CN208248467U - A kind of bridge pier underwater detecting robot mechanical system - Google Patents
A kind of bridge pier underwater detecting robot mechanical system Download PDFInfo
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- CN208248467U CN208248467U CN201820463964.3U CN201820463964U CN208248467U CN 208248467 U CN208248467 U CN 208248467U CN 201820463964 U CN201820463964 U CN 201820463964U CN 208248467 U CN208248467 U CN 208248467U
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Abstract
The utility model relates to a kind of robotic mechanical system, especially a kind of bridge pier underwater detecting robot mechanical system.It includes carrying ship (1), hoisting mechanism (2), fixed mechanism waterborne (3) and underwater testing agency (4), the end of carrying ship (1) is equipped with hoisting mechanism (2), the oblique upper of hoisting mechanism (2) is equipped with fixed mechanism waterborne (3), and fixed mechanism (3) waterborne is arranged right below underwater testing agency (4).The utility model provides the detection more fast, convenient and safe to bridge pier, avoids the manual work of bridge pier underwater portion, reduces detection operation safety risk.
Description
Technical field
The utility model relates to a kind of robotic mechanical system, especially a kind of bridge pier underwater detecting robot machinery system
System.
Background technique
With the fast development in city, to achieve the purpose that road improvement is current, urban road bridges will necessarily pass through mountain
River river, bridge Guo is underwater due to being month after month soaked in throughout the year, larger by water itself environment and external influence, and ship of such as opening the navigation or air flight is hit
Hit, the defects of mixed mud outer surface corroded by water body, peeled off, cracking, cause under serious conditions inside mixed mud reinforcing bar exposed
Outside, serious influence is caused to the safety of bridge superstructure.The detection of the underwater pier stud of bridge pier mostly uses frogman to be lauched greatly at present
It is manually sounded out the people in a given scope one by one in order to break a criminal case, carries out appearance detection by Underwater Camera, the disadvantage is that: (1) it detects work and is all carried out by artificial,
The examined personnel's physical condition of testing result and operation level are affected；(2) detection randomness is big, poor repeatability, as a result fixed
Position inaccuracy, limitation are obvious；(3) it is affected by weather, is not suitable for long-time underwater operation from a security point of view.
Utility model content
The purpose of the utility model is to provide a kind of bridge pier underwater detecting robot mechanical systems, provide more traditional
The more fast, convenient and safe detection of operation, avoids the manual work of bridge pier underwater portion, reduces detection operation safety
Risk.
In order to solve the above technical problems, the utility model adopts the following technical solutions:
A kind of bridge pier underwater detecting robot mechanical system includes carrying ship, hoisting mechanism, fixed mechanism waterborne and underwater
Testing agency, the end of the carrying ship are equipped with hoisting mechanism, and the oblique upper of the hoisting mechanism is equipped with fixed mechanism waterborne, institute
That states fixed mechanism waterborne is arranged right below underwater testing agency.This bridge pier underwater detecting robot mechanical system by carrying ship,
Four parts such as hoisting mechanism, fixed mechanism waterborne and underwater testing agency composition, wherein carrying ship is responsible for the water surface of whole system
Mobile, fixed mechanism waterborne is responsible for for whole system and bridge pier being connected as one, and underwater testing agency is responsible for the bridge pier water surface or less
Partial visual defects detection, and what hoisting mechanism was responsible for underwater testing agency rises or falls movement.
Bridge pier underwater detecting robot mechanical system above-mentioned, the hoisting mechanism include support, elevator power device, volume
Axis reinforcing frame, spool, reel, swing arm shaft and connecting plate, the connecting plate level are set to the end of carrying ship, the connecting plate
It is equipped with support, is equipped with elevator power device in the support, the elevator power device and spool are coaxially arranged, and elevator is dynamic
Power device is placed in the middle part of spool, and the both ends of the spool are mounted on reel, and wirerope, the company are wound on the reel
The bottom surface of fishplate bar is additionally provided with swing arm shaft normal thereto；The side of the spool is additionally provided with spool reinforcing frame, and the two of spool
End is fixedly connected with the both ends of spool reinforcing frame.Hoisting mechanism is mainly responsible for the folding and unfolding movement of wirerope, to realize underwater inspection
The raising and lowering movement of mechanism is surveyed, elevator power device therein is made of motor and turbine and worm retarder, passes through motor
A turbine and worm retarder is driven, so that entire hoisting mechanism be driven to act.
