Underwater adsorption type obstacle crossing robot and obstacle crossing method thereof

Abstract

The invention relates to the technical field of engineering detection, and discloses an underwater adsorption type obstacle crossing robot. The underwater adsorption type obstacle crossing robot comprises a bearing platform, wherein four corners of the bearing platform are connected with wheel feet through rotating joint legs, a sucker is arranged at the bottoms of the wheel feet, two driving wheels connected with a driving motor are arranged on the outer sides of the wheel feet, and a driven wheel is arranged on the inner sides of the wheel feet. The invention further discloses an obstacle crossing method of the underwater adsorption type obstacle crossing robot. According to the underwater adsorption type obstacle crossing robot and the obstacle crossing method thereof, the underwater adsorption type obstacle crossing robot can climb along the surfaces of concrete structure bodies of various grades and can smoothly span different types of obstacles, the working depth is large, the efficiency is high, and the obstacle crossing capacity is high.

Description

technical field [0001] The invention relates to the technical field of engineering detection, in particular to an underwater adsorption obstacle-surmounting robot and an obstacle-surmounting method thereof. Background technique [0002] During the operation of hydraulic structures, it is necessary to carry out regular inspection and defect detection on the underwater part. Manual diving inspection depth is small, the efficiency is low, and the safety risk is high; wheeled robots cannot detect large slopes and upright walls, although adsorption robots It can detect vertical walls, but obstacles or defects on the wall will seriously affect its normal movement and bring great difficulties to underwater concrete detection. Therefore, it is of great practical significance to improve the movement mode of underwater robots and improve their ability to overcome obstacles. . Contents of the invention [0003] The purpose of the present invention is to address the deficiencies of t...

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Problems solved by technology

[0002] During the operation of hydraulic structures, it is necessary to carry out regular inspection and defect detection on the underwater part. Manual diving inspection depth is small, the efficiency is low, and the safety risk is high; wheeled robots cannot detect large slopes and upright walls, although adsorption robots It can detect vertical walls, but obstacles or defects on the wall will seriously affect its normal movement and bring great difficulties to underwater concrete detection. Therefore, it is of great practical significance to improve the movement mode of underwater robots and improve their ability to overcome obstacles.

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