wire rope sheaves 14, and a straight line where the shifting pipe 15 is located is perpendicular to a plane where the arm 12 is located. The water upper fixing mechanism 3 mainly comprises a holding arm 12 formed by a section 1201 and a connecting sleeve 1202, the holding arm 12 carries out holding arm and arm unfolding actions through a power mechanism 13, in addition, a steel wire rope wheel 14 and a shifting tube 15 are arranged on the holding arm 12, and the steel wire rope wheel 14 drives the underwater detection mechanism 4 through a steel wire rope 23, so that the lifting and descending actions of the underwater detection mechanism 4 are realized.
The underwater detection mechanism 4 comprises a main support part 17, a detection device 18, a guide device 19, a rotating shaft sleeve 20 and a synchronous sleeve 21, wherein the main support part 17 consists of two annular brackets 1701, the guide device 19 is arranged on the upper side edge and the lower side edge of the main support part 17, the at least two detection devices 18 are arranged on the guide device 19 in a sliding manner, the rotating shaft sleeve 20 is vertically arranged on the outer side surface of the main support part 17, and the end part of the expanding arm rotating shaft 10 in the hoisting mechanism 2 is arranged in the rotating shaft sleeve 20; the outer side surface of the main supporting part 17 is also vertically provided with a synchronous sleeve 21, and the end part of the shifting tube 15 in the water fixing mechanism 3 is arranged in the synchronous sleeve 21. Wherein the underwater detection mechanism 4 mainly comprises two semicircular annular supports 1701 as main supporting parts 17, annular guide rails are arranged on the upper side and the lower side of the annular supports 1701 as guiding devices 19 of the detection device 18, and the guiding devices 19 also play a role in reinforcing the annular supports 1701; the rotating shaft sleeve 20 and the synchronizing sleeve 21 synchronize the arm unfolding actions of the underwater detection mechanism 4 and the upper water fixing mechanism 3 in the non-detection state.
Specifically, the underwater detection mechanism 4 mainly comprises two semicircular light glass fiber reinforced plastic annular supports 1701 serving as main supporting parts 17, nonmetallic annular guide rails are mounted on the upper side and the lower side of the annular supports 1701 and serve as guide devices 19 of the detection devices 18, and the annular guide rails also play a role in reinforcing the annular supports 1701. A buoyancy module 22 of buoyancy material is mounted at a position intermediate and outboard of the toroidal support 1701 to balance the weight of the underwater detection mechanism 4. An elastic leg 24 is mounted near the end of the ring 1701 to accommodate the rugged pier cylinder. The rotating shaft sleeve 20 and the synchronizing sleeve 21 synchronize the motion of the unfolding arm of the underwater detection mechanism 4 and the above water fixing mechanism 3 in a non-detection state. The detection device 18 comprises a camera 1801, an illumination source 1802, a sliding seat 1803, a motor 1804, a toothed belt 1805 and a belt pulley 1806, wherein the camera 1801 is arranged on the guide device 19 in a sliding manner through the sliding seat 1803, the illumination source 1802 is arranged beside the camera 1801, the motor 1804 is arranged on the back surface of the camera 1801, the belt pulley 1806 is arranged below the motor 1804, the toothed belt 1805 is paved on the outer side of the guide device 19, and the belt pulley 1806 is meshed with the toothed belt 1805.
