CN117184379A

CN117184379A - Underwater strong-fitting concrete structure detection robot and application method thereof

Info

Publication number: CN117184379A
Application number: CN202311340508.1A
Authority: CN
Inventors: 方珍龙; 区瑾; 水中和
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2023-10-17
Filing date: 2023-10-17
Publication date: 2023-12-08

Abstract

The invention discloses an underwater strong-fitting concrete structure detection robot, which comprises a main shell, a rope and a plurality of groups of robot limbs, wherein each group of robot limbs respectively comprises a power mechanism A, a power mechanism B, an arm body and an adsorption assembly, the adsorption assembly comprises a vacuum cover, a compression ring, a plastic ring, a vacuumizing tube and a defect detection device, the power mechanism A is connected with one end of the arm body, which is far away from the power mechanism A, is connected with the power mechanism B, the vacuum cover is connected with the plastic ring through the compression ring, liquid is filled in the plastic ring so that the plastic ring and the filled liquid form an elastic ring with elasticity together, the power mechanism B is connected with the vacuum cover, the vacuumizing tube is connected with the vacuum cover and is communicated with an inner cavity of the vacuum cover, and the defect detection device is arranged on the inner wall of the vacuum cover; the rope is connected to the main housing. The invention can enable the elastic ring to be tightly pressed on the concrete structure, so that the robot can be strongly attached on the concrete structure under the water pressure and cannot fall off.

Description

Underwater strong-fitting concrete structure detection robot and application method thereof

Technical Field

The invention belongs to the field of underwater robots, and particularly relates to an underwater strong-fitting concrete structure detection robot and a use method thereof.

Background

The water conservancy and hydropower, water delivery strategy, heavy traffic and other wading engineering quantities in China are huge, the underwater concrete structure is subjected to the influence of factors such as water pressure, temperature gradient, water flow scouring, erosion environment and load effect in long-term service, and the problems of cracks, honeycombs and the like easily occur due to poor control of part of concrete construction quality. According to investigation, china has 9.8 thousands of reservoir dams, wherein more than 80% of the reservoir dams are built in the 50-70 s of the 20 th century, and nearly 70% of large concrete dams are affected by the damage of underwater concrete defects in the running process and are used normally, in particular to yellow river dry flow and hydropower engineering in southwest areas. The existence of the defects of the underwater concrete seriously reduces the structural bearing performance, sharply shortens the service life of the hydraulic building, directly influences the safe operation of engineering, and accurately knows the positions of the defects of the underwater concrete structure and the form of the defects of the underwater concrete structure, thus being an urgent requirement for maintaining the underwater concrete structure.

The underwater robot can replace divers to operate, and the safety of personnel is guaranteed. The underwater robot can be provided with an underwater camera and an impact echo device, so that optical and acoustic combination is realized, and double detection of the surface and the interior of the underwater concrete structure is realized, thereby realizing defect detection of the underwater concrete structure.

The defect detection by adopting a remote control type underwater robot ROV is one of the most effective means for detecting underwater concrete structures at present. Through the remote control operation to the underwater robot, can accurately reach the preset position, detect the overall situation of concrete structure under water fast through the camera, through fixing the robot on concrete structure side surface, receive the sound wave signal that the hammer of beating beaten and produce, can carefully inspect the detail of local pathological change and the internal defect condition of concrete structure. However, the conventionally used underwater robot generally vacuumizes the flexible ring, and the flexible ring is tightly attached to the wall surface of the structure, so that the wall surface is required to be leveled, or else, external water easily enters the flexible ring to cause adsorption failure, so that the robot is difficult to firmly adhere to the rugged wall surface.

Disclosure of Invention

Aiming at the defects or improvement demands of the prior art, the invention provides an underwater strong-fitting concrete structure detection robot and a use method thereof, wherein the underwater strong-fitting concrete structure detection robot can be tightly pressed on a concrete structure through an elastic ring and can adapt to the uneven surface of the concrete structure, so that the robot is strongly fitted on the concrete structure.