Bridge pier underwater detecting robot mechanical system above-mentioned, the fixed mechanism waterborne include folded arm, power mechanism, steel
Cord wheel and tube pulling, wherein folded arm includes several profiles and connector sleeve, is connected before the adjacent profiles by connector sleeve；Institute
It states and is equipped with power mechanism on the outside of the middle part of folded arm, be equipped with wire rope pulley on the outside of the both ends of the folded arm, the one of the wirerope
End is set around on wire rope pulley, and the other end of the wirerope is set around on reel, and tube pulling, institute are equipped with beside the wire rope pulley
The straight line where tube pulling is stated perpendicular to the plane where folded arm.Wherein fixed mechanism waterborne is mainly made of profile and connector sleeve
Folded arm, folded arm carry out folded arm and swing arm movement, the wire rope pulley in addition installed in folded arm and tube pulling, steel by power mechanism
Cord wheel drives underwater testing agency by wirerope, to realize the rise and fall movement of underwater testing agency.
Bridge pier underwater detecting robot mechanical system above-mentioned further includes shaft, and the power mechanism includes pull rod and electronic
Push rod, the pull rod are divided into the two sides of electric pushrod, and one end of the pull rod and the end of electric pushrod are coaxially arranged, described
The other end of pull rod is set in folded arm, and the other end of the electric pushrod is fixed in folded arm through shaft.The wherein movement of folded arm
The power mechanism of pull rod and the electric pushrod composition of rear end acts to carry out folded arm and swing arm.
Bridge pier underwater detecting robot mechanical system above-mentioned, the underwater testing agency include main support portion, detection dress
It sets, guiding device, shaft sleeve and synchronous casing, wherein main support portion is made of two ring supports, the main support portion
Upper and lower side is mounted on guiding device, and at least two detection devices sliding is set on guiding device, the main support portion
Lateral surface be equipped with shaft sleeve vertically, arm pivoted end is opened up in the hoisting mechanism and is placed in shaft sleeve；The main branch
The lateral surface of support part is also equipped with synchronous casing vertically, and the end of tube pulling is placed in synchronous casing in the fixed mechanism waterborne.Its
In underwater testing agency mainly by two semicircular ring supports as main support portion, the side up and down of ring support is equipped with
Guiding device of the ring-shaped guide rail as detection device, this kind of guiding device also function to the work reinforced ring support simultaneously
With；Shaft sleeve makes swing arm of the fixed mechanism waterborne of underwater testing agency and top in non-detection status with synchronous casing
Movement synchronizes.
Bridge pier underwater detecting robot mechanical system above-mentioned, the underwater testing agency further includes buoyance module and elasticity
Stabilizer blade, the buoyance module are set to the outer middle side part of ring support, and the both ends of described two ring supports are equipped with flexible feet.
The intermediate outer fix of ring support is equipped with buoyance module made of buoyant material, and the weight of testing agency under equilibrium water is carried out with this
Amount.Flexible feet is being installed close to ring support end, to adapt to rough bridge pier cylinder.
Bridge pier underwater detecting robot mechanical system above-mentioned, the detection device include camera, lighting source, slide,
Motor, toothed belt and belt wheel, wherein camera is set on guiding device through slide sliding, and lighting source, institute are equipped with by the camera
The back side for stating camera is equipped with motor, and belt wheel is equipped with below the motor, is equipped with a toothed belt on the outside of the guiding device,
The belt wheel is meshed with toothed belt.
Compared with prior art, the utility model has the beneficial effect that
1, a kind of bridge pier underwater detecting robot mechanical system is devised, carrying ship therein is responsible for the water surface of whole system
Mobile, fixed mechanism waterborne is responsible for for whole system and bridge pier being connected as one, and underwater testing agency is responsible for the bridge pier water surface or less
Partial visual defects detection, and hoisting mechanism is responsible for the movement that rises or falls of underwater testing agency, is completed by the system
Bridge pier must detect work；
2, this system can be realized the detection more fast, convenient and safe compared with traditional work, avoid bridge pier underwater portion
Manual work, be protected from weather influences, improve the accuracy of testing result, reduce detection operation safety risk；
3, the patent name applied on the same day with applicant is the skill of " a kind of robot system detected under water for bridge pier "
Art scheme is compared, and the utility model is more simple for a kind of structure, the low mechanical system for being also easy to operation of input cost, later period dimension
The cost of shield is relatively low, economically advantageously.
Detailed description of the invention
Fig. 1 is working state schematic representation when the utility model is used to detect bridge pier；
Fig. 2 is the structural schematic diagram of the utility model；
Fig. 3 is the structural schematic diagram of hoisting mechanism in the utility model；
Fig. 4 is the structural schematic diagram of fixed mechanism waterborne in the utility model；
Fig. 5 is the structural schematic diagram of underwater testing agency in the utility model；
Fig. 6 is the swing arm status diagram of underwater testing agency in the utility model；
Fig. 7 is the structural schematic diagram of detection device in the utility model.
The meaning of appended drawing reference: 1- carrying ship, 2- hoisting mechanism, 3- fixed mechanism waterborne, the underwater testing agency of 4-, 5- branch
Seat, 6- elevator power device, 7- spool reinforcing frame, 8- spool, 9- reel, 10- swing arm shaft, 11- connecting plate, 12- folded arm,
1201- profile, 1202- connector sleeve, 13- power mechanism, 1301- pull rod, 1302- electric pushrod, 14- wire rope pulley, 15- are dialled
Pipe, 16- shaft, the main support portion of 17-, 1701- ring support, 18- detection device, 1801- camera, 1802- lighting source,
1803- slide, 1804- motor, 1805- toothed belt, 1806- belt wheel, 19- guiding device, 20- shaft sleeve, 21- synchronizing sleeve
Pipe, 22- buoyance module, 23- wirerope, 24- flexible feet.
The utility model is further described with reference to the accompanying drawings and detailed description.
Specific embodiment
The embodiments of the present invention 1: as Figure 1-Figure 4, a kind of bridge pier underwater detecting robot mechanical system includes
Carrying ship 1, hoisting mechanism 2, fixed mechanism waterborne 3 and underwater testing agency 4, the end of the carrying ship 1 are equipped with hoisting mechanism
2, the oblique upper of the hoisting mechanism 2 is equipped with fixed mechanism 3 waterborne, and the fixed mechanism 3 waterborne is arranged right below underwater inspection
Survey mechanism 4.This bridge pier underwater detecting robot mechanical system is by carrying ship 1, hoisting mechanism 2, fixed mechanism waterborne 3 and underwater inspection
It surveys four parts such as mechanism 4 to form, wherein carrying ship 1 is responsible for the water surface movable of whole system, and fixed mechanism 3 waterborne is responsible for will be entire
System is connected as one with bridge pier, and the visual defects that underwater testing agency 4 is responsible for the bridge pier water surface or less part detect, and hoist engine
What structure 2 was responsible for underwater testing agency 4 rises or falls movement.
Hoisting mechanism 2 includes support 5, elevator power device 6, spool reinforcing frame 7, spool 8, reel 9,10 and of swing arm shaft
Connecting plate 11, the horizontal end for being set to carrying ship 1 of the connecting plate 11, the connecting plate 11 are equipped with support 5, the support 5
Interior to be equipped with elevator power device 6, the elevator power device 6 and spool 8 are coaxially arranged, and elevator power device 6 is placed in spool 8
Middle part, the both ends of the spool 8 are mounted on reel 9, wirerope 23 are wound on the reel 9, the connecting plate 11
Bottom surface is additionally provided with swing arm shaft 10 normal thereto；The side of the spool 8 is additionally provided with spool reinforcing frame 7, and the both ends of spool 8
It is fixedly connected with the both ends of spool reinforcing frame 7.Hoisting mechanism 2 is mainly responsible for the folding and unfolding movement of wirerope 23, to realize underwater
The raising and lowering of testing agency 4 acts, and elevator power device 6 therein is made of motor and turbine and worm retarder, passes through
Motor drives a turbine and worm retarder, so that entire hoisting mechanism 2 be driven to act.
Fixed mechanism 3 waterborne includes folded arm 12, power mechanism 13, wire rope pulley 14 and tube pulling 15, and wherein folded arm 12 includes
Several profiles 1201 and connector sleeve 1202, the adjacent profiles 1201 are connected by connector sleeve 1202 before；The folded arm 12
Middle part on the outside of be equipped with power mechanism 13, be equipped with wire rope pulley 14 on the outside of the both ends of the folded arm 12, the wirerope 23
One end is set around on wire rope pulley 14, and the other end of the wirerope 23 is set around on reel 9, is set beside the wire rope pulley 14
There is tube pulling 15, the straight line where the tube pulling 15 is perpendicular to the plane where folded arm 12.Wherein fixed mechanism 3 waterborne is mainly by type
The folded arm 12 that material 1201 and connector sleeve 1202 form, folded arm 12 carry out folded arm and swing arm movement by power mechanism 13, in addition
The wire rope pulley 14 installed in folded arm 12 and tube pulling 15, wire rope pulley 14 drive underwater testing agency 4 by wirerope 23, from
And realize the rise and fall movement of underwater testing agency 4.Bridge pier underwater detecting robot mechanical system further includes shaft 16, described
Power mechanism 13 includes pull rod 1301 and electric pushrod 1302, and the pull rod 1301 is divided into the two sides of electric pushrod 1302, institute
The one end for stating pull rod 1301 and the end of electric pushrod 1302 are coaxially arranged, and the other end of the pull rod 1301 is set to folded arm 12
On, the other end of the electric pushrod 1302 is fixed in folded arm 12 through shaft 16.The wherein pull rod of the movement rear end of folded arm 12
1301 power mechanisms 13 formed with electric pushrod 1302 act to carry out folded arm and swing arm.
Specifically, the folded arm 12 that fixed mechanism 3 waterborne is mainly made of aluminum profile 1201 and steel connector sleeve 1202, folded arm
12 are acted by the power mechanism 13 that the pull rod 1301 and electric pushrod 1302 of rear end form to carry out folded arm and swing arm, are in addition existed
The wire rope pulley 14 installed in folded arm 12 and tube pulling 15, wire rope pulley 14 drive underwater testing agency 4 by wirerope 23, thus
Realize the rise and fall movement of underwater testing agency 4, and tube pulling 15 is to drive underwater detection machine when embracing bridge pier movement in initial
Structure 4 is realized together embraces bridge pier movement.
Embodiment 2: as shown in figs 1 to 6, a kind of bridge pier underwater detecting robot mechanical system includes carrying ship 1, elevator
Mechanism 2, fixed mechanism waterborne 3 and underwater testing agency 4, the end of the carrying ship 1 are equipped with hoisting mechanism 2, the hoist engine
The oblique upper of structure 2 is equipped with fixed mechanism 3 waterborne, and the fixed mechanism 3 waterborne is arranged right below underwater testing agency 4.This bridge
Pier underwater detecting robot mechanical system is by carrying ship 1, hoisting mechanism 2, fixed mechanism waterborne 3 and underwater testing agency 4 etc. four
Part forms, and wherein carrying ship 1 is responsible for the water surface movable of whole system, and fixed mechanism 3 waterborne is responsible for whole system and bridge pier
It is connected as one, underwater testing agency 4 is responsible for the visual defects detection of the bridge pier water surface or less part, and hoisting mechanism 2 is responsible for water
Lower testing agency 4 rises or falls movement.
Hoisting mechanism 2 includes support 5, elevator power device 6, spool reinforcing frame 7, spool 8, reel 9,10 and of swing arm shaft
Connecting plate 11, the horizontal end for being set to carrying ship 1 of the connecting plate 11, the connecting plate 11 are equipped with support 5, the support 5
Interior to be equipped with elevator power device 6, the elevator power device 6 and spool 8 are coaxially arranged, and elevator power device 6 is placed in spool 8
Middle part, the both ends of the spool 8 are mounted on reel 9, wirerope 23 are wound on the reel 9, the connecting plate 11
Bottom surface is additionally provided with swing arm shaft 10 normal thereto；The side of the spool 8 is additionally provided with spool reinforcing frame 7, and the both ends of spool 8
It is fixedly connected with the both ends of spool reinforcing frame 7.Hoisting mechanism 2 is mainly responsible for the folding and unfolding movement of wirerope 23, to realize underwater
The raising and lowering of testing agency 4 acts, and elevator power device 6 therein is made of motor and turbine and worm retarder, passes through
Motor drives a turbine and worm retarder, so that entire hoisting mechanism 2 be driven to act.
Fixed mechanism 3 waterborne includes folded arm 12, power mechanism 13, wire rope pulley 14 and tube pulling 15, and wherein folded arm 12 includes
Several profiles 1201 and connector sleeve 1202, the adjacent profiles 1201 are connected by connector sleeve 1202 before；The folded arm 12
Middle part on the outside of be equipped with power mechanism 13, be equipped with wire rope pulley 14 on the outside of the both ends of the folded arm 12, the wirerope 23
One end is set around on wire rope pulley 14, and the other end of the wirerope 23 is set around on reel 9, is set beside the wire rope pulley 14
There is tube pulling 15, the straight line where the tube pulling 15 is perpendicular to the plane where folded arm 12.Wherein fixed mechanism 3 waterborne is mainly by type
The folded arm 12 that material 1201 and connector sleeve 1202 form, folded arm 12 carry out folded arm and swing arm movement by power mechanism 13, in addition
The wire rope pulley 14 installed in folded arm 12 and tube pulling 15, wire rope pulley 14 drive underwater testing agency 4 by wirerope 23, from
And realize the rise and fall movement of underwater testing agency 4.
Underwater testing agency 4 includes main support portion 17, detection device 18, guiding device 19, shaft sleeve 20 and synchronizing sleeve
Pipe 21, wherein main support portion 17 is made of two ring supports 1701, the side up and down of the main support portion 17, which is mounted on, is led
To device 19, the sliding of at least two detection device 18 is set on guiding device 19, and the lateral surface of the main support portion 17 is perpendicular
It is directly equipped with shaft sleeve 20, the end of swing arm shaft 10 is placed in shaft sleeve 20 in the hoisting mechanism 2；The main support portion
17 lateral surface is also equipped with synchronous casing 21 vertically, and the end of tube pulling 15 is placed in synchronous casing 21 in the fixed mechanism 3 waterborne
It is interior.Wherein underwater testing agency 4 is mainly used as main support portion 17, ring support 1701 by two semicircular ring supports 1701
Side up and down guiding device 19 of the ring-shaped guide rail as detection device 18 be installed, this kind of guiding device 19 also functions to pair simultaneously
The effect that ring support 1701 is reinforced；Shaft sleeve 20 makes the water of underwater testing agency 4 and top with synchronous casing 21
Swing arm of the upper fixed mechanism 3 in non-detection status, which acts, to be synchronized.Underwater testing agency 4 further includes buoyance module 22 and elasticity branch
Foot 24, the buoyance module 22 are set to the outer middle side part of ring support 1701, and the both ends of described two ring supports 1701 are all provided with
Flexible stabilizer blade 24.The intermediate outer fix of ring support 1701 is equipped with buoyance module 22 made of buoyant material, is come with this
The weight of testing agency 4 under equilibrium water.Flexible feet 24 is being installed close to 1701 end of ring support, to adapt to bumps not
Flat bridge pier cylinder.
Embodiment 3: as shown in Fig. 1-Fig. 7, a kind of bridge pier underwater detecting robot mechanical system includes carrying ship 1, elevator
Mechanism 2, fixed mechanism waterborne 3 and underwater testing agency 4, the end of the carrying ship 1 are equipped with hoisting mechanism 2, the hoist engine
The oblique upper of structure 2 is equipped with fixed mechanism 3 waterborne, and the fixed mechanism 3 waterborne is arranged right below underwater testing agency 4.This bridge
Pier underwater detecting robot mechanical system is by carrying ship 1, hoisting mechanism 2, fixed mechanism waterborne 3 and underwater testing agency 4 etc. four
Part forms, and wherein carrying ship 1 is responsible for the water surface movable of whole system, and fixed mechanism 3 waterborne is responsible for whole system and bridge pier
It is connected as one, underwater testing agency 4 is responsible for the visual defects detection of the bridge pier water surface or less part, and hoisting mechanism 2 is responsible for water
Lower testing agency 4 rises or falls movement.
Hoisting mechanism 2 includes support 5, elevator power device 6, spool reinforcing frame 7, spool 8, reel 9,10 and of swing arm shaft
Connecting plate 11, the horizontal end for being set to carrying ship 1 of the connecting plate 11, the connecting plate 11 are equipped with support 5, the support 5
Interior to be equipped with elevator power device 6, the elevator power device 6 and spool 8 are coaxially arranged, and elevator power device 6 is placed in spool 8
Middle part, the both ends of the spool 8 are mounted on reel 9, wirerope 23 are wound on the reel 9, the connecting plate 11
Bottom surface is additionally provided with swing arm shaft 10 normal thereto；The side of the spool 8 is additionally provided with spool reinforcing frame 7, and the both ends of spool 8
It is fixedly connected with the both ends of spool reinforcing frame 7.Hoisting mechanism 2 is mainly responsible for the folding and unfolding movement of wirerope 23, to realize underwater
The raising and lowering of testing agency 4 acts, and elevator power device 6 therein is made of motor and turbine and worm retarder, passes through
Motor drives a turbine and worm retarder, so that entire hoisting mechanism 2 be driven to act.
Fixed mechanism 3 waterborne includes folded arm 12, power mechanism 13, wire rope pulley 14 and tube pulling 15, and wherein folded arm 12 includes
Several profiles 1201 and connector sleeve 1202, the adjacent profiles 1201 are connected by connector sleeve 1202 before；The folded arm 12
Middle part on the outside of be equipped with power mechanism 13, be equipped with wire rope pulley 14 on the outside of the both ends of the folded arm 12, the wirerope 23
One end is set around on wire rope pulley 14, and the other end of the wirerope 23 is set around on reel 9, is set beside the wire rope pulley 14
There is tube pulling 15, the straight line where the tube pulling 15 is perpendicular to the plane where folded arm 12.Wherein fixed mechanism 3 waterborne is mainly by type
The folded arm 12 that material 1201 and connector sleeve 1202 form, folded arm 12 carry out folded arm and swing arm movement by power mechanism 13, in addition
The wire rope pulley 14 installed in folded arm 12 and tube pulling 15, wire rope pulley 14 drive underwater testing agency 4 by wirerope 23, from
And realize the rise and fall movement of underwater testing agency 4.
Underwater testing agency 4 includes main support portion 17, detection device 18, guiding device 19, shaft sleeve 20 and synchronizing sleeve
Pipe 21, wherein main support portion 17 is made of two ring supports 1701, the side up and down of the main support portion 17, which is mounted on, is led
To device 19, the sliding of at least two detection device 18 is set on guiding device 19, and the lateral surface of the main support portion 17 is perpendicular
It is directly equipped with shaft sleeve 20, the end of swing arm shaft 10 is placed in shaft sleeve 20 in the hoisting mechanism 2；The main support portion
17 lateral surface is also equipped with synchronous casing 21 vertically, and the end of tube pulling 15 is placed in synchronous casing 21 in the fixed mechanism 3 waterborne
It is interior.Wherein underwater testing agency 4 is mainly used as main support portion 17, ring support 1701 by two semicircular ring supports 1701
Side up and down guiding device 19 of the ring-shaped guide rail as detection device 18 be installed, this kind of guiding device 19 also functions to pair simultaneously
The effect that ring support 1701 is reinforced；Shaft sleeve 20 makes the water of underwater testing agency 4 and top with synchronous casing 21
Swing arm of the upper fixed mechanism 3 in non-detection status, which acts, to be synchronized.
Specifically, underwater testing agency 4 is mainly used as main branch by two semicircular foam glass steel ring supports 1701
Support part 17, about 1701 side of ring support are equipped with guiding device 19 of the nonmetallic ring-shaped guide rail as detection device 18, ring
Shape guide rail also functions to the effect reinforced ring support 1701 simultaneously.The intermediate outer fix of ring support 1701 is equipped with
Buoyance module 22 made of buoyant material carry out the weight of testing agency 4 under equilibrium water with this.Close to 1701 end of ring support
Flexible feet 24 is installed, to adapt to rough bridge pier cylinder.Shaft sleeve 20 to examine under water with synchronous casing 21
It is synchronous with the swing arm movement in non-detection status of the fixed mechanism waterborne 3 of top to survey mechanism 4.Detection device 18 includes camera
1801, lighting source 1802, slide 1803, motor 1804, toothed belt 1805 and belt wheel 1806, wherein camera 1801 is through slide
1803 slidings are set on guiding device 19, lighting source 1802 are equipped with by the camera 1801, the back side of the camera 1801 is set
There is motor 1804, is equipped with belt wheel 1806 below the motor 1804, the outside of the guiding device 19 is equipped with a toothed belt
1805, the belt wheel 1806 is meshed with toothed belt 1805.
Claims (7)
1. a kind of bridge pier underwater detecting robot mechanical system, which is characterized in that including carrying ship (1), hoisting mechanism (2), water
The end of upper fixed mechanism (3) and underwater testing agency (4), the carrying ship (1) is equipped with hoisting mechanism (2), the hoist engine
The oblique upper of structure (2) is equipped with fixed mechanism waterborne (3), and the fixed mechanism (3) waterborne is arranged right below underwater testing agency
(4)。
2. bridge pier underwater detecting robot mechanical system according to claim 1, which is characterized in that the hoisting mechanism
It (2) include support (5), elevator power device (6), spool reinforcing frame (7), spool (8), reel (9), swing arm shaft (10) and company
Fishplate bar (11), the horizontal end for being set to carrying ship (1) of the connecting plate (11), the connecting plate (11) are equipped with support (5), institute
It states in support (5) and is equipped with elevator power device (6), the elevator power device (6) and spool (8) are coaxially arranged, and elevator is dynamic
Power device (6) is placed in the middle part of spool (8), and the both ends of the spool (8) are mounted on reel (9), winds on the reel (9)
Have wirerope (23), the bottom surface of the connecting plate (11) is additionally provided with swing arm shaft (10) normal thereto；The one of the spool (8)
Side is additionally provided with spool reinforcing frame (7), and the both ends of spool (8) are fixedly connected with the both ends of spool reinforcing frame (7).
3. bridge pier underwater detecting robot mechanical system according to claim 2, which is characterized in that the fixed machine waterborne
Structure (3) includes folded arm (12), power mechanism (13), wire rope pulley (14) and tube pulling (15), and wherein folded arm (12) includes several
Profile (1201) and connector sleeve (1202), the adjacent profiles (1201) are connected by connector sleeve (1202) before；The folded arm
(12) power mechanism (13) are equipped on the outside of middle part, are equipped with wire rope pulley (14) on the outside of the both ends of the folded arm (12), it is described
One end of wirerope (23) is set around on wire rope pulley (14), and the other end of the wirerope (23) is set around on reel (9), institute
It states and is equipped with tube pulling (15) beside wire rope pulley (14), the straight line where the tube pulling (15) is perpendicular to flat where folded arm (12)
Face.
4. bridge pier underwater detecting robot mechanical system according to claim 3, which is characterized in that further include shaft
(16), the power mechanism (13) includes pull rod (1301) and electric pushrod (1302), and the pull rod (1301) is divided into electronic
The two sides of push rod (1302), one end of the pull rod (1301) and the end of electric pushrod (1302) are coaxially arranged, the pull rod
(1301) the other end is set on folded arm (12), and the other end of the electric pushrod (1302) is fixed on folded arm through shaft (16)
(12) on.
5. bridge pier underwater detecting robot mechanical system according to claim 3, which is characterized in that the underwater detection machine
Structure (4) includes main support portion (17), detection device (18), guiding device (19), shaft sleeve (20) and synchronous casing (21),
Middle main support portion (17) is made of two ring supports (1701), and the side up and down of the main support portion (17) is mounted on guiding
Device (19), at least two detection device (18) sliding is set on guiding device (19), outside the main support portion (17)
Side vertical is equipped with shaft sleeve (20), and the end of swing arm shaft (10) is placed in shaft sleeve (20) in the hoisting mechanism (2)
It is interior；The lateral surface of the main support portion (17) is also equipped with synchronous casing (21) vertically, tube pulling in the fixed mechanism (3) waterborne
(15) end is placed in synchronous casing (21).
6. bridge pier underwater detecting robot mechanical system according to claim 5, which is characterized in that the underwater detection machine
Structure (4) further includes buoyance module (22) and flexible feet (24), and the buoyance module (22) is set to the outer of ring support (1701)
The both ends of middle side part, described two ring supports (1701) are equipped with flexible feet (24).
7. bridge pier underwater detecting robot mechanical system according to claim 5, which is characterized in that the detection device
It (18) include camera (1801), lighting source (1802), slide (1803), motor (1804), toothed belt (1805) and belt wheel
(1806), wherein camera (1801) is set on guiding device (19) through slide (1803) sliding, is equipped with by the camera (1801)
The back side of lighting source (1802), the camera (1801) is equipped with motor (1804), and belt wheel is equipped with below the motor (1804)
(1806), a toothed belt (1805), the belt wheel (1806) and toothed belt are equipped on the outside of the guiding device (19)
(1805) it is meshed.
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| CN201820463964.3U CN208248467U (en) | 2018-04-03 | 2018-04-03 | A kind of bridge pier underwater detecting robot mechanical system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408005A (en) * | 2018-04-03 | 2018-08-17 | 上海圭目机器人有限公司 | A kind of bridge pier underwater detecting robot mechanical system |
| CN110525614A (en) * | 2019-09-03 | 2019-12-03 | 嘉陵江亭子口水利水电开发有限公司 | A kind of underwater detection device and unmanned boat detection system |
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2018
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408005A (en) * | 2018-04-03 | 2018-08-17 | 上海圭目机器人有限公司 | A kind of bridge pier underwater detecting robot mechanical system |
| CN108408005B (en) * | 2018-04-03 | 2024-04-19 | 上海圭目机器人有限公司 | Pier underwater detection robot system |
| CN110525614A (en) * | 2019-09-03 | 2019-12-03 | 嘉陵江亭子口水利水电开发有限公司 | A kind of underwater detection device and unmanned boat detection system |
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