Claims (4)
1. The bridge pier underwater detection robot system is characterized by comprising a carrying ship (1), a hoisting mechanism (2), an underwater fixing mechanism (3) and an underwater detection mechanism (4), wherein the hoisting mechanism (2) is arranged at the end part of the carrying ship (1), the underwater fixing mechanism (3) is arranged obliquely above the hoisting mechanism (2), and the underwater detection mechanism (4) is arranged under the underwater fixing mechanism (3); the water fixing mechanism (3) comprises a holding arm (12), a power mechanism (13), a steel wire rope wheel (14) and a shifting pipe (15), wherein the holding arm (12) comprises a plurality of section bars (1201) and connecting sleeves (1202), and adjacent section bars (1201) are connected through the connecting sleeves (1202); the outer sides of the middle parts of the arm holding wheels (12) are provided with power mechanisms (13), the outer sides of the two ends of the arm holding wheels (12) are provided with steel wire rope wheels (14), one end of each steel wire rope (23) is wound on each steel wire rope wheel (14), the other end of each steel wire rope (23) is wound on a winding drum (9), a shifting pipe (15) is arranged beside each steel wire rope wheel (14), and a straight line where the shifting pipe (15) is located is perpendicular to a plane where the arm holding wheels (12) are located; the power mechanism (13) comprises a pull rod (1301) and an electric push rod (1302), wherein the pull rod (1301) is arranged on two sides of the electric push rod (1302) respectively, one end of the pull rod (1301) is coaxially arranged with the end part of the electric push rod (1302), the other end of the pull rod (1301) is arranged on the arm (12), and the other end of the electric push rod (1302) is fixed on the arm (12) through the rotary shaft (16); the underwater detection mechanism (4) comprises a main support part (17), detection devices (18), guide devices (19), rotating shaft sleeves (20) and a synchronous sleeve (21), wherein the main support part (17) consists of two annular supports (1701), the guide devices (19) are arranged on the upper side edge and the lower side edge of the main support part (17), at least two detection devices (18) are slidably arranged on the guide devices (19), the rotating shaft sleeves (20) are vertically arranged on the outer side faces of the main support part (17), and the end parts of the arm stretching rotating shafts (10) in the hoisting mechanism (2) are arranged in the rotating shaft sleeves (20); the outer side surface of the main support part (17) is also vertically provided with a synchronizing sleeve (21), and the end part of the shifting tube (15) in the water fixing mechanism (3) is arranged in the synchronizing sleeve (21).
2. The bridge pier underwater detection robot system according to claim 1, wherein the hoisting mechanism (2) comprises a support (5), a hoisting power device (6), a reel reinforcing frame (7), a reel (8), a reel (9), a spreading arm rotating shaft (10) and a connecting plate (11), the connecting plate (11) is horizontally arranged at the end part of the carrier (1), the support (5) is arranged on the connecting plate (11), the hoisting power device (6) is arranged in the support (5), the hoisting power device (6) is coaxially arranged with the reel (8), the hoisting power device (6) is arranged in the middle of the reel (8), the reels (9) are arranged at two ends of the reel (8), a steel wire rope (23) is wound on the reels (9), and the spreading arm rotating shaft (10) perpendicular to the bottom surface of the connecting plate (11) is also arranged; one side of the scroll (8) is also provided with a scroll reinforcing frame (7), and two ends of the scroll (8) are fixedly connected with two ends of the scroll reinforcing frame (7).
3. The bridge pier underwater detection robot system according to claim 1, wherein the underwater detection mechanism (4) further comprises a buoyancy component (22) and elastic support legs (24), the buoyancy component (22) is arranged in the middle of the outer side of the annular supports (1701), and the elastic support legs (24) are arranged at two ends of the two annular supports (1701).
4. The underwater bridge pier detection robot system according to claim 1, wherein the detection device (18) comprises a camera (1801), an illumination light source (1802), a sliding seat (1803), a motor (1804), a toothed belt (1805) and a belt wheel (1806), wherein the camera (1801) is slidably arranged on the guide device (19) through the sliding seat (1803), the illumination light source (1802) is arranged beside the camera (1801), the motor (1804) is arranged on the back surface of the camera (1801), the belt wheel (1806) is arranged below the motor (1804), a toothed belt (1805) is laid on the outer side of the guide device (19), and the belt wheel (1806) is meshed with the toothed belt (1805).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810298283.0A CN108408005B (en) | 2018-04-03 | 2018-04-03 | Pier underwater detection robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810298283.0A CN108408005B (en) | 2018-04-03 | 2018-04-03 | Pier underwater detection robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108408005A CN108408005A (en) | 2018-08-17 |
| CN108408005B true CN108408005B (en) | 2024-04-19 |
Family