In order to achieve the above object, according to one aspect of the present invention, there is provided an underwater strong-fitting concrete structure inspection robot including a main housing, a rope, and a plurality of groups of robot limbs mounted on the main housing, wherein:

for each group of robot limbs, the robot limb comprises a power mechanism A, a power mechanism B, an arm body and an adsorption assembly, wherein the adsorption assembly comprises a vacuum cover, a compression ring, a plastic ring, an evacuating pipe and a defect detection device, the power mechanism A is arranged on the main shell, the power mechanism A is connected with one end of the arm body and is used for driving the arm body to move towards a direction close to and far away from a concrete structure, one end of the arm body far away from the power mechanism A is connected with the power mechanism B, the vacuum cover is connected with the plastic ring through the compression ring, liquid is filled in the plastic ring so that the plastic ring and the filled liquid form an elastic ring together, the elastic ring is pressed on the uneven surface of the concrete structure, the power mechanism B is connected with the vacuum cover and is used for driving the vacuum cover to move relatively to enable the vacuum cover to be close to and far away from the concrete structure, the elastic ring is enabled to elastically deform, the position of the elastic ring corresponding to the power mechanism A is enabled to be pressed by the elastic ring, the vacuum cover is enabled to be pressed on the inner cavity of the vacuum cover, and then the vacuum cover is prevented from being connected with the inner cavity of the vacuum ring through the vacuum ring after the vacuum ring is arranged on the vacuum ring, and the vacuum ring is connected with the vacuum cover, and the vacuum detection device is connected with the vacuum ring;

the rope is connected to the main housing for driving the main housing to move.

Preferably, the concrete structure inspection robot further comprises a power mechanism C and a first propeller, the power mechanism C is mounted on the main housing, and the power mechanism C is connected with the first propeller for driving the first propeller to rotate, so that the robot limb moves towards a direction approaching the concrete structure to further compress the concrete structure by the elastic ring.

Preferably, the concrete structure inspection robot further comprises two sets of propeller assemblies;

for each set of the propeller assemblies, each set of the propeller assemblies comprises a power mechanism D and a second propeller, wherein the power mechanism D is installed on the main shell, and the power mechanism D is connected with the second propeller and is used for driving the second propeller to rotate so as to enable the robot limb to move on the surface of a concrete structure;

the rotation center lines of the two second propellers are coaxially arranged, and the two power mechanisms D are positioned between the two second propellers, so that one group of propeller assemblies drive the main shell to move along a first direction, and the other group of propeller assemblies drive the main shell to move along a second direction opposite to the first direction.

Preferably, a camera for observing the underwater environment and/or a positioning navigation system for positioning are also mounted on the main housing.

Preferably, the defect detection device is an impact echo instrument.

Preferably, the plastic ring is made of PVC material, nylon material, oxford or rubber.

Preferably, the pressure ring is arranged coaxially with the plastic ring.

Preferably, the arm body is a multi-axis mechanical arm.

Preferably, the concrete structure detection robot further comprises a submersible machine and a lower computer, wherein the submersible machine is formed by processing high-strength aluminum alloy pipes, the surface of the submersible machine is subjected to waterproof oxidation treatment, the lower computer comprises a development board, a power module, a serial port and various circuit systems, the lower computer is installed in the submersible machine to play a role of preventing water and isolating underwater pressure, and the lower computer is used for receiving and resolving control instructions issued by an on-shore HMI (human-machine interface) and issuing the resolved control instructions.

According to another aspect of the invention, there is also provided a method for using the underwater strong-fitting concrete structure detection robot, comprising the steps of:

1) The robot is hung under water through a rope, the underwater environment is checked through a camera carried by the concrete structure detection robot, and the robot is remotely controlled to reach a designated position through a control console or a remote controller;

2) Observing cracks through a camera, and uploading a shot image to an on-shore HMI human-machine interface for analysis;

3) The robot is characterized in that each robot limb moves towards the surface close to the concrete structure through a rope, a driving arm body of a power mechanism A moves towards the direction close to the concrete structure and presses an elastic ring on the surface of the concrete structure, and a pressing ring on a vacuum cover is driven by a power mechanism B to move relative to the elastic ring so as to elastically deform the elastic ring, so that the robot is completely attached to the surface of the concrete structure;

4) Pumping water and vacuumizing the inner cavity of each vacuum cover in sequence through a vacuumizing pipe, pumping water and air out of the inner cavity of the vacuum cover, enabling the inner cavity of the vacuum cover to be in a vacuum environment, enabling the vacuum cover to further compress the elastic ring by utilizing water pressure, and further enabling the elastic ring to compress the surface of the concrete structure;

5) And detecting the surface of the concrete structure through the defect detection device, and uploading the surface to the HMI human-machine interface.

