Robot suitable for detecting underwater and overwater parts of bridge pile foundation and control method

A technology of robots and pile foundations, applied in the field of robots, can solve problems such as high cost and complex robots, and achieve the effects of small overall size, good versatility, and insufficient clarity

Active Publication Date: 2021-11-05
NORTHWESTERN POLYTECHNICAL UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] (3) The robot adopts the working method of deploying on the shore and then parading to the bridge pile foundation for tight detection, so the robot is more complicated and costly

Method used

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  • Robot suitable for detecting underwater and overwater parts of bridge pile foundation and control method
  • Robot suitable for detecting underwater and overwater parts of bridge pile foundation and control method
  • Robot suitable for detecting underwater and overwater parts of bridge pile foundation and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] Embodiment one: see attached figure 1 and figure 2 , a robot suitable for testing the underwater and above-water parts of bridge pile foundations, which is in the shape of a "U" or a semicircle as a whole, including a frame 1, two sets of upper and lower holding mechanisms 2, a walking mechanism 3, a rotating mechanism 4, Adjusting mechanism 5, observation mechanism 6, propeller 7, buoyancy bucket 8, cable 9 and shore support equipment 10 (not shown in the figure).

[0057] See attached image 3 and Figure 4 , the frame 1 includes a column 1-1, a base 1-2, a top seat 1-3, a slide rail 1-4, and a propeller mount 1-5; the column 1-1 includes two parallel vertical The beam 1-6 and the horizontal reinforcement beam 1-7 located in the middle of the vertical beam and perpendicular to the vertical beam, the base 1-2 is spliced ​​by several cross beams and reinforcement beams that can ensure strength, installed vertically At the bottom of the column 1-1, the top seat 1-3 ...

Embodiment 2

[0077] Embodiment two: a kind of robot control method, it adopts the robot described in embodiment one, it comprises the following steps:

[0078] S10. Connect the robot to the computer or remote control device after completing the weighing work and self-inspection. The computer or remote control device is used to control the robot to perform various preset actions;

[0079] S20. Use the crane to hoist the robot into the water near the pile foundation of the bridge, start the propeller 7 to push the robot to the near point of the pile foundation, and after adjusting the posture and entry angle, align the open end of the robot with the pile foundation and slowly approach it;

[0080] S30. Control the two-layer clamping mechanism 2 to work, use the upper and lower sets of clamping blocks to clamp the pile foundation tightly, and fix the robot on the pile foundation to be detected;

[0081] S40, control the adjustment mechanism 5 to work, slowly approach the observation mechanism...

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Abstract

The invention provides a robot suitable for detecting underwater and overwater parts of a bridge pile foundation and a control method. The robot comprises a rack, holding mechanisms, a walking mechanism, a rotating mechanism, an adjusting mechanism, an observation mechanism and the like. An upper layer holding mechanism and a lower layer holding mechanism are arranged, each layer is composed of two parts which are symmetrical left and right, every two parts are connected through a middle power source and a commutator, torque output by the power sources is converted into two holding lead screw mechanisms which are installed on guide rails in the left horizontal direction and the right horizontal direction, and the holding lead screw mechanisms move to drive holding blocks connected to the holding lead screw mechanisms to move left and right. The upper layer holding mechanism and the lower layer holding mechanism are installed on the walking mechanism, two ends of the walking mechanism are fixed on the rack, one end of the walking mechanism is fixedly connected with one layer of holding mechanism, a movable walking nut is connected with the other layer of holding mechanism, the holding mechanism connected with the movable walking nut is driven to move up and down through vertical movement of the movable walking nut on a walking lead screw, and the robot moves up and down along the pile foundation in cooperation with holding and loosening of the holding mechanisms.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a robot and a control method that can be simultaneously applied to the detection of the underwater part and the above-water part of bridge pile foundations. Background technique [0002] With the rapid development of science and technology, the modes of transportation are becoming more and more diversified, but road and rail transportation are still the main modes of transportation, and bridges are an important link in the two modes of land transportation. The pile foundation is the main part of the bridge, responsible for bearing the huge load from the bridge span structure, its quality directly affects the safety and service life of the bridge, so the detection of the pile foundation is of great significance. Due to the different environment of the pile foundation, the detection methods of the current bridge pile foundation are also different. Usually, the underwater part of the pile fou...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E02D33/00B25J11/00B25J13/00
CPCE02D33/00B25J11/00B25J13/00
Inventor 崔荣鑫严卫生许晖邢瑶马洪军丁海旭蒋绍博封加杰张守旭
Owner NORTHWESTERN POLYTECHNICAL UNIV
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