CN109338883B - Working method of bridge underwater structure detection platform - Google Patents
Working method of bridge underwater structure detection platform Download PDFInfo
- Publication number
- CN109338883B CN109338883B CN201811211146.5A CN201811211146A CN109338883B CN 109338883 B CN109338883 B CN 109338883B CN 201811211146 A CN201811211146 A CN 201811211146A CN 109338883 B CN109338883 B CN 109338883B
- Authority
- CN
- China
- Prior art keywords
- platform
- detection
- underwater
- water
- bridge
- 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 79
- 238000000034 method Methods 0.000 title claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 73
- 238000007689 inspection Methods 0.000 claims abstract description 16
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 13
- 239000010959 steel Substances 0.000 claims abstract description 13
- 238000011835 investigation Methods 0.000 claims abstract description 7
- 230000009193 crawling Effects 0.000 claims description 10
- 238000002955 isolation Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 7
- 238000004140 cleaning Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 238000007599 discharging Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
Abstract
The invention belongs to the field of underwater bridge pier detection, and provides a working method of an underwater bridge structure detection platform, wherein the detection platform is U-shaped and consists of an above-water platform and an underwater platform, the above-water platform is of a truss structure, a floating assisting air bag is arranged in a truss of the above-water platform, the above-water platform is connected with the underwater platform through a winch and a steel wire rope, sliding rails are arranged on two side arms of the underwater platform, detection robots are arranged on the side arms of the underwater platform, the whole detection platform is automatically controlled by an electric control cabinet of the above-water platform, and the working steps of connecting the platform with a bridge pier, discharging the water from the winch to the platform, performing secondary detection on an investigation key detection area, shifting and withdrawing the platform after the inspection are completed and the like are realized. The invention has simple structure and convenient use, can effectively detect the bridge pier underwater, is suitable for bridge piers with various sections, and has high degree of automation.
Description
Technical Field
The invention belongs to the field of underwater bridge pier detection, and particularly relates to a working method of an underwater bridge structure detection platform.
Background
The conventional bridge underwater structure detection can adopt modes of diver touch, underwater video detection and the like, and the underwater detection in muddy water can adopt technical means of sonar detection equipment navigation sweep, sonar fixed-point sweep and the like. However, the above-described technique has the following objective drawbacks: 1. the diver is explored and detected to lack of the fixed supporting structure, and the inspection efficiency is low, and the working strength is high; 2. the deep water in the Yangtze river basin is urgent, and the risk of exploring and detecting by a diver is high; 3. because the vicinity of the bridge pier is a navigation area, the ship can not stay for a long time to be detected, and the detection feasibility is low by adopting the ship-borne detection equipment.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a working method of a bridge underwater structure detection platform.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a bridge underwater structure testing platform, testing platform is the U-shaped, comprises water platform and platform under water, water platform is truss structure, is equipped with hoist engine, hydraulic tank, air compressor machine, block terminal and electrical control cabinet on the water platform, is equipped with the air bag that helps in the truss of water platform, water platform passes through hoist engine, wire rope and links to each other with platform under water, be equipped with the slide rail on the platform both sides arm under water and arranged testing robot, testing robot can follow the slide rail and remove, testing robot includes movable trolley, hydraulic telescoping device and workstation, and movable trolley establishes on the slide rail, links to each other with the workstation through hydraulic telescoping device to hydraulic means control telescoping device length makes workstation and pier surface closely laminate, and whole testing platform operation action is by the electrical control cabinet automated control of water platform.
In the technical scheme, the inner side of the water platform is provided with the U-shaped isolation water bag.
In the technical scheme, the underwater platform is provided with the auxiliary enclasping device, and the auxiliary enclasping device consists of the hydraulic telescopic device and the rubber block.
In the technical scheme, 4 winches are uniformly distributed on the water platform, and the water platform is respectively connected with each lifting point of the underwater platform through the 4 winches and the steel wire rope.
In the above technical scheme, equipment such as clear water tank, video camera, sonar detection equipment, rotatory clean disk, crawler belt is carried in the workstation. Wherein the clear water tank can detect the surface condition of the bridge pier; the crawling track is parallel to the lower platform sliding rail and is used for detecting horizontal displacement of the robot, and the crawling track is perpendicular to the horizontal plane and is used for providing sinking power for the detection platform.
The invention provides a working method of the bridge underwater structure detection platform, which comprises the following steps:
(1) The platform is connected with the bridge pier: the tug tows the whole detection platform to the position right above the head-on flow surface of the bridge pier, slowly releases the platform under the action of water flow, and the detection platform is subjected to auxiliary fine adjustment through a ship in the release process until the detection platform is completely embedded into the bridge pier, the tail part of the platform is fixed by using a steel wire rope, electricity is taken from the bridge, and the platform is connected to a platform distribution box to complete the power supply of the platform; filling the isolation water bag to enable the platform to hug the pier, and enabling the tug to withdraw after the water platform is firmly fixed so as not to influence the passing of the river-surface ship;
(2) The winch initially descends to a lower platform, the descending depth is 1-2 meters, the underwater platform assists the enclasping device to start working until the bridge pier is enclasped, the sonar detection equipment carried by the workbench is used for carrying out underwater sonar imaging on the bridge pier, and primary investigation is carried out through sonar underwater imaging detection;
(3) Performing secondary detection on the primary investigation key detection area, and placing the underwater platform to the section of the detection area by the winch; the auxiliary enclasping device starts to work until the bridge pier is enclasped, a diver or a detection robot starts to clean and perform video inspection under the drive of the crawling crawler, the hydraulic telescopic device stretches to enable the workbench to be closely attached to the surface of the bridge pier, the rotary cleaning disc cleans the surface of the bridge pier, and the clear water cover creates a region with high visibility for the video camera to shoot;
(4) After the inspection is finished, the platform is moved and withdrawn, and the process is as follows: after the detection work is finished, the connecting rod of the detection robot is retracted, the winch lifts the underwater platform, the underwater platform is fastened, the power supply is cut off by the distribution box, the steel wire rope at the tail part of the detection platform is loosened, the isolation water bag is drained, the tug is in place, and the whole detection platform is pulled to leave the bridge pier.
The underwater pier detection platform has the advantages of simple structure and convenient use, and compared with the prior art, the underwater pier detection platform has the following advantages:
1. the method can effectively detect the bridge pier underwater, has wide application range, and is suitable for bridge piers with various sections;
2. the degree of automation is high;
3. the navigation channel is not occupied;
4. solves the difficult problem that the diver in the high-flow-rate water area is difficult to operate.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the detection platform of the present invention.
FIG. 2 is a schematic view of the structure of the water platform according to the present invention.
FIG. 3 is a schematic view of the structure of the underwater platform of the present invention.
Fig. 4 is a schematic structural view of the inspection robot according to the present invention.
Fig. 5 is a schematic structural view of the auxiliary clasping apparatus according to the present invention.
Fig. 6 and 7 are schematic diagrams of the working states of the detection platform of the present invention.
Wherein: 1. the device comprises a water platform, 2, an underwater platform, 3, a bridge pier, 4, an isolation water bag, 5, a floating assisting air bag, 6, a winch, 7, a distribution box, 8, a steel wire rope, 9, an auxiliary holding device, 10, a detection robot, 11, a sliding rail, 901, a rubber block, 902, a hydraulic telescopic device, 1001, a hydraulic telescopic device, 1002, a crawling crawler, 1003, a rotary cleaning disc, 1004, a clear water tank and a video camera.
Description of the embodiments
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
(1) The platform is composed of:
as shown in fig. 1, the embodiment provides a bridge underwater structure detection platform and a construction method, wherein the detection platform is in a U shape and consists of an on-water platform 1 and an underwater platform 2. As shown in fig. 2, the water platform 1 is of a truss structure, a winch 6, an air compressor, a hydraulic oil tank, a distribution box 7, an electric control cabinet and the like are arranged on the water platform, a floating assisting air bag 5 is arranged in the truss of the water platform, 4 winches 6 are uniformly distributed on the water platform, and the water platform is respectively connected with each lifting point of the underwater platform through the 4 winches and a steel wire rope. The inner side of the water platform is provided with the U-shaped isolation water bag 4, so that the water platform can be tightly sleeved on the pier, and meanwhile, the truss is prevented from impacting the pier. As shown in fig. 3, the two side arms of the underwater platform 2 are provided with slide rails 11 and are provided with detection robots 10, the detection robots 10 can move along the slide rails, and the underwater platform 2 is provided with an auxiliary enclasping device 9. As shown in fig. 5, the auxiliary enclasping device 9 is composed of a hydraulic expansion device 902 and a rubber block 901, and the length of the expansion device is controlled in a hydraulic manner, so that the rubber block 901 is tightly attached to the surface of a pier, and the enclasping function is realized. The auxiliary enclasping device is used for keeping the relative position of the underwater platform and the pier, so that the underwater platform is not influenced by water flow when working. As shown in fig. 4, the inspection robot 10 includes a movable trolley, a hydraulic telescopic device 1001 and a workbench, the movable trolley is arranged on a slide rail and is connected with the workbench through the hydraulic telescopic device, the workbench is provided with a limit sensor (when the telescopic device enables the workbench to be attached to a pier, the limit sensor stops the telescopic mechanism to work continuously so as to protect the safety of the lower platform structure and the safety of the pier), the length of the telescopic device is controlled in a hydraulic manner, the workbench is tightly attached to the surface of the pier, the operation action of the whole inspection platform is automatically controlled by an electrical control cabinet of the water platform, and the operation flow is monitored by a worker on the upper platform.
In the above embodiment, the working table is equipped with a clean water tank, a video camera, a sonar detection device, a rotary cleaning disc 1003, a crawling track 1002, and the like. Wherein the clear water tank can detect the surface condition of the bridge pier; the crawling track is parallel to the lower platform sliding rail and is used for detecting horizontal displacement of the robot, and the crawling track is perpendicular to the horizontal plane and is used for providing sinking power for the detection platform.
(2) And (3) assembling a platform:
on a wharf or a ship, the floating assisting air bag 5 is installed in a water platform truss, inflation is completed, equipment such as an air compressor, a distribution box and an electrical control cabinet and accessories are installed on the water platform, and 4 winches 6 and steel wire ropes are respectively connected with a lifting point of an underwater platform, so that the water platform and the water platform are fully fixed and lifted onto the water.
(3) Towing the platform:
under the buoyancy action of the floating-assisting air bag, the whole detection platform floats on the water surface, and the tugboat can drag and drop the platform to a designated operation area.
(4) The platform performs the inspection process:
(1) the platform is connected with the bridge pier: the tug tows the whole platform to the position right above the head-on flow surface of the pier, the platform is slowly released under the action of water flow, the platform is in a fine adjustment position assisted by a ship in the release process until the platform is completely embedded into the pier, and the tail part of the platform is fixed by using a steel wire rope 8. And power is taken from the bridge and connected to the platform distribution box 7, so that the platform power supply is completed.
The isolated water bag 4 is filled with water, so that the platform is tightly held by the pier. In order not to influence the passing of ships on the river surface, the tugboat can be removed after the upper platform is firmly fixed.
(2) The winch initially descends to the lower platform, and the descending depth is 1-2 meters. The auxiliary enclasping device 9 starts to work until the pier is enclasped. And carrying out underwater sonar imaging on the bridge pier by using sonar detection equipment carried by the workbench. And performing primary investigation through sonar underwater imaging detection.
(3) Performing secondary detection on the primary investigation key detection area, and lowering (30 m in depth) the underwater platform to the section of the detection area by using a winch; the auxiliary enclasping device starts to work until the pier is enclasped. The diver or the detection robot starts cleaning and video inspection under the drive of the crawling crawler: the hydraulic telescopic device stretches to enable the workbench to be closely attached to the surface of the pier, the rotary cleaning disc cleans the surface of the pier, and the clear water tank creates a region with high visibility for the video camera to shoot.
(4) After the inspection is finished, the platform is moved and withdrawn, and the process is as follows:
after the detection work is finished, the connecting rod of the detection robot is retracted, the winch lifts the underwater platform, the underwater platform is fastened, the power supply is cut off by the distribution box, the steel wire rope at the tail part of the detection platform is loosened, the isolation water bag is drained, the tug is in place, and the whole platform is pulled to leave the pier.
What is not described in detail in this specification is prior art known to those skilled in the art.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The working method of the bridge underwater structure detection platform is characterized in that the detection platform is U-shaped and consists of an above-water platform and an underwater platform, the above-water platform is of a truss structure, a winch, a hydraulic oil tank, an air compressor, an electric appliance control cabinet and a distribution box are arranged on the above-water platform, a floating assisting air bag is arranged in a truss of the above-water platform, the above-water platform is connected with the underwater platform through the winch and a steel wire rope, sliding rails are arranged on two side arms of the underwater platform, and a detection robot is arranged on the two side arms of the underwater platform and comprises a movable trolley, a hydraulic telescopic device and a workbench, the movable trolley is arranged on the sliding rails and connected with the workbench through the hydraulic telescopic device, and the operation action of the whole detection platform is automatically controlled by the electric appliance control cabinet of the above-water platform;
the working method of the detection platform comprises the following steps:
(1) The platform is connected with the bridge pier: the tug tows the whole detection platform to the position right above the head-on flow surface of the bridge pier, slowly releases the platform under the action of water flow, and the detection platform is subjected to auxiliary fine adjustment through a ship in the release process until the detection platform is completely embedded into the bridge pier, the tail part of the platform is fixed by using a steel wire rope, electricity is taken from the bridge, and the platform is connected to a platform distribution box to complete the power supply of the platform; filling the isolation water bag to enable the platform to hug the pier, and enabling the tug to withdraw after the water platform is firmly fixed so as not to influence the passing of the river-surface ship;
(2) The winch initially descends to a lower platform, the descending depth is 1-2 meters, the underwater platform assists the enclasping device to start working until the bridge pier is enclasped, the sonar detection equipment carried by the workbench is used for carrying out underwater sonar imaging on the bridge pier, and primary investigation is carried out through sonar underwater imaging detection;
(3) Performing secondary detection on the primary investigation key detection area, and placing the underwater platform to the section of the detection area by the winch; the auxiliary enclasping device starts to work until the bridge pier is enclasped, a diver or a detection robot starts to clean and perform video inspection under the drive of the crawling crawler, the hydraulic telescopic device stretches to enable the workbench to be closely attached to the surface of the bridge pier, the rotary cleaning disc cleans the surface of the bridge pier, and the clear water cover creates a region with high visibility for the video camera to shoot;
(4) After the inspection is finished, the platform is moved and withdrawn, and the process is as follows: after the detection work is finished, the connecting rod of the detection robot is retracted, the winch lifts the underwater platform, the underwater platform is fastened, the power supply is cut off by the distribution box, the steel wire rope at the tail part of the detection platform is loosened, the isolation water bag is drained, the tug is in place, and the whole detection platform is pulled to leave the bridge pier.
2. The method for operating a bridge underwater structure inspection platform according to claim 1, wherein: the detection platform is characterized in that a U-shaped isolation water bag is arranged on the inner side of the water platform.
3. The method for operating a bridge underwater structure inspection platform according to claim 1, wherein: the underwater platform of the detection platform is provided with an auxiliary enclasping device, and the auxiliary enclasping device consists of a hydraulic telescopic device and a rubber block.
4. The method for operating a bridge underwater structure inspection platform according to claim 1, wherein: 4 winches are uniformly distributed on the water platform of the detection platform, and the water platform is respectively connected with each lifting point of the underwater platform through the 4 winches and the steel wire rope.
5. The method for operating a bridge underwater structure inspection platform according to claim 1, wherein: the detection robot is characterized in that a clear water tank, a video camera, sonar detection equipment, a rotary cleaning disc and a crawling track are mounted in a workbench of the detection robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811211146.5A CN109338883B (en) | 2018-10-17 | 2018-10-17 | Working method of bridge underwater structure detection platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811211146.5A CN109338883B (en) | 2018-10-17 | 2018-10-17 | Working method of bridge underwater structure detection platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109338883A CN109338883A (en) | 2019-02-15 |
| CN109338883B true CN109338883B (en) | 2023-12-22 |
Family
ID=65309887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811211146.5A Active CN109338883B (en) | 2018-10-17 | 2018-10-17 | Working method of bridge underwater structure detection platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109338883B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109881662B (en) * | 2019-02-20 | 2023-11-24 | 中交第二航务工程局有限公司 | Large-diameter high-performance UHPC-steel pipe composite pile foundation and construction method thereof |
| CN109959406B (en) * | 2019-04-17 | 2024-02-02 | 福州大学 | Wheel type rotary cantilever underwater pier detection device and working method thereof |
| CN110777654A (en) * | 2019-12-02 | 2020-02-11 | 福州大学 | Assembled floating island type bridge pier detection platform and detection method thereof |
| 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 |
| CN111576209B (en) * | 2020-06-30 | 2021-08-17 | 武汉理工大学 | Modular pier underwater structure detection platform |
| CN112213390A (en) * | 2020-10-13 | 2021-01-12 | 郑德粮 | Pier is position disease detection device under water |
| CN112461935B (en) * | 2020-10-28 | 2024-02-02 | 武汉理航结构安全技术有限公司 | Pier stud detects with detecting platform under water |
| CN112854315B (en) * | 2021-01-07 | 2022-07-12 | 浙江天然工程勘察有限公司 | Water surface bridge pier column detection device |
| CN113155830A (en) * | 2021-03-30 | 2021-07-23 | 武汉理工大学 | Pier underwater structure detection device and method integrated with self-propelled fixed platform |
| CN113109445A (en) * | 2021-04-13 | 2021-07-13 | 郑德粮 | Underwater pier detection device and method |
| CN113502856A (en) * | 2021-08-03 | 2021-10-15 | 重庆英杰建设工程设计有限责任公司 | Bridge pier foundation underwater detection device and application method thereof |
| CN113565018A (en) * | 2021-09-07 | 2021-10-29 | 曾普 | Bridge construction operation platform |
| CN113818345B (en) * | 2021-09-29 | 2022-05-03 | 武汉理工大学 | All-round structure detection of prefabricated type pier and maintenance platform |
| CN114351582B (en) * | 2022-01-10 | 2024-01-23 | 中交路桥南方工程有限公司 | Deepwater pier crack detection and repair device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201251554Y (en) * | 2008-07-08 | 2009-06-03 | 武汉理工大学 | Deepwater pier detection device |
| KR20150042063A (en) * | 2013-10-10 | 2015-04-20 | 재단법인대구경북과학기술원 | Robot for inspecting underwater crack |
| CN105133490A (en) * | 2015-09-10 | 2015-12-09 | 来安县新元机电设备设计有限公司 | Bridge detection device and detection method thereof |
| KR20170019812A (en) * | 2015-08-12 | 2017-02-22 | 이동준 | Underwater structure inspection equipment |
| CN206638629U (en) * | 2017-03-30 | 2017-11-14 | 招商局重庆交通科研设计院有限公司 | A kind of underwater bridge pier detection means |
| CN206752307U (en) * | 2017-02-06 | 2017-12-15 | 秦菲 | A kind of information scanning car for highway bridge underwater foundation |
| CN207484285U (en) * | 2017-11-03 | 2018-06-12 | 张华斌 | A kind of Bridge Pier quality detection device |
| CN108374336A (en) * | 2018-04-12 | 2018-08-07 | 河海大学 | Walking instrument fixing rack and its application method certainly of underwater cylinder bridge pier non-destructive testing |
| CN108382551A (en) * | 2018-04-03 | 2018-08-10 | 上海圭目机器人有限公司 | A kind of robot system detected under water for bridge pier |
| CN209276989U (en) * | 2018-10-17 | 2019-08-20 | 武汉理航结构安全技术有限公司 | A kind of bridge submerged structure detection platform |
-
2018
- 2018-10-17 CN CN201811211146.5A patent/CN109338883B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201251554Y (en) * | 2008-07-08 | 2009-06-03 | 武汉理工大学 | Deepwater pier detection device |
| KR20150042063A (en) * | 2013-10-10 | 2015-04-20 | 재단법인대구경북과학기술원 | Robot for inspecting underwater crack |
| KR20170019812A (en) * | 2015-08-12 | 2017-02-22 | 이동준 | Underwater structure inspection equipment |
| CN105133490A (en) * | 2015-09-10 | 2015-12-09 | 来安县新元机电设备设计有限公司 | Bridge detection device and detection method thereof |
| CN206752307U (en) * | 2017-02-06 | 2017-12-15 | 秦菲 | A kind of information scanning car for highway bridge underwater foundation |
| CN206638629U (en) * | 2017-03-30 | 2017-11-14 | 招商局重庆交通科研设计院有限公司 | A kind of underwater bridge pier detection means |
| CN207484285U (en) * | 2017-11-03 | 2018-06-12 | 张华斌 | A kind of Bridge Pier quality detection device |
| CN108382551A (en) * | 2018-04-03 | 2018-08-10 | 上海圭目机器人有限公司 | A kind of robot system detected under water for bridge pier |
| CN108374336A (en) * | 2018-04-12 | 2018-08-07 | 河海大学 | Walking instrument fixing rack and its application method certainly of underwater cylinder bridge pier non-destructive testing |
| CN209276989U (en) * | 2018-10-17 | 2019-08-20 | 武汉理航结构安全技术有限公司 | A kind of bridge submerged structure detection platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109338883A (en) | 2019-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109338883B (en) | Working method of bridge underwater structure detection platform | |
| CN103183112B (en) | Abutting and lifting device for recovering underwater robot | |
| CN209276989U (en) | A kind of bridge submerged structure detection platform | |
| JP6349321B2 (en) | Ship dismantling apparatus and method for ship dismantling | |
| CN103661801B (en) | The installation ancillary system of ocean engineering underwater propeller and installation method | |
| CN110001895B (en) | Submersible vehicle winding and unwinding device | |
| CN203806117U (en) | Ship launching device | |
| CN215205322U (en) | Nuclear power station underwater operation and maintenance robot | |
| US8646390B2 (en) | Device for the use of technical equipment underwater | |
| CN114408137A (en) | Electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot and system | |
| CN110665881A (en) | Automatic cleaning device and cleaning method for underwater anchor chain | |
| CN110185057B (en) | Tool and construction method for lifting and erecting steel pipe piles of offshore wind power single pile foundation | |
| CN102826459B (en) | Method for hoisting underwater structural part of ocean platform | |
| WO2018014397A1 (en) | Lifting and lowering device for underwater pressure tapping system used by unmanned vessel | |
| CN103569311B (en) | Propelling unit mounting and positioning device and propelling unit installation method under water | |
| US20130336724A1 (en) | Device and method for performing an operation on an at least partially submerged structure | |
| AU595622B2 (en) | Apparatus for carrying out operations under water | |
| CN106275285A (en) | A kind of hull with diving bell draw off gear | |
| CN114368456B (en) | Process for separating upper floating body and lower floating body of offshore platform | |
| WO2008085061A1 (en) | Tool carrier and method for carrying tools for cutting elongated structures | |
| CN104724249A (en) | Mounting method for retractable full-revolving propulsor | |
| CN110244373B (en) | door slot detection system and special underwater robot | |
| CN115310215A (en) | Research method for grabbing type deep-sea sediment salvage | |
| CN103754328B (en) | A kind of method of underwater sensor chain Quick distributor | |
| CN111564810A (en) | Laying process of marine interlocking row |
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 |