In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:

1) According to the underwater strong-fitting concrete structure detection robot, the power mechanism A can drive the arm body and the elastic ring to move towards the direction close to the concrete structure, so that the elastic ring is firstly pressed on the surface of the concrete structure, liquid is filled in the plastic ring, the elastic ring can generate relatively large elastic deformation, the power mechanism B can drive the pressing ring to move relative to the elastic ring to apply local pressure to the elastic ring, so that the liquid in the plastic ring can bring the elastic deformation of the side wall of the plastic ring to adapt to the uneven surface of the concrete structure and be attached to the uneven surface of the concrete structure, the inner cavity of the vacuum cover is sealed through the elastic ring, the vacuum environment in the vacuum cover is prevented from being damaged by external water entering the vacuum cover, the water pressure outside the vacuum cover can always act on the outer side wall of the vacuum cover to enable the elastic ring to be pressed on the concrete structure, and the robot can be strongly attached to the concrete structure under the water pressure without falling off, and especially the concrete structure with the uneven surface is very suitable for the concrete structure.

2) According to the underwater strong-fitting concrete structure detection robot, the power mechanism C can drive the first propeller to rotate, so that the elastic ring can be further pressed on the concrete structure, and the elastic ring is prevented from loosening from the surface of the concrete structure.

3) The underwater strong-fitting concrete structure detection robot detects the underwater concrete structure in a mode of combining autonomous control operation and manual control operation, has higher and more stable detection efficiency on large defects, saves time of operators, and has more precise detection precision on small cracks and defects hidden inside.

Drawings

FIG. 1 is a schematic view of the overall structure of an underwater strong-fitting concrete structure inspection robot of the present invention;

FIG. 2 is a schematic structural view of an adsorption assembly of the underwater strong-fit concrete structure inspection robot of the present invention;

FIG. 3 is a schematic diagram of a system of the underwater strong-fit concrete structure inspection robot of the present invention;

fig. 4 is a flowchart of the operation of the underwater strong-fitting concrete structure inspection robot of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Referring to fig. 1 and 2, an underwater strong-fitting concrete structure inspection robot includes a main housing 100, a rope, and a plurality of groups of robot limbs 200 mounted on the main housing 100, the robot limbs 200 preferably having five types, wherein:

for each group of the robot limbs 200, it includes a power mechanism a13, a power mechanism B14, an arm 24 and an adsorption assembly, the adsorption assembly includes a vacuum cover 6, a compression ring 5, a plastic ring, a vacuumizing tube and a defect detecting device, the power mechanism a13 is mounted on the main housing 100, and the power mechanism a13 is connected with one end of the arm 24 for driving the arm 24 to move towards and away from a concrete structure, one end of the arm 24 away from the power mechanism a13 is connected with the power mechanism B14, the vacuum cover 6 is connected with the plastic ring through the compression ring 5, the plastic ring is internally provided with a liquid so that the plastic ring and the liquid together form an elastic ring 4 with elasticity, so that the elastic ring 4 is pressed on the uneven surface of the concrete structure, the power mechanism B14 is connected with the vacuum cover 6 for driving the vacuum cover 6 to move relative to the arm 24 so as to make the vacuum cover 6 approach and move away from the concrete structure, one end of the arm 24 away from the power mechanism a 14 is connected with the power mechanism B14, the vacuum cover 6 is connected with the plastic ring through the compression ring 5, the elastic ring is pressed out of the vacuum ring 6 by the elastic ring 4, and the vacuum ring is pressed on the inner wall 6, the vacuum ring is pressed out of the vacuum ring 6 is pressed by the elastic ring 6, and the elastic ring is pressed by the elastic ring 4, and the vacuum ring is pressed by the vacuum ring 6; the end of the arm body 24 far away from the power mechanism A13 is preferably connected with the vacuum cover 6 through the claw body 25, the cover top end of the vacuum cover 6 is directly fixed with the claw body 25 into a whole, the cover bottom end of the vacuum cover 6 is fixed with the compression ring 5 into a whole, and the compression ring 5 is pressed on the elastic ring 4.