ID=63134516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810298283.0A Active CN108408005B (en) | 2018-04-03 | 2018-04-03 | Pier underwater detection robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108408005B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109041755A (en) * | 2018-09-27 | 2018-12-21 | 山东拜罗智能科技有限公司 | A kind of abrupt slope intelligent grass-removing robot and control method |
| CN109959406B (en) * | 2019-04-17 | 2024-02-02 | 福州大学 | Wheel type rotary cantilever underwater pier detection device and working method thereof |
| 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 |
| CN110886215B (en) * | 2019-12-16 | 2021-11-09 | 创辉达设计股份有限公司 | Bridge detection structure and detection method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200197360Y1 (en) * | 2000-05-04 | 2000-09-15 | 영신기공주식회사 | Moving facility for check and maintenance of bridges with horizontal boom moving up and down |
| KR20050015201A (en) * | 2003-08-04 | 2005-02-21 | 한국전력공사 | Underwater Robot System for Reactor Internals Inspection and Foreign Objects Removal |
| KR100885312B1 (en) * | 2008-08-07 | 2009-02-26 | (주)이지엔지니어링 | The safety diagnosis device of high level structure |
| DE102014215346A1 (en) * | 2014-08-04 | 2016-02-04 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Support system for a measuring device for monitoring a hydraulic structure under water |
| WO2016190761A1 (en) * | 2015-05-26 | 2016-12-01 | Biskup Michał | Unit for monitoring underwater objects |
| KR20170019812A (en) * | 2015-08-12 | 2017-02-22 | 이동준 | Underwater structure inspection equipment |
| CN208248467U (en) * | 2018-04-03 | 2018-12-18 | 上海圭目机器人有限公司 | A kind of bridge pier underwater detecting robot mechanical system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5690943B2 (en) * | 2011-09-16 | 2015-03-25 | 日油技研工業株式会社 | Underwater lifting device |
| WO2015176132A1 (en) * | 2014-05-23 | 2015-11-26 | Whitsunday Mooring And Marine Construction Pty Ltd | Data capture device and system |
| JP7001477B2 (en) * | 2015-03-16 | 2022-01-19 | サウジ アラビアン オイル カンパニー | Water environment mobile robot |
-
2018
- 2018-04-03 CN CN201810298283.0A patent/CN108408005B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200197360Y1 (en) * | 2000-05-04 | 2000-09-15 | 영신기공주식회사 | Moving facility for check and maintenance of bridges with horizontal boom moving up and down |
| KR20050015201A (en) * | 2003-08-04 | 2005-02-21 | 한국전력공사 | Underwater Robot System for Reactor Internals Inspection and Foreign Objects Removal |
| KR100885312B1 (en) * | 2008-08-07 | 2009-02-26 | (주)이지엔지니어링 | The safety diagnosis device of high level structure |
| DE102014215346A1 (en) * | 2014-08-04 | 2016-02-04 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Support system for a measuring device for monitoring a hydraulic structure under water |
| WO2016190761A1 (en) * | 2015-05-26 | 2016-12-01 | Biskup Michał | Unit for monitoring underwater objects |
| KR20170019812A (en) * | 2015-08-12 | 2017-02-22 | 이동준 | Underwater structure inspection equipment |
| CN208248467U (en) * | 2018-04-03 | 2018-12-18 | 上海圭目机器人有限公司 | A kind of bridge pier underwater detecting robot mechanical system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108408005A (en) | 2018-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108408005B (en) | Pier underwater detection robot system | |
| CN101117793A (en) | Steelwork pipe arch bridge float-dragging construction method | |
| CN109959406B (en) | Wheel type rotary cantilever underwater pier detection device and working method thereof | |
| CN205894099U (en) | Be applied to underground pipe gallery's portable sliding template device | |
| CN111661246A (en) | Ocean platform propulsion device with automatic parking positioning structure | |
| CN106012846B (en) | The double-walled steel jacket box and assembling method of splicing structure | |
| CN112505311A (en) | Road and bridge detection device | |
| CN212082219U (en) | Height measuring device suitable for bridge construction | |
| CN207554079U (en) | The self-propelled splash guard automatic laying device for laying of constructing tunnel | |
| CN110184909B (en) | Detection vehicle suitable for multi-type bridge pier | |
| CN211113627U (en) | Unsettled self-supporting formula pile driver | |
| CN208248467U (en) | A kind of bridge pier underwater detecting robot mechanical system | |
| CN210508299U (en) | Concrete pouring operation rack for building floor slab | |
| CN210127418U (en) | Supporting structure for repairing bridge pier of cross-river bridge | |
| CN219347875U (en) | Portable mobile flow bridging equipment | |
| CN110748360A (en) | Self-laying device for construction groove cover plate in tunnel | |
| CN109577164B (en) | Bridge and bridge installation equipment | |
| CN201801322U (en) | High-speed railway deck construction vehicle | |
| CN208650027U (en) | A kind of intercepting system waterborne is small-sized to cross ship access door | |
| CN202644411U (en) | Construction device for erecting precast beam through slipping method | |
| CN212082919U (en) | Water quality testing sampler | |
| CN211116044U (en) | Self-laying device for construction groove cover plate in tunnel | |
| CN206607460U (en) | It is a kind of can automatic moving rail laying apparatus | |
| CN211668603U (en) | Water level observation device of bridge | |
| CN210375195U (en) | Bridge underwater detection tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |