Bridge pile foundation underwater detection device and method based on linkage clamping mechanism

Abstract

The application discloses a kind of linkage clamping mechanism-based bridge pile foundation underwater detection device and method, it is related to bridge pile foundation detection technical field.Device includes underwater robot, sensing module and linkage clamping mechanism, sensing module and linkage clamping mechanism are connected with underwater robot;Linkage clamping mechanism includes the press bar and folding type clamping arm located in the front side of underwater robot body frame and the positioning control platform installed in the inside of underwater robot body frame;Press bar and folding type clamping arm are connected with underwater robot by positioning control platform, and press bar and folding type clamping arm jointly constitute the linkage mechanism that can be clamped and embraced detection target.The general detection device of underwater pile foundation proposed in the present application can solve the stability control problem of underwater sensing by mechanical structure design using low-cost solution, and the design mainly of mechanical linkage also maximizes the reliability of detection device in underwater environment.

Description

Technical Field

[0001] This invention relates to the field of bridge pile foundation testing technology, specifically to an underwater testing device and method for bridge pile foundations based on a linkage clamping mechanism. Background Technology

[0002] The foundation of a bridge is its main load-bearing component, and currently, most bridge foundations are pile foundations of various types. The mainstream method for underwater bridge foundation inspection currently relies on divers carrying underwater television equipment for manual inspection. Manual inspection has drawbacks such as being time-consuming, risky, and highly subjective; furthermore, divers may not possess the ability to assess foundation performance, making systematic inspection impossible. In existing technologies, underwater mobile platforms such as remotely operated vehicles (ROVs) have seen preliminary applications in bridge foundation inspection. These mobile platforms are equipped with binocular cameras, underwater radar, sonar, and other sensors to observe underwater structures such as offshore wind turbine piles, dam bodies, and bridge foundations. However, practical application shows that to achieve good quantitative inspection results, the mobile platform must maintain a stable posture when the sensors enter operational mode. Some sensors even require a swing angle of less than 0.1° and a swing speed better than 0.15° / 25ms to ensure quantitative inspection accuracy. In inland rivers and lakes with slow flow and stable direction, the attitude control system of the mobile carrier can maintain relative stability. However, once the scene changes to the ocean or large rivers with faster flow and turbulent direction for the inspection of cross-sea and cross-river bridges, the mobile carrier will fall into a bottomless pit of investment in attitude control. Moreover, due to the random and variable nature of water flow direction, the application effect may not meet the requirements.

[0003] Chinese invention patents 202211000642.2 and 202111037082, among others, rely on a single underwater control robot for pile foundation inspection, which is unsuitable for scenarios such as oceans and large rivers mentioned above. Chinese utility model patent 202221516982.6 proposes a lifting inspection device that clips onto the outside of the pile foundation, but it still requires manual underwater installation, is only suitable for close-range photography, has a slow inspection speed, and cannot meet the needs of inspection operations requiring global indicators such as erosion. Currently, there is a lack of a pile foundation inspection method that can adapt to complex water conditions, enabling rapid deployment, global inspection, and ensuring the stability required for detailed inspection. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a highly adaptable and relatively low-cost detection device and corresponding detection method to meet the stability requirements of automated underwater detection of bridge pile foundations in different scenarios such as rivers, lakes, and seas. To achieve the above objective, this invention proposes an underwater detection device and method for bridge pile foundations based on a linkage clamping mechanism, implemented using the following technical solutions:

[0005] In a first aspect, the present invention provides an underwater inspection device for bridge pile foundations based on a linkage clamping mechanism, comprising an underwater robot, a sensing module and a linkage clamping mechanism, wherein the sensing module and the linkage clamping mechanism are both connected to the underwater robot, the linkage clamping mechanism is used to clamp the inspection target, and the sensing module is used to inspect the inspection target.

[0006] The linkage clamping mechanism includes a pressure bar and a folding clamping arm located on the front side of the underwater robot's body frame, as well as a positioning control platform installed inside the underwater robot's body frame; the pressure bar and the folding clamping arm are both connected to the underwater robot through the positioning control platform, and the pressure bar and the folding clamping arm together constitute a linkage mechanism that can clamp and hold the detection target.

[0007] Preferably, the underwater robot is a frame-type cable-controlled robot.

[0008] Preferably, the underwater robot integrates a control circuit, which is connected to a ground control station via a control cable. The underwater robot's frame is equipped with a thruster, buoyancy block, and lifting ring. The lifting ring is used for lifting the underwater robot. The thruster can be controlled via an industrial handle to drive the underwater robot's underwater movement. The real-time detection results of the sensor module can be observed in real time via the ground control station.

[0009] Preferably, the sensing module includes a sonar and / or a camera capable of underwater sensing and inspection.

[0010] Preferably, the pressure rod includes a flexible impact corner, a spring telescopic rod, a main rod, and an elastic limiting block. The flexible impact corner is initially located at the foremost end of the device. One end of the flexible impact corner is fixedly connected to the spring telescopic rod, and the other end of the spring telescopic rod is fixedly connected to the front end of the main rod. An elastic limiting block is provided on the main rod. The positioning control platform includes a connecting seat and a sleeve. A main return spring capable of axial extension and retraction is provided inside the sleeve. One end of the main return spring is fixed to the bottom of the sleeve, and the other end is connected to the rear end of the main rod, allowing the main rod to move axially within the sleeve. A limiting slot is provided on the sleeve. When the main rod moves backward along the sleeve until the elastic limiting block coincides with the limiting slot, the elastic limiting block extends out of the limiting slot under elastic force to achieve axial limiting of the main rod. A reset rod is provided on the connecting seat located outside the limiting slot. The reset rod is controlled by a push-pull electromagnet inside the connecting seat to press the elastic limiting block back into the limiting slot, thereby releasing the axial limiting effect of the main rod.

[0011] Furthermore, the spring telescopic rod is provided with a compression spring for realizing the extension and retraction of the rod and its return, and the stiffness of the compression spring is less than that of the main return spring.

[0012] Furthermore, the folding clamping arm includes two sets of identical structures, which are centrally symmetrical and located on both sides of the pressure rod. Each set of folding clamping arms includes a first working arm, a second working arm, and a third working arm located on the inner side, and a first guide arm, a second guide arm, and a third guide arm located on the outer side. Each guide arm has a guide groove along its length on its inner side, and a slider is slidably installed in the guide groove. The slider is equipped with a telescopic spring for resetting.

[0013] The first working arm consists of a first support arm and a second support arm. The connection between the first support arm and the second support arm is connected to the positioning control platform via a pin. The first support arm is a telescopic arm, with its outer end connected to the main rod via a pin. The outer end of the second support arm is connected to one end of the second guide arm via a pin. The other end of the second guide arm is connected to one end of the third guide arm via a pin.

[0014] A connecting sleeve is fixedly fitted onto the spring telescopic rod; one end of the first working arm is connected to the connecting sleeve pin, and the other end is connected to the slider pin located inside the first guide arm; one end of the second working arm is connected to the slider pin located inside the first guide arm, and the other end is connected to the slider pin located inside the second guide arm; one end of the third working arm is connected to the slider pin located inside the second guide arm, and the other end is connected to the slider pin located inside the third guide arm.

[0015] Furthermore, the inner sides of the first working arm, the second working arm, and the third working arm are also provided with several guide wheels that can roll along the surface of the detection target.

[0016] Furthermore, the connecting seat also extends on both sides to provide main support arms for hinged connection with the first support arm and the second support arm.

[0017] Secondly, the present invention provides a detection method for an underwater bridge pile foundation detection device based on a linkage clamping mechanism as described in any of the first aspects, as follows:

[0018] S1. Perform a self-test on the underwater robot and sensor module, and reset the linkage clamping mechanism to its initial state;

[0019] S2. Hoist the underwater robot to the working area using a lifting ring, and deploy the underwater robot near the detection target;

[0020] S3. The underwater robot approaches the target using its thrusters, and the outer side of the flexible impact corner makes contact with the target first.

[0021] S4. The underwater robot propels itself forward through the thrusters, causing the flexible impact corner to press against the surface of the target, which in turn causes the spring telescopic rod to retract and displace the connecting sleeve. This, in turn, causes each working arm to slide the slider in the corresponding guide groove, gradually unfolding each guide arm from its initial folded state until the spring telescopic rod is pushed to its compression stroke.

[0022] S5. The underwater robot continues to propel itself forward via the thrusters, squeezing the main rod into the sleeve. The first support arm connected to the main rod changes its extension and retraction state, while simultaneously driving the folding clamping arm to gradually close forward until the elastic limit block overlaps with the limit hole groove and extends out to axially limit the main rod. At this point, the main rod reaches its final stroke. Then, the sensing module works according to the detection plan, moving along the outside of the detection target by the guide wheels installed on the inner side of each working arm to achieve large-scale detection.

[0023] S6. After the sensor module completes the detection, the push-pull electromagnet is energized to make the reset rod pop out and squeeze the elastic limit block inward, releasing the axial limit of the main rod; the underwater robot moves away from the detection target by the thruster, the main reset spring uses its own elastic potential energy to push the main rod out of the sleeve, the telescopic springs connected to the slider gradually reset, and the folding clamp arm moves from the closed state to the unfolded state.

[0024] S7. The compression spring inside the spring telescopic rod uses its own elastic potential energy to reset, driving the connecting sleeve to reset, and all the telescopic springs connected to the slider to reset completely. The folding clamp arm returns to its initial folded state, completing the detection of the target.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] This invention designs a simple, multifunctional mechanical linkage clamping mechanism that can be installed on moving platforms such as ROVs. It innovatively proposes a universal underwater pile foundation testing device that combines a mobile platform (cable-controlled ROV) and a semi-constrained fixing device, and designs corresponding testing methods and procedures, providing more stable and durable underwater working performance for various underwater sensors. The primary function of this invention is to clamp the pile foundation, forming a novel "probe-triggered, column-fixed" linkage semi-fixed constraint mode. This maintains the stability of the underwater robot, allowing the sensing module to capture stable and clear images, making it particularly suitable for testing in turbulent and chaotic waters. This semi-fixed constraint mode only requires the underwater robot's single-degree-of-freedom propulsion force, avoiding unlimited cost investment in underwater robot attitude control; in the linkage clamping mechanism, the folding design of the clamping arm is more conducive to balancing the center of gravity and transportation deployment. The folding and hugging behavior mainly relies on the mechanical linkage mechanism, minimizing the intervention of electronic components, reducing costs and watertight requirements. The design of the front flexible impact corner also has the ability to protect the detection carrier and underwater pile foundation structure, and the sleeve plays the role of guide and compression spring sheath.

[0027] Overall, the underwater pile foundation universal detection device proposed in this invention can solve the stability control problem of underwater sensing with a low-cost solution through mechanical structure design, and the mechanical linkage-based design also maximizes the reliability of the detection device in the underwater environment. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the overall assembly of the detection device of the present invention in the initial state of the linkage clamping mechanism;

[0030] Figure 2 This is an assembly diagram of the linkage clamping mechanism in this invention;

[0031] Figure 3 This is a schematic diagram of the overall assembly of the detection device of the present invention in the clamping state of the linkage mechanism;

[0032] Figure 4 This is a schematic diagram of the limiting method after the pressure rod enters the sleeve in the linkage clamping mechanism of the present invention;

[0033] Figure 5 This is a schematic diagram of the detection method of the present invention;

[0034] Figure 6 This is a schematic diagram showing the relative position of the detection device of the present invention and the object to be detected in the initial state of the linkage clamping mechanism;

[0035] Figure 7 This is a schematic diagram showing the relative position of the detection device of the present invention and the object to be detected when the linkage clamping mechanism is in the clamping state;

[0036] Figure 8 This is a schematic diagram of the two-dimensional topological structure change of the detection device of the present invention after it comes into contact with the detection object and enters the working state;

[0037] The attached figures are labeled as follows: underwater robot 1, sensing module 2, linkage clamping mechanism 3, pressure rod 4, folding clamping arm 5, positioning control platform 6, flexible impact corner 7, spring telescopic rod 8, main rod 9, elastic limit block 10, connecting seat 11, thruster 12, buoyancy block 13, lifting ring 14, first working arm 15, second working arm 16, third working arm 17, first guide arm 18, second guide arm 19, third guide arm 20, guide groove 21, slider 22, telescopic spring 23, first support arm 24, second support arm 25, connecting sleeve 26, main return spring 27, sleeve 28, main support arm 29, return rod 30, limit hole groove 31, binocular camera 32, two-dimensional image sonar 33, pile foundation 34, guide wheel 35. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] It should be noted that, unless otherwise specified, the terms "front side," "front end," and "forward" used in this invention refer to the direction of the adjacent flexible impact angle 7, i.e., as shown in the diagram. Figure 1 The left side shown; the terms "rear end," "rear," and "bottom" all refer to directions away from the flexible impact angle 7, i.e. Figure 1 The right side of the diagram.

[0040] like Figure 1 As shown, this invention provides an underwater inspection device for bridge pile foundations based on a linkage clamping mechanism. The device mainly includes an underwater robot 1, a sensing module 2, and a linkage clamping mechanism 3. Both the sensing module 2 and the linkage clamping mechanism 3 are connected to the underwater robot 1. The linkage clamping mechanism 3 is used to clamp the inspection target, and the sensing module 2 is used to inspect the inspection target. The linkage clamping mechanism 3 mainly includes a pressure rod 4, a folding gripper arm 5, and a positioning control platform 6. The pressure rod 4 and the folding gripper arm 5 are located on the front side of the underwater robot 1's frame, and the positioning control platform 6 is installed inside the underwater robot 1's frame. Both the pressure rod 4 and the folding gripper arm 5 are connected to the underwater robot 1 through the positioning control platform 6. Together, the pressure rod 4 and the folding gripper arm 5 constitute a linkage mechanism capable of clamping and holding the inspection target.

[0041] In a preferred embodiment of the present invention, the underwater robot 1 is a frame-type cable-controlled robot, with the sensing module 2 and the linkage clamping mechanism 3 both installed inside the frame of the underwater robot 1. The sensing module 2 includes, but is not limited to, sonar, cameras, and other components capable of underwater sensing and inspection. The linkage clamping mechanism is generally installed at or slightly above the center of gravity of the underwater robot, and its installation position must be above the sensing module to ensure that the sensing field of view of the camera or sonar is not obstructed.

[0042] The structure and connection method of each component will be described in detail below with reference to the embodiments.

[0043] Example

[0044] In this embodiment, the underwater robot 1, in addition to its own body frame, also includes control cables (not shown in the figure), a ground control station (not shown in the figure), an industrial handle (not shown in the figure), etc. Figure 1 As shown, the underwater robot's frame integrates control circuitry (not shown), a thruster 12, a buoyancy block 13, and a lifting ring 14. The lifting ring 14 is mounted on top of the frame for hoisting operations. The thruster 12, installed inside the underwater robot, is controlled by an industrial handle to move underwater, and the real-time detection results from the sensor module 2 are monitored at a ground control station. As needed, counterweights and buoyancy blocks can be added inside the underwater robot to ensure zero buoyancy in its initial state.

[0045] In this embodiment, as Figure 2 As shown, the pressure rod 4 mainly includes a flexible impact angle 7, a spring telescopic rod 8, a main rod 9, and an elastic limiting block 10. The flexible impact angle 7, the spring telescopic rod 8, and the main rod 9 are arranged coaxially. Among them, the flexible impact angle 7 is located at the foremost end of the pressure rod 4, and is also located at the foremost end of the entire device in the initial state. The rear side of the flexible impact angle 7 is fixedly connected to one end of the spring telescopic rod 8, and the front side is used to contact the detection target. The other end of the spring telescopic rod 8 is fixedly connected to the front end of the main rod 9, and an elastic limiting block 10 is provided on the rear of the main rod 9. A compression spring (not shown in the figure) is provided inside the spring telescopic rod 8 to realize the extension and retraction of the rod and its return. The stiffness of the compression spring should be less than the stiffness of the main return spring 27, so as to facilitate the two-stage clamping or folding of the folding clamp arm 5. The spring telescopic rod 8 is provided with a connecting sleeve 26 on the outside. The connecting sleeve 26 has pin holes extending on both sides for pin connection with the first working arm 15 of the folding clamp arm 5. The main rod 9 is provided with a circular pin hole for pin connection with the first support arm 24 of the first guide arm 18 of the folding clamp arm 5.

[0046] As a preferred embodiment, considering that the detection targets are mostly columnar pile foundations 34, the flexible impact angle 7 can adopt a forward-concave arc structure to better fit the outer surface of the pile foundation 34. The front side or the entire flexible impact angle can be made of a low-stiffness, ultra-elastic material such as a polyurethane pad to buffer the force and fit the pile foundation.

[0047] In this embodiment, as Figure 4 As shown, the positioning control platform 6 includes a connecting seat 11 and a sleeve 28. A main return spring 27 capable of axial extension and retraction is provided inside the sleeve 28. One end of the main return spring 27 is fixed to the bottom of the sleeve 28, and the other end is connected to the rear end of the main rod 9, allowing the main rod 9 to move axially within the sleeve 28. Limiting slots 31 are formed on the sleeve 28, and the orientation and number of these slots correspond to the elastic limiting blocks 10. In actual use, when the main rod 9 moves rearward along the sleeve 28 until the elastic limiting block 10 coincides with the limiting slot 31, the elastic limiting block 10 extends out of the limiting slot 31 under elastic force to achieve axial limiting of the main rod 9. That is, during the main stroke of the main rod 9 moving along the sleeve 28, the elastic limiting block 10 is compressed by the inner wall of the sleeve 28. A reset rod 30 is provided on the connecting seat 11 located outside the limiting slot 31. The reset rod 30 is controlled by a push-pull electromagnet installed inside the connecting seat 11. It is used to press the elastic limiting block 10 back into the limiting hole groove 31 to release the axial limiting effect of the main rod 9.

[0048] As a preferred embodiment, the elastic limiting block 10 can be a single block or multiple blocks can be arranged circumferentially along the main rod 9. Correspondingly, if multiple elastic limiting blocks 10 are used, the number and position of the limiting slots 31 and the reset rods 30 must also match them to achieve the limiting and releasing functions of the main rod 9.

[0049] In this embodiment, as Figure 2 and 3 As shown, the folding clamp arm 5 includes two sets of sub-folding clamp arms with the same structure. The two sets of sub-folding clamp arms are symmetrical about the axis of the pressure rod 4 and are located on both sides of the pressure rod 4 respectively. The two sets of sub-folding clamp arms can jointly form a linkage mechanism for clamping and holding the detection target.

[0050] In practical use, the folding clamp arm of the linkage clamping mechanism is a detachable structure. The length of the folding clamp arm matches the diameter of the pile foundation. It can be prefabricated for pile foundations with mainstream pile diameters such as 1m, 1.5m, and 1.8m and selected for assembly according to the inspection plan.

[0051] Specifically, each set of folding clamping arms 5 includes an inner working arm 15, a second working arm 16, and a third working arm 17, and an outer guide arm 18, a second guide arm 19, and a third guide arm 20. The inner sides of the first guide arm 18, the second guide arm 19, and the third guide arm 20 are all provided with guide grooves 21 along their length. A slider 22 is slidably mounted in each guide groove 21, and a telescopic spring 23 for resetting is provided on the slider 22. For example, for the third guide arm 20, a telescopic spring 23 is provided behind the slider 22. One end of the telescopic spring 23 is fixed to the slider 22, and the other end is fixed to the rear end of the guide groove 21. In the initial state, the telescopic spring 23 has no elasticity, and the slider 22 is at the foremost end of the guide groove 21. During the clamping process, the slider 22 gradually moves backward, thereby compressing the telescopic spring 23. When the detection is completed and recovery is required, the slider 22 slides forward again under the elasticity of the telescopic spring 23, thus moving back to the initial position, i.e., the foremost end of the guide groove 21. The arrangement principle of the slider and telescopic spring inside the first guide arm 18 and the second guide arm 19 is the same, and the purpose is to provide the force to restore the initial state, which will not be elaborated here.

[0052] Specifically, the first working arm 15 consists of a first support arm 24 and a second support arm 25, which are fixedly connected to each other, thus fixing the included angle between them. In this embodiment, the included angle between the first support arm 24 and the second support arm 25 is preferably 110° to 130° to better achieve the clamping effect. The connection between the first support arm 24 and the second support arm 25 is pin-connected to the positioning control platform 6. The first support arm 24 is a telescopic arm that can extend and retract along its length, with its outer end pin-connected to the main rod 9. The outer end of the second support arm 25 is pin-connected to one end of the second guide arm 19, and the other end of the second guide arm 19 is pin-connected to one end of the third guide arm 20.

[0053] As a preferred embodiment, to expand the detection range, the inner sides of the first working arm 15, the second working arm 16, and the third working arm 17 are also provided with a plurality of guide wheels 35 that can roll along the surface of the detection target. The guide wheels 35 may be omnidirectional wheels or axially sliding wheels as needed.

[0054] Specifically, a connecting sleeve 26 is fixedly fitted onto the outside of the spring telescopic rod 8. One end of the first working arm 15 is connected to the connecting sleeve 26 by a pin, and the other end is connected to the slider 22 located inside the first guide arm 18 by a pin. One end of the second working arm 16 is connected to the slider 22 located inside the first guide arm 18 by a pin, and the other end is connected to the slider 22 located inside the second guide arm 19 by a pin. One end of the third working arm 17 is connected to the slider 22 located inside the second guide arm 19 by a pin, and the other end is connected to the slider 22 located inside the third guide arm 20 by a pin.

[0055] In a preferred embodiment, the connecting seat 11 is further provided with main support arms 29 extending from both sides for hinged connection with the first support arm 24 and the second support arm 25. The connecting seat 11 is located on both sides of the sleeve 28, and the main support arms 29 extending from both sides of the underwater robot 1 body frame are connected to the first guide arm 18 by pins.

[0056] In practical use, if conditions and cost permit, an electronic control system can be added to provide more precise control over the folding, unfolding, and clamping actions of the linkage clamping mechanism.

[0057] like Figure 5 As shown, the present invention also provides a detection method for the underwater bridge pile foundation detection device based on the above-mentioned linkage clamping mechanism, as detailed below:

[0058] Step S1: Detection Preparation. The underwater robot 1 and sensor module 2 perform a self-test. In this embodiment, sensor module 2 mainly consists of a binocular camera 32 mounted on the front and a two-dimensional image sonar 33 mounted below the binocular camera 32, such as... Figure 3 As shown. The linkage clamping mechanism 3 resets to its initial state as follows. Figure 1 As shown.

[0059] Step S2: Device Deployment. The underwater robot 1 is hoisted to the working area using the lifting ring 14 and deployed near the detection target.

[0060] Step S3: Bring the device close. For example... Figure 6 As shown, the underwater robot 1 approaches the detection target via the thruster 12. In this embodiment, the detection target is a pile foundation 34 with a diameter of approximately 1m. The flexible impact angle 7 at the front end of the linkage clamping mechanism first contacts the surface of the pile foundation 34.

[0061] Step S4: Arm Deployment. The underwater robot 1 propels itself forward via thruster 12, pressing the flexible impact angle 7 against the surface of the pile foundation 34. This causes the spring telescopic rod 8 on the front side of the pressure rod 9 to retract, displacing the connecting sleeve 26. Consequently, each working arm drives the slider 22 to slide in its corresponding guide groove 21, propelling the outer first guide arm 18, second guide arm 19, and third guide arm 20, as well as the inner first working arm 15, second working arm 16, and third working arm 17 from... Figure 6 The initial folded state is gradually unfolded until the spring telescopic rod 8 is pushed to the compression stroke, at which point the folding clamp arm 5 unfolds to the working state, i.e., from the initial folded state. Figure 8 The process proceeds from state a to state b.

[0062] Step S5: Clamping Arm Closes. The underwater robot 1 continues to move forward via the thruster 12, causing the main rod 9 of the pressure bar 4 to displace into the sleeve 28 of the positioning control platform 6. The first support arm 24, connected to the main rod 9, changes its extension / retraction state, simultaneously driving the folding clamping arm 5 to gradually close forward until the elastic limiting block 10 of the pressure bar is squeezed into the limiting slot 31 of the sleeve 17, reaching the final stroke, i.e., from... Figure 8 The process progresses from state b to state c. The binocular camera 32 and the two-dimensional image sonar 33 begin operating according to the detection plan. At this point, the guide wheels 35 mounted on the inner side of the working arm can be used to move along the axial direction of the pile foundation for large-scale detection.

[0063] Step S6: End detection, gripper arm unfolds and resets. After the binocular camera 32 and 2D image sonar 33 have completed their detection, the push-pull electromagnet on the positioning control platform 6 is energized, causing the reset rod 30 to pop out and press against the elastic limit block 10, releasing the axial limit of the main rod 9. The thruster 12 works to propel the underwater robot 1 away from the pile foundation 34. The main reset spring 27 uses its own elastic potential energy to push the pressure rod main rod 9 out of the sleeve 17. With the cooperation of the linkage mechanism (i.e., the linkage structure composed of the pressure rod 4 and the folding gripper arm 5) and the telescopic spring 23 in the guide groove 21, the folding gripper arm 5 is moved from the clamped state to the unfolded state, that is, from... Figure 8 The state c returns to the state b.

[0064] Step S7: Clamping arm folds and resets, process ends. The spring telescopic rod 8 of the pressure rod 4 resets through the elastic potential energy of its internal compression spring, driving the connecting sleeve 26 to reset, and then, through the cooperation of the linkage mechanism and the slider 22, folds each working arm and each guide arm to the initial state, that is, from Figure 8 The b state of the seed returns to the a state, completing the detection process.

[0065] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all technical solutions obtained through equivalent substitution or transformation fall within the protection scope of the present invention.

Claims

1. An underwater inspection device for bridge pile foundations based on a linkage clamping mechanism, characterized in that, It includes an underwater robot (1), a sensing module (2) and a linkage clamping mechanism (3). The sensing module (2) and the linkage clamping mechanism (3) are both connected to the underwater robot (1). The linkage clamping mechanism (3) is used to clamp the detection target, and the sensing module (2) is used to inspect the detection target. The linkage clamping mechanism (3) includes a pressure rod (4) and a folding clamping arm (5) located on the front side of the underwater robot (1) body frame, and a positioning control platform (6) installed inside the underwater robot (1) body frame; the pressure rod (4) and the folding clamping arm (5) are both connected to the underwater robot (1) through the positioning control platform (6), and the pressure rod (4) and the folding clamping arm (5) together constitute a linkage mechanism that can clamp and hug the detection target; The pressure rod (4) includes a flexible impact angle (7), a spring telescopic rod (8), a main rod (9), and an elastic limiting block (10); the flexible impact angle (7) is located at the front end of the device in the initial state, and one end of the flexible impact angle (7) is fixedly connected to the spring telescopic rod (8), and the other end of the spring telescopic rod (8) is fixedly connected to the front end of the main rod (9). The main rod (9) is provided with an elastic limiting block (10); the positioning control platform (6) includes a connecting seat (11) and a sleeve (28). The sleeve (28) is provided with a main return spring (27) that can extend and retract along the axial direction; one end of the main return spring (27) is fixed to the bottom of the sleeve (28), and the other end is connected to the rear end of the main rod (9). Then, the main rod (9) can move axially within the sleeve (28); a limiting hole groove (31) is provided on the sleeve (28). When the main rod (9) moves backward along the sleeve (28) until the elastic limiting block (10) coincides with the limiting hole groove (31), the elastic limiting block (10) can extend out of the limiting hole groove (31) under the action of elastic force to realize the axial limiting of the main rod (9); a reset rod (30) is provided on the connecting seat (11) located outside the limiting hole groove (31); the reset rod (30) is controlled by a push-pull electromagnet provided inside the connecting seat (11) to squeeze the elastic limiting block (10) back into the limiting hole groove (31) to release the axial limiting effect of the main rod (9).

2. The underwater inspection device for bridge pile foundations based on a linkage clamping mechanism according to claim 1, characterized in that, The underwater robot (1) is a frame-type cable-controlled robot.

3. The underwater inspection device for bridge pile foundations based on a linkage clamping mechanism according to claim 1, characterized in that, The underwater robot (1) has an integrated control circuit inside, which is connected to the ground control station via a control cable. The underwater robot (1) has a thruster (12), a buoyancy block (13), and a lifting ring (14) installed on its body frame. The lifting ring (14) is used for lifting the underwater robot (1). The thruster (12) can be controlled by an industrial handle to drive the underwater robot (1) underwater. The real-time detection results of the sensor module (2) can be observed in real time through the ground control station.

4. The underwater inspection device for bridge pile foundations based on a linkage clamping mechanism according to claim 3, characterized in that, The sensing module (2) includes a sonar and / or a camera capable of underwater sensing and inspection.

5. The underwater inspection device for bridge pile foundations based on a linkage clamping mechanism according to claim 4, characterized in that, The spring telescopic rod (8) is provided with a compression spring for realizing the extension and repositioning of the rod, and the stiffness of the compression spring is less than that of the main repositioning spring (27).

6. The underwater inspection device for bridge pile foundations based on a linkage clamping mechanism according to claim 4, characterized in that, The folding clamp arm (5) includes two sets of identical structures. The two sets are centrally symmetrical and located on both sides of the pressure rod (4). Each set of folding clamp arms (5) includes a first working arm (15), a second working arm (16), and a third working arm (17) located on the inner side, and a first guide arm (18), a second guide arm (19), and a third guide arm (20) located on the outer side. Each guide arm has a guide groove (21) opened along the length direction on its inner side. A slider (22) is slidably installed in the guide groove (21). A telescopic spring (23) for resetting is provided on the slider (22). The first working arm (15) is composed of a first support arm (24) and a second support arm (25). The connection between the first support arm (24) and the second support arm (25) is connected to the positioning control platform (6) by a pin. The first support arm (24) is a telescopic arm, and its outer end is connected to the main rod (9) by a pin. The outer end of the second support arm (25) is connected to one end of the second guide arm (19) by a pin. The other end of the second guide arm (19) is connected to one end of the third guide arm (20) by a pin. A connecting sleeve (26) is fixedly fitted onto the spring telescopic rod (8); one end of the first working arm (15) is connected to the connecting sleeve (26) pin, and the other end is connected to the slider (22) pin located in the first guide arm (18); one end of the second working arm (16) is connected to the slider (22) pin located in the first guide arm (18), and the other end is connected to the slider (22) pin located in the second guide arm (19); one end of the third working arm (17) is connected to the slider (22) pin located in the second guide arm (19), and the other end is connected to the slider (22) pin located in the third guide arm (20).

7. The underwater inspection device for bridge pile foundations based on a linkage clamping mechanism according to claim 6, characterized in that, The inner sides of the first working arm (15), the second working arm (16) and the third working arm (17) are also provided with a number of guide wheels (35) that can roll along the surface of the detection target.

8. The underwater inspection device for bridge pile foundations based on a linkage clamping mechanism according to claim 6, characterized in that, The connecting seat (11) also extends on both sides with main support arms (29) for hinged connection with the first support arm (24) and the second support arm (25).

9. A detection method using the underwater bridge pile foundation detection device based on the linkage clamping mechanism as described in any one of claims 6 to 8, characterized in that, Specifically as follows: S1. Perform self-test on the underwater robot (1) and the sensing module (2), and reset the clamping mechanism (3) to its initial state. S2. The underwater robot (1) is hoisted to the working water area by the hoisting ring (14) and the underwater robot (1) is deployed near the detection target. S3. The underwater robot (1) approaches the detection target via the thruster (12), and the outer side of the flexible impact angle (7) first contacts the detection target; S4. The underwater robot (1) is propelled forward by the thruster (12), so that the flexible impact angle (7) hits the surface of the target, causing the spring telescopic rod (8) to retract and drive the connecting sleeve (26) to move. Then, through each working arm, each slider (22) slides in the corresponding guide groove (21), so that each guide arm gradually unfolds from the initial folded state until the spring telescopic rod (8) is pushed to the compression stroke. S5. The underwater robot (1) continues to move forward through the thruster (12), squeezing the main rod (9) into the sleeve (28). The first support arm (24) connected to the main rod (9) changes its extension and retraction state accordingly, and at the same time drives the folding clamp arm (5) to gradually hug forward until the elastic limit block (10) overlaps with the limit hole groove (31) and extends out from it to achieve axial limit on the main rod (9). At this time, the main rod (9) reaches the final stroke. Then, the sensor module (2) works according to the detection plan and moves along the outside of the detection target through the guide wheels (35) installed on the inner side of each working arm to achieve large-scale detection. S6. After the sensor module (2) completes the detection, the reset rod (30) is popped out by energizing the push-pull electromagnet to squeeze the elastic limit block (10) inward, thereby releasing the axial limit of the main rod (9). The underwater robot (1) moves away from the detection target by the thruster (12). The main reset spring (27) uses its own elastic potential energy to push the main rod (9) out of the sleeve (28). The telescopic springs (23) connected to the slider (22) gradually reset, and the folding clamp arm (5) moves from the closed state to the unfolded state. S7. The compression spring inside the spring telescopic rod (8) resets using its own elastic potential energy, driving the connecting sleeve (26) to reset. All telescopic springs (23) connected to the slider (22) are fully reset, and the folding clamp arm (5) returns to its initial folded state, completing the detection work on the target.

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