Underwater robot applied to bridge pier maintenance and maintenance method thereof

An underwater robot and robot technology, which is applied in the directions of underwater ships, bridge maintenance, underwater operation equipment, etc., can solve the problems of large unstable workload, complex flow field, and difficulty in ensuring the stable operation of the mechanical arm.

Active Publication Date: 2021-09-14
NINGBO UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. It can only be applied to occasions where the flow velocity is gentle and the depth is small. When the flow velocity in the detection water area is high, the flow field near the pier will become very complicated, generally accompanied by local turbulence and vortex. Ordinary operating robots cannot Carry out inspection operations near bridge piers;
[0005] 2. Although the balance of the underwater robot's work under water can be adjusted through propeller power distribution, when the underwater robot is equipped with a robotic arm to perform underwater operations, the operations between the robotic arm and the pier (such as drilling, cutting, etc.) ) will produce a large and unstable workload, and it is difficult to ensure that the manipulator can operate stably

Method used

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  • Underwater robot applied to bridge pier maintenance and maintenance method thereof
  • Underwater robot applied to bridge pier maintenance and maintenance method thereof
  • Underwater robot applied to bridge pier maintenance and maintenance method thereof

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Experimental program
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Effect test

Embodiment 1

[0040] Such as figure 1 — Figure 4 As shown, in this embodiment, an underwater robot applied to bridge pier maintenance includes a frame 100 , a wall-holding mechanism 200 , a first thruster 110 and a mechanical arm 120 .

[0041]One end of the frame 100 is provided with a pair of wall-holding mechanisms 200, each wall-holding mechanism 200 can rotate relative to the frame 100, each wall-holding mechanism 200 can be adsorbed on the pier, and a plurality of first propellers 110 are all arranged on the frame 100 Inside, the mechanical arm 120 is installed on one end of the frame 100, the mechanical arm 120 is located between two wall-holding mechanisms 200, the frame 100 is provided with a floating plate 190, and the floating plate 190 is provided with a plurality of push holes 191, each A third propeller (not marked) is arranged in the push hole 191, and the specifications and sizes of the third propeller and the first propeller 110 are the same. Further, the first propeller ...

Embodiment 2

[0050] Such as figure 1 — Figure 4 As shown, the present embodiment is a maintenance method for an underwater robot applied to bridge pier maintenance, including:

[0051] Step 1. Place the underwater robot in the water area to be detected, and the operator checks the searchlight 170 and the camera 140, and tests whether the power supply of the underwater robot is normal;

[0052] Step 2, start the underwater robot, and control the balance state of the underwater robot underwater by manipulating the first thruster 110;

[0053] Step 3. Through the navigation cabin 320 of the underwater robot, operate the underwater robot to move to the work site according to the planned path. When the underwater robot moves to the work site, the camera 140 and the second sonar 150 will transmit the real-time images through the transmission head 130 Pass to the receiver of the underwater robot, so that the operator can judge whether the arrival area has reached the pier area to be detected, ...

Embodiment 3

[0061] In this embodiment, a step is added in step 4 of the second embodiment.

[0062] Specifically, when the water quality is turbid and the camera 140 cannot acquire a clear picture, the second sonar 150 is turned on to acquire a real-time picture of the pier surface.

[0063] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

[0064] In addition, in the present invention, descriptions such as "first", "second", "one" and so on are used for descriptive purposes only, and should not be understood as indicating or implying their relative importance or implicitly indicating the indicated technical features quan...

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Abstract

The invention provides an underwater robot applied to bridge pier maintenance and a maintenance method thereof, and belongs to the technical field of underwater robots. The invention solves the problem that existing underwater robots cannot stably work in a torrent area. According to the underwater robot applied to bridge pier maintenance and the maintenance method thereof, the underwater robot comprises a frame, a wall holding mechanism, a first propeller and a mechanical arm. When the underwater robot moves to the bridge pier needing to be overhauled, the wall holding mechanism is unfolded and adsorbed to the bridge pier needing to be overhauled, and therefore stable connection between the underwater robot and the bridge pier is achieved, so that the situation that the underwater robot is washed away by torrent beside the bridge pier is avoided, and then an operator can control the mechanical arm to maintain the surface of the bridge pier.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, and relates to an underwater robot applied to bridge pier maintenance and a maintenance method thereof. Background technique [0002] After many years of use of the bridge, the piers of the underwater part will have cracks, lesions or partial damage due to factors such as water erosion, corrosion or impact of foreign objects. Therefore, regular inspection and maintenance of the bridge and the underwater part is required. In the past, the underwater inspection of bridges was done by professional divers. However, this inspection method has a high risk of personnel safety and is difficult to implement on most bridges with high flow velocity and large water depth. In order to solve this problem, people have begun to try to use The underwater robot replaces manual inspection of the underwater part of the bridge. [0003] Conventional underwater robots have the following problems when perfor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52B63G8/00B63G8/38G01C21/16E01D22/00E01D19/10
CPCB63C11/52B63G8/001B63G8/38G01C21/1652E01D22/00E01D19/106
Inventor 尚伟燕吕忠达曹鸿飞赵卓王飞廖庆斌
Owner NINGBO UNIVERSITY OF TECHNOLOGY
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