The surface of the concrete structure detected by the robot is a vertical wall surface; the liquid filled in the plastic ring is preferably water, the plastic ring is preferably made of PVC material, nylon material, oxford or rubber, and the plastic ring has good elasticity after being filled with water, and can be further filled into concave parts of the rugged surface of the concrete structure after being pressed by the pressure ring 5; the liquid in the plastic ring has good fluidity, so that the plastic ring has good elasticity after the liquid is filled in the plastic ring. After the pressure ring 5 is applied to the pressure liquid, the liquid is pressed to drive the plastic ring to generate local deformation, so that the plastic ring can better adapt to the uneven surface of the concrete structure. If the surface of the concrete structure is provided with a bulge, the plastic ring can be locally deformed to generate a concave to adapt, if the surface of the concrete structure is provided with a concave, water in the plastic ring can enable the local part of the plastic ring to enter the concave of the surface of the concrete structure under the pressure of the pressure ring, so that the material of the plastic ring can extend into the concave groove of the rugged surface of the concrete structure to seal the concave, and external water is prevented from flowing into the vacuum cover 6 from the concave of the rugged surface.

The rope is connected to the main housing 100 for driving the main housing 100 to move, and mainly drives the main housing 100 to rise.

Further, the concrete structure inspection robot further includes a power mechanism C27 and a first screw 28, the power mechanism C27 is mounted on the main housing 100, and the power mechanism C27 is connected to the first screw 28 for driving the first screw 28 to rotate, thereby moving the robot limb 200 in a direction approaching the concrete structure to further compress the concrete structure by the elastic ring 4. The power mechanism C27 can drive the first propeller 28 to rotate, so that the elastic ring 4 can further press the concrete structure, and the elastic ring 4 is prevented from loosening from the surface of the concrete structure.

The robot limb 200 is pressed against the surface of the concrete structure by the thrust generated by the power mechanism C27 and the first propeller 28, so that multiple pressing of the vacuum cover pressing, the pressing ring 5 pressing and the first propeller 28 pressing are achieved.

Further, the concrete structure inspection robot further includes two sets of propeller assemblies.

For each set of said propeller assemblies, it comprises a power mechanism D30 and a second propeller 31, respectively, said power mechanism D30 being mounted on said main housing 100 and said power mechanism D30 being connected to said second propeller 31 for driving said second propeller 31 in rotation, thereby moving said robot limb 200 over the surface of the concrete structure.

The rotation center lines of the two second propellers 31 are coaxially arranged, and two power mechanisms D30 are located between the two second propellers 31, so that one set of propeller assemblies moves the main casing 100 in a first direction and the other set of propeller assemblies moves the main casing 100 in a second direction opposite to the first direction.

The power mechanism a13 and the power mechanism B14 may be driving cylinders such as a conventional pneumatic cylinder, a hydraulic cylinder 20 and an electric cylinder, or may be a structure in which a screw mechanism is connected to a motor.

The power mechanism C27 and the power mechanism D30 are motors and are used for driving the screw propeller to rotate. The length of the blades of the first propeller 28 is longer than that of the blades of the second propeller 31 to promote the pressing power.

The first direction and the second direction are preferably horizontal, and the two sets of propeller assemblies are preferably used to drive the robot to move in the horizontal direction, while the lifting of the robot can be achieved by pulling the ropes on the main housing 100. The lowering of the robot can be performed under the self weight of the robot, and if the rope adopts hard materials such as a steel wire rope, the rope shell can also push the robot to lower deeper.

The second propeller 31 of the two sets of propeller assemblies rotates together to keep the robot balanced under water.

Further, a camera 29 for observing the underwater environment and/or a positioning navigation system for positioning are mounted on the main housing 100.

Further, the defect detecting device is the impact echo apparatus 1, and of course, if other defects are to be detected, other existing devices for detecting defects may be used. The impact echo instrument 1 comprises a knocking hammer 2, a knocking hammer driving motor 3 and the like, wherein the impact echo instrument 1 is placed on the inner side of a vacuum cover 6, the knocking hammer 2 is controlled by the knocking hammer driving motor 3, and the knocking hammer driving motor 3 is fixedly connected with the upper part of the inner side of the vacuum cover 6 through a fixing frame.

Further, the pressing ring 5 is coaxially arranged with the plastic ring, and the inner diameter and the outer diameter of the pressing ring 5 are adapted to the size of the plastic ring, the pressing ring 5 is preferably arranged at a position close to the outer edge of the plastic ring, in short, the pressing ring 5 can be pressed on the plastic ring, the plastic ring is adapted to the rugged surface of the concrete structure, and external water is prevented from entering the vacuum cover 6.

Further, the arm body 24 is a multi-axis mechanical arm, such as a tri-axis mechanical arm to a six-axis mechanical arm, and the like, which is movable.

The power mechanism A13, the power mechanism B14, the power mechanism C27, the power mechanism D30 and the joint motor 23 on the multi-axis mechanical arm form a power system of the robot together.

Referring to fig. 3 and 4, according to another aspect of the present invention, there is also provided a method for using the underwater strong-fitting concrete structure inspection robot, including the steps of:

1) The robot is hoisted into the water through a rope, the underwater environment is checked through a camera 29 carried by the concrete structure detection robot, and the robot is remotely controlled to reach a designated position by a control console or a remote controller;

2) The crack is observed through the camera 29, and the photographed image is uploaded to an on-shore HMI human-machine interface for analysis;

3) The robot limbs 200 are moved towards the surface close to the concrete structure through ropes, the power mechanism A13 drives the arm body 24 to move towards the direction close to the concrete structure, the elastic ring 4 is pressed on the surface of the concrete structure, the power mechanism B14 drives the compression ring 5 on the vacuum cover 6 to move relative to the elastic ring 4 so as to elastically deform the elastic ring 4, and therefore the robot is completely attached to the surface of the concrete structure;

4) Sequentially pumping water and vacuumizing the inner cavity of each vacuum cover 6 through a vacuumizing pipe, pumping water and air out of the inner cavity of the vacuum cover 6, enabling the inner cavity of the vacuum cover 6 to be in a vacuum environment, enabling the vacuum cover 6 to further compress the elastic ring 4 by utilizing water pressure, and further enabling the elastic ring 4 to compress the surface of the concrete structure;

Further, the concrete structure detection robot further comprises a submersible device 26 and a lower computer, wherein the submersible device 26 is formed by processing high-strength aluminum alloy pipes, the surface of the submersible device is subjected to waterproof oxidation treatment, and the submersible device is sealed by an O-shaped sealing ring in an axial sealing mode and can bear the water depth pressure of tens of meters; the lower computer is composed of a development board, a power module, a serial port, various circuit systems and the like, is fixed in the submersible 26, plays a role in preventing water and isolating underwater pressure, and is used for receiving and resolving control instructions issued by an HMI man-machine interface, and issuing the resolved instructions to a power system, a positioning navigation system, a defect detection device, a camera 29 and the like.

The HMI human-machine interface is connected with the lower computer through a zero-buoyancy tensile cable meeting the use length, so that power supply of the lower computer and information transmission between the HMI human-machine interface and the lower computer are realized, the cable extends out from the stern of the submersible 26 and is sleeved with a side cable sleeve, and the cable sleeve is fixed with the bottom plate by utilizing a U-shaped ring so as to prevent the cable from being damaged due to the pulling force.

The main casing 100 comprises an inner web 7, a middle plate 8, an outer web 9, two side fixing plates 10, six fixing columns 11 and a plurality of long bolts 12, wherein the inner web 7, the middle plate 8 and the outer web 9 are sequentially arranged from inside to outside, the two side fixing plates 10 are arranged between the inner web 7 and the middle plate 8 side by side and are perpendicular to the inner web 7 and the middle plate 8, the inner edge of the side fixing plate 10 is fixedly connected with the inner web 7, the outer edge of the side fixing plate 10 is fixedly connected with the middle plate 8, simultaneously, the inner web 7 is fixedly connected with the middle plate 8 through the six fixing columns 11 and the eight long bolts 12, and the middle plate 8 is fixedly connected with the outer web 9 through the eight long bolts 12. The inner web 7, the middle plate 8 and the outer web 9 are all made of aluminum alloy plates, so that the robot structure can be stabilized, and the surface of the whole main shell 100 is subjected to waterproof oxidation treatment.

The camera 29 is fixed on the inner web 7 and is arranged between the inner web 7 and the outer web 9 to realize omnibearing visual defect detection; the knocking hammer 2 and the motor of the impact echo instrument 1 are arranged in the vacuum cover 6, so that acoustic defect detection is realized. The camera 29 and the impact echo 1 together form a crack detection system.

The power system comprises five power mechanisms A13, five power mechanisms B14, one power mechanism C27 and two power mechanisms D30, wherein the five power mechanisms A13 are arranged on the inner side of an inner web 7, the five power mechanisms B14 are arranged between the tail end of an arm body 24 and a claw body 25, and the power mechanism C27 for controlling power is arranged between the first screw propeller 28 and the outer side of an outer web 9.

Four robot limbs 200 are respectively arranged at four corners of the main housing 100 to be connected with the inner web 7, and one robot limb 200 is located between the four robot limbs 200.

The positioning navigation system comprises positioning navigation elements (a GPS positioning system 15 and a USBL ultra-short baseline positioning system 16), a magnetic compass 17, a depth gauge 18 and a height gauge 19, wherein the GPS positioning system 15, the USBL ultra-short baseline positioning system 16 and the magnetic compass 17 are arranged on the outer surface of an outer web 9, and the depth gauge 18 and the height gauge 19 are arranged on an inner web 7.

The magnetic compass 17, the GPS positioning system 15 and the USBL ultra-short baseline positioning system 16 are arranged in sequence along the longitudinal axis in the outer side of the outer web 9 of the robot for determining the position and the posture of the robot, and the altimeter 19 and the depth meter 18 are arranged in sequence along the longitudinal axis in the inner web 7 of the robot for determining the depth and the height of the robot.

The power mechanism A13 can adopt a hydraulic motor, and is provided with a hydraulic cylinder 20 and a hydraulic rod 21, the hydraulic rod 21 is arranged in the hydraulic cylinder 20, a hydraulic spring 22 is arranged in the middle of a claw body 25 and a mechanical arm, the mechanical arm changes the movement direction through a joint motor 23 on the mechanical arm, and a controller, a speed reducer and a sensor are arranged on the mechanical arm. The power mechanism B14 can adopt a spiral motor, and is composed of a motor and a screw rod, the power mechanism C27 and the two power mechanisms D30 can both adopt direct current brushless motors, the two power mechanisms D30 are arranged on the outer side of the outer web 9, and the two smaller propellers are sequentially arranged on the two brushless direct current motors.

The more specific use steps of the underwater strong-fitting concrete structure detection robot are as follows:

step one: firstly, arranging a robot control display device on the shore near an underwater concrete structure to be detected, comprising: the system comprises a control instrument desk, a sound wave processing system, an image processing system and a release recovery device;

step two: releasing the robot, checking the underwater environment through a camera 29 device carried by the robot, and remotely controlling the robot to reach a designated position by using a control console or a remote controller;

step three: the method for predicting information and detecting requirements through the HMI human-machine interface comprises the following steps: the detection area, hammering times, what kind of sound wave is measured, and water environment information is sent to the robot, firstly, larger external cracks can be observed through the camera 29, and the photographed image is uploaded to an HMI human-machine interface for analysis by researchers;

step four: in order to detect the small cracks and defects inside the concrete structure, the gesture of the robot can be adjusted to enable the four claw bodies 25 to be rectangular, then the mechanical arm is controlled to move towards the wall surface through the control power mechanism A13, the claw bodies 25 are pushed to drive the compression ring 5 to press the plastic ring filled with water, the plastic ring is slowly pressed to the surface of the concrete structure, then the plastic ring is further pressed through the power mechanism B14, the plastic ring is further balanced, the robot is completely attached to the wall surface of the concrete structure, and meanwhile the plastic ring is pressed towards the wall surface of the concrete structure through the thrust generated by the middle power screw, so that triple pressing is achieved;

step five: at this time, the four vacuum hoods 6 around are vacuumized, seawater and air are pumped out of the vacuum hoods 6 through reserved pipe orifices, the vacuum hoods 6 are in a vacuum environment, and the vacuum hoods 6 are further compressed by utilizing the pressure difference of the water;

step six: the mechanism formed by the claw body 25 in the middle and the vacuum cover 6 is controlled to be slowly close to the wall surface of the concrete structure by controlling the power mechanism A13 in the middle until the plastic ring filled with water is completely and tightly pressed on the wall surface, and if the deflection is serious, the step four is repeated to balance the plastic ring;

step seven: at this time, the middle vacuum hood 6 is vacuumized, seawater and air are pumped out of the vacuum hood 6 through reserved pipe orifices, so that the vacuum hood 6 is in a vacuum environment, and the vacuum hood 6 is further compressed by utilizing the pressure difference of the water;

step eight: the knocking hammer 2 is knocked to the wall surface of the concrete structure by controlling the motor in the vacuum cover 6, the signal is recorded by the impact echo device, and finally the recorded signal data is uploaded to the HMI human-computer interface for analysis by researchers.

The invention can transmit information through an on-shore HMI human-machine interface (comprising a control instrument desk, a sound wave processing system, an image processing system and the like) and through a pavement light transmission device and an underwater light transmission device, and control a power system (comprising a hydraulic motor, a screw motor, a direct current brushless motor and the like), a navigation positioning system (comprising a positioning navigation element, a magnetic compass 17, an altimeter 19, a depth meter 18 and the like) and a crack detection system (comprising a camera 29, a knocking hammer 2, a motor and the like) to work.

The input signals of the HMI human-computer interface may include the required detection area, the hammering times, what kind of sound wave is measured, and water environment information, the position of the robot is determined through the navigation positioning system, the camera 29 looks at the condition of the whole crack, the control system controls the movement of the robot limb 200, the percussion hammer strikes the dykes and dams, and the impact echo instrument 1 obtains the sound wave, and the sound wave information, the image information and the position information can be output at the HMI human-computer interface.

According to the underwater strong-fitting concrete structure detection robot, the underwater concrete structure is detected in a mode of combining autonomous control operation and manual control operation, so that the detection efficiency of large defects is higher and more stable, the time of operators is saved, and the detection precision of small cracks and defects hidden in the interior is more precise; the underwater strong-fitting concrete structure detection robot is provided with five power mechanisms A13, five power mechanisms B14, one power mechanism C27 and two power mechanisms D30, and the motion of the robot is more stable by combining an automatic control algorithm through a controller, so that the impact echo device is less influenced; the invention adopts the mode of combining acoustics and optics to realize the detection of the defects of the underwater concrete structure, compared with a single detection mode, the invention can find large cracks through the camera 29, and can find small cracks and defects hidden inside through the impact echo device; simultaneously, the core of this patent is the gap that utilizes the plastic ring that fills water to fill concrete structure thing and contact object to separate the sea water into inside and outside two parts, through the evacuation to inside sea water, make it reach the vacuum state, then utilize the pressure differential of outside sea water to make vacuum hood 6 further compress tightly, make its laminating on concrete structure thing wall more stable firm. At the same time, the vacuum state inside the vacuum enclosure 6 provides good environmental support for using non-destructive inspection techniques. The main housing 100 of the present invention adopts an aluminum alloy structure and is fixed with the aluminum alloy cylinder and the long bolt 12, and compared with other plastic frame robots, the structural strength is higher and more stable.

It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims

1. The utility model provides a concrete structure thing detection robot of strong laminating under water which characterized in that, is including main casing, rope and install multiunit robot limb on the main casing, wherein:

the rope is connected to the main housing for driving the main housing to move.

2. The underwater strong-fitting concrete structure inspection robot according to claim 1, further comprising a power mechanism C and a first propeller, wherein the power mechanism C is mounted on the main housing and is connected to the first propeller for driving the first propeller to rotate, so that the robot limb moves in a direction approaching the concrete structure to further press the elastic ring against the concrete structure.

3. The underwater strong-fit concrete structure inspection robot of claim 1, further comprising two sets of propeller assemblies;

4. The underwater strong-fitting concrete structure inspection robot according to claim 1, wherein a camera for observing an underwater environment and/or a positioning navigation system for positioning are further installed on the main housing.

5. The underwater strong-fit concrete structure inspection robot of claim 1, wherein the defect inspection device is an impact echo apparatus.

6. The underwater strong-fitting concrete structure detection robot of claim 1, wherein the plastic ring is made of PVC material, nylon material, oxford or rubber.

7. The underwater strong-fit concrete structure inspection robot of claim 1, wherein the pressure ring is coaxially disposed with the plastic ring.

8. The underwater strong-fit concrete structure inspection robot of claim 1, wherein the arm body is a multi-axis mechanical arm.

9. The underwater strong-fitting concrete structure detection robot according to claim 1, further comprising a submersible machine and a lower computer, wherein the submersible machine is formed by processing high-strength aluminum alloy pipes, the surface of the submersible machine is subjected to waterproof oxidation treatment, the lower computer comprises a development board, a power module, a serial port and various circuit systems, the lower computer is installed in the submersible machine to play a role of preventing water and isolating underwater pressure, and is used for receiving and resolving control instructions issued by an on-shore HMI (human-machine interface) and issuing resolved control instructions.

10. The method for using the underwater strong-fitting concrete structure detection robot as claimed in any one of claims 1 to 9, which is characterized by comprising the following steps: