Carrying platform, resiliometer device and underwater robot

Abstract

The invention discloses a carrying platform, a resiliometer device and an underwater robot. The carrying platform comprises a mounting module, a waterproof shell, a pressurizing module and an adsorption module, the waterproof shell is slidably arranged on the mounting module in the first direction, and the waterproof shell is used for mounting a resiliometer; the pressurization module is used for driving the waterproof shell to move, so that the detection end of the resiliometer can perform detection in the first direction; the adsorption module comprises at least two suction cup components, the suction cup components are arranged on the waterproof shell at intervals and located in a first plane, and the first plane is perpendicular to the first direction. Through the movement of the underwater robot and the adsorption of the adsorption module, the rebound apparatus can accurately and vertically apply pressure to the surface of the underwater concrete structure by utilizing the pressurization module, so that the nondestructive testing operation of the structural strength is realized; and meanwhile, the rebound apparatus can still keep a stable and good vertical contact state with the surface of the underwater concrete structure under the influence of water flow or in a dynamic environment when the underwater robot moves, so that the measurement precision is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of underwater concrete structure detection, and in particular to a carrying platform, a rebound test device and an underwater robot. Background Art

[0002] Underwater concrete structures bear heavy loads and are eroded by water all year round. The harsh service environment causes the probability of underwater concrete structure strength reduction to be much higher than that of above-water structures, which in turn poses a greater safety hazard to the overall engineering structure. Therefore, it is very important to test the strength of underwater concrete structures. Traditional destructive testing methods for testing the strength of underwater concrete structures, such as the core drilling method, are not only costly but also damage the safety of the structure.

[0003] With the development of science and technology, underwater robots gradually applied in the field of underwater structure inspection have become more intelligent and multifunctional, with the advantages of low operating cost, high efficiency and high safety. However, there are few studies on underwater robots equipped with strength non-destructive testing equipment, and there is a lack of effective solutions for using underwater robots to estimate the strength of underwater concrete structures. Although the rebound hammer used for strength testing has been widely used on land, there are still many challenges in its direct use in underwater environments. If water enters the inside of the rebound hammer, it will cause the impact of water resistance when the hammer strikes, and the accuracy of the test results cannot be guaranteed, which further limits the effect of non-destructive testing of the strength of underwater concrete structures.

[0004] In summary, there is currently a lack of non-destructive strength testing equipment suitable for underwater robots, which leads to limitations in the existing testing methods in estimating the strength of underwater concrete structures. The rebound hammer has extremely high requirements for watertightness in the underwater environment, and the rapid water flow environment exacerbates the challenges of the stability of the robot-mounted rebound hammer and the fit between the rebound hammer rod and the underwater concrete structure. The contact condition between the rebound rod and the surface of the underwater concrete structure is crucial to the quality of the test results. Therefore, it is necessary to ensure that the rebound rod can still maintain a stable and good vertical contact state with the surface of the underwater concrete structure under the influence of water flow or in the dynamic environment when the underwater robot moves.

[0005] Related technology CN116429615B proposes a rebound hammer for detecting the strength of underwater concrete. Although the dry state inside the rebound hammer is ensured during the underwater detection process through the sealed overall structure, the traditional rebound hammer needs to be modified, which is a relatively cumbersome process. In addition, the rebound hammer still needs to be manually operated to make it vertically contact the surface of the underwater concrete structure to be tested. There is no installation structure suitable for underwater robots. Summary of the invention

[0006] The purpose of the present application is to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a carrying platform that can stably carry a rebound hammer, slowly and evenly apply pressure to the rebound hammer, and effectively withstand the impact force when the hammer rebounds, so as to ensure the normal operation of the rebound hammer in an underwater environment.

[0007] The present application also proposes a rebound test device including the above-mentioned carrying platform.

[0008] The present application also proposes an underwater robot comprising the above-mentioned rebound hammer device.

[0009] The mounting platform according to the first aspect of the present application includes:

[0010] Install the module;

[0011] A waterproof housing is slidably disposed on the mounting module along a first direction, and the waterproof housing is used for mounting a rebound tester;

[0012] A pressurizing module, arranged on the mounting module and used to drive the waterproof housing to move, so that the detection end of the rebound tester can perform detection along a first direction;

[0013] The adsorption module comprises at least two suction cup components, each of which is arranged on the waterproof housing at intervals and is located in a first plane, wherein the first plane is perpendicular to the first direction.

[0014] The mounting platform according to the first aspect of the embodiment of the present application has at least the following beneficial effects: through the movement of the underwater robot and the adsorption of the adsorption module, the pressurizing module is used to enable the rebound hammer to accurately and vertically apply pressure to the surface of the underwater concrete structure, and the overall structure can effectively withstand the impact force when the hammer rebounds, thereby realizing the non-destructive testing of structural strength in complex underwater environments and avoiding the risks of artificial underwater operations. At the same time, through the targeted design method of the first plane being perpendicular to the first direction, the rebound hammer can still maintain a stable and good vertical contact state with the surface of the underwater concrete structure under the influence of water flow or in a dynamic environment when the underwater robot moves, thereby ensuring the measurement accuracy of non-destructive testing of the strength of underwater concrete structures.

[0015] According to the mounting platform described in the first aspect embodiment of the present application, the mounting module includes a fixed base, an outrigger, an outrigger plate and a supporting slide, at least two of the fixed bases are respectively arranged on both sides of the waterproof housing along the first direction, each of the fixed bases is provided with the outrigger and the outrigger plate, the pressurizing module is arranged on the outrigger plate, the supporting slide is arranged on each of the outriggers, and the supporting slide is used to guide the movement of the detection end of the rebound tester.

[0016] According to the mounting platform described in the embodiment of the first aspect of the present application, the waterproof housing includes a shell, a seal and a fixed slider, the first end of the shell is connected to the pressurization module, the second end of the shell is used to extend the detection end of the rebound instrument, the seal is arranged at the connection between the shell and the detection end of the rebound instrument, and the fixed slider is arranged on the shell and is slidably connected to the supporting slide.

[0017] According to the mounting platform described in the first aspect embodiment of the present application, the pressurization module includes a pressurization power component, a pressurization flat plate and a mounting block, the pressurization power component is connected to the mounting module via the mounting block, the pressurization flat plate is mounted on the pressurization power component, the waterproof housing is mounted on the pressurization flat plate, and the pressurization power component is used to drive the rebound tester to apply pressure to the surface of the underwater concrete structure.

[0018] According to the mounting platform described in the first aspect of the embodiment of the present application, the pressurizing power component includes a push rod motor;

[0019] And / or the rebound hammer is a digital rebound hammer.

[0020] According to the mounting platform described in the first aspect embodiment of the present application, the suction cup component includes a suction cup body and an electric valve, the suction cup body can be adsorbed on the surface of the underwater concrete structure and is used to fix the position of the waterproof shell, the suction cup body is provided with a drainage channel, the electric valve is arranged in the drainage channel and can control the opening and closing of the drainage channel.

[0021] According to the mounting platform described in the first aspect embodiment of the present application, mounting plates are respectively provided on both sides of the waterproof shell along the first direction, the mounting plates are in the same plane and are used to set the suction cup body, and the drainage channel extends from the suction cup body to the mounting plates.

[0022] The mounting platform described in the embodiment of the first aspect of the present application also includes a control device, which is configured to control the pressurizing module to drive the waterproof shell to move according to the contact information of the detection end of the rebound tester on the detection point, and when each of the suction cup components is in place, the rebound tester applies pressure and feeds back the detection data to the control device.

[0023] A rebound hammer device according to an embodiment of the second aspect of the present application includes: a mounting platform as described in the embodiment of the first aspect of the present application.

[0024] An underwater robot according to an embodiment of the third aspect of the present application includes: a rebound instrument device as described in the embodiment of the second aspect of the present application.

[0025] It is not difficult to understand that the rebounder device in the second aspect embodiment of the present application and the underwater robot in the third aspect embodiment of the present application both have the technical effects of the carrying platform in the first aspect embodiment, and therefore will not be described in detail.

[0026] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present application is further described below with reference to the accompanying drawings and embodiments;

[0028] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0029] Figure 2 It is a side view of the initial state in the embodiment of the present application;

[0030] Figure 3 It is a side view of the pressurized state in the embodiment of the present application;

[0031] Figure 4 A bottom view of the pressurized state in the embodiment of the present application;

[0032] Figure 5 This is a schematic diagram of an underwater robot installed in an embodiment of the present application.

[0033] Reference numerals:

[0034] 1. Installing module; 11. Fixing base; 12. Outrigger; 13. Outrigger plate; 14. Support slide;

[0035] 2. Waterproof housing; 21. Housing; 211. Mounting plate; 22. Sealing member; 23. Fixed slider;

[0036] 3. Pressurizing module; 31. Pressurizing power component; 32. Pressurizing plate; 33. Mounting block;

[0037] 4. Adsorption module; 41. Suction cup body; 42. Electric valve; 43. Drainage channel;

[0038] 5. Rebound tester. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0040] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In the description of this application, "several" means one or more, "more" means at least two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0042] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application after combining the specific content of the technical solution.

[0043] Reference Figures 1 to 5 The carrying platform of the first aspect of the present application is used to carry a rebound tester 5, and the carrying platform includes an installation module 1, a waterproof shell 2, a pressurization module 3 and an adsorption module 4.

[0044] The waterproof shell 2 is slidably arranged on the installation module 1 along the first direction, and the waterproof shell 2 is used to install the rebound tester 5; the pressurizing module 3 is arranged on the installation module 1 and is used to drive the waterproof shell 2 to move, so that the detection end of the rebound tester 5 can detect along the first direction; the adsorption module 4 includes at least two suction cup components, each suction cup component is arranged at intervals on the waterproof shell 2 and is in a first plane, wherein the first plane is perpendicular to the first direction.

[0045] It can be understood that, through the movement of the underwater robot and the adsorption of the adsorption module 4, the pressurizing module 3 is used to enable the rebound hammer 5 to accurately apply pressure vertically to the surface of the underwater concrete structure. The overall structure can effectively withstand the impact force when the hammer rebounds, thereby realizing the non-destructive testing of structural strength in complex underwater environments and avoiding the risks of artificial underwater operations. At the same time, through the targeted design method of the first plane being perpendicular to the first direction, the rebound hammer 5 can still maintain a stable and good vertical contact state with the surface of the underwater concrete structure in a dynamic environment under the influence of water flow or when the underwater robot moves, thereby ensuring the measurement accuracy of the non-destructive testing of the strength of underwater concrete structures.

[0046] In some embodiments of the present application, the installation module 1 includes a fixed base 11, an outrigger 12, an outrigger plate 13 and a support slide 14, at least two fixed bases 11 are respectively arranged on both sides of the waterproof housing 2 along the first direction, each fixed base 11 is provided with an outrigger 12 and an outrigger plate 13, the pressurizing module 3 is arranged on the outrigger plate 13, and the support slide 14 is arranged on each outrigger 12, and the support slide 14 is used to guide the movement of the detection end of the rebound tester 5. It can be understood that the fixed base 11 is rigidly connected to the outrigger 12 and the outrigger plate 13, the support slide 14 is rigidly connected to the outrigger 12, and the installation module 1 is installed at the front end below the underwater robot.

[0047] In some embodiments, each fixed base 11 includes an arc-shaped plate and a mounting flat plate at the end. The curvature of the arc-shaped plate is adapted to the shape of the underwater robot body shell. The mounting flat plate is provided with a platform fixing bolt hole, and the fixed base 11 is fixed to the lower part of the underwater robot body through the platform fixing bolt hole.

[0048] In some embodiments, the outrigger 12 is composed of a plurality of long vertical rods, extending upward from the upper end of the curved plate of the fixed base 11 to the position of the support slide 14. The outrigger plate 13 is a rectangular flat plate, installed above the curved plate behind the fixed base 11, for supporting and fixing the pressurizing module 3.

[0049] In some embodiments, the support slide 14 is provided with a slide groove, and the slide groove extends along the first direction to play a guiding role.

[0050] In some embodiments of the present application, the waterproof housing 2 includes a housing 21, a seal 22 and a fixed slider 23. The first end of the housing 21 is connected to the pressurizing module 3, the second end of the housing 21 is used to extend the detection end of the rebounding instrument 5, the seal 22 is arranged at the connection between the housing 21 and the detection end of the rebounding instrument 5, and the fixed slider 23 is arranged on the housing 21 and is slidably connected to the support slide 14. It can be understood that the rebounding instrument 5 is placed in the waterproof housing 2, the rear end of the housing 21 is installed on the pressurizing module 3, the seal 22 is arranged at the connection between the housing 21 and the impact rod of the rebounding instrument 5, and the fixed slider 23 is installed above the housing 21, rigidly connected to the housing 21 and placed in the slide groove of the support slide 14.

[0051] In some embodiments, the shell 21 is transparent in color and has a rectangular cross-sectional shape. A hole matching the shape of the rebound hammer 5 is provided in the middle. Rigidly connected rectangular mounting plates 211 are provided on both sides of the front end and are connected to the adsorption component by bolts. The seal 22 is a dynamic sealing ring, specifically an O-ring, which has a certain elasticity and can limit the axial leakage of water to prevent water from entering the interior of the rebound hammer 5 when the impact rod of the rebound hammer 5 reciprocates. The shell 21 and the dynamic sealing ring provide all-round waterproofing for the rebound hammer 5, ensuring the dry state inside the rebound hammer 5 without hindering the extension and retraction of the impact rod of the rebound hammer 5. The transparent shell makes it easy to observe the position of the impact rod of the rebound hammer 5 and its contact with the surface of the underwater concrete structure.

[0052] In some embodiments, the fixed slider 23 is installed above the shell 21 and is rigidly connected to the shell 21. The upper end is an I-shaped cross-section and is slidably connected to the slide groove of the support slide 14. The waterproof housing 2 of the rebound tester 5 can move back and forth through the slide groove of the support slide 14 under the drive of the pressurization module 3.

[0053] In some embodiments of the present application, the pressurizing module 3 includes a pressurizing power component 31, a pressurizing plate 32 and a mounting block 33. The pressurizing power component 31 is connected to the mounting module 1 through the mounting block 33. The pressurizing plate 32 is mounted on the pressurizing power component 31. The waterproof housing 2 is mounted on the pressurizing plate 32. The pressurizing power component 31 is used to drive the rebound hammer 5 to apply pressure to the surface of the underwater concrete structure. It can be understood that the waterproof housing 2 is mounted on the pressurizing plate 32 by bolts, the pressurizing plate 32 is mounted on the pressurizing power component 31 by bolts, and the pressurizing power component 31 is mounted on the mounting module 1 through the mounting block 33 and bolts. The pressurizing module 3 drives the rebound hammer 5 to apply pressure to the surface of the underwater concrete structure.

[0054] In some embodiments, the platform for carrying the rebounding hammer 5 of the underwater robot is installed at the front end below the underwater robot, which meets the stability requirement of the underwater robot with the center of gravity at the bottom, and ensures that the rebounding hammer 5 will not shake, dislocate or deviate during the detection process. When the impact rod is compressed to the maximum value, its front end still exceeds the front end position of the entire underwater robot, and the front end of the impact rod of the rebounding hammer 5 must be ensured to always be within the observation and imaging area of ​​the underwater robot.

[0055] In some embodiments of the present application, the pressurized power component 31 includes a push rod motor; it is understandable that the pressurized power component 31 uses a small push rod motor, and the overall installation size is small, which reduces the weight of the platform carrying the rebounding instrument 5 based on the underwater robot, thereby reducing the energy consumption of the underwater robot. The pressurized power component 31 is installed on the extension plate 13 of the mounting module 1 through the mounting block 33 and bolts, and the pressurized flat plate 32 is fixedly connected to the push rod on the pressurized power component 31. In the initial state, the impact rod is in an extended state, and the impact hammer in the rebounding instrument 5 is hooked on the hook in the rebounding instrument 5.

[0056] In some embodiments of the present application, the rebound hammer 5 is a digital rebound hammer 5. It can be understood that the rebound hammer 5 is placed in the waterproof housing 2, and the rebound hammer 5 adopts a digital rebound hammer 5, which can support internal storage and export of measurement data, and automatically record the rebound value after each measurement, without locking the impact rod for manual reading of the measurement data.

[0057] In some embodiments of the present application, the suction cup component includes a suction cup body 41 and an electric valve 42. The suction cup body 41 can be adsorbed on the surface of the underwater concrete structure and used to fix the position of the waterproof shell 2. A drainage channel 43 is provided in the suction cup body 41. The electric valve 42 is arranged in the drainage channel 43 and can control the opening and closing of the drainage channel 43. It can be understood that the two suction cup bodies 41 and the two electric valves 42 are respectively arranged on both sides of the front end of the waterproof shell 2 of the rebound tester 5, and the suction cup body 41 can be adsorbed on the surface of the underwater concrete structure to fix the position of the waterproof shell 2.

[0058] In some embodiments of the present application, mounting plates 211 are respectively provided on both sides of the waterproof housing 2 along the first direction, the mounting plates 211 are in the same plane and are used to set the suction cup body 41, and the drainage channel 43 extends from the suction cup body 41 to the mounting plates 211. It can be understood that the suction cup is in a round trumpet shape, with the drainage channel 43 set in the center, and the electric valve 42 is installed in the drainage channel 43 and the rectangular mounting plate 211, which can control the opening and closing of the drainage channel 43, and is used to discharge the moisture in the suction cup, so that the suction cup is adsorbed on the surface of the underwater concrete structure, and the position of the waterproof housing 2 of the rebound test hammer 5 is fixed.

[0059] In some embodiments of the present application, a control device is also included. The control device is configured to control the pressurizing module 3 to drive the waterproof housing 2 to move according to the contact information of the detection end of the rebounding instrument 5 on the detection point to be detected. When each suction cup component is in place, the rebounding instrument 5 applies pressure and feeds back the detection data to the control device. It can be understood that when the impact rod of the rebounding instrument 5 contacts the surface of the underwater concrete structure, the pressurizing power component 31 starts to work, and the push rod on the pressurizing power component 31 pushes the waterproof housing 2 and the rebounding instrument 5 forward. At this time, the fixed slider 23 above the shell 21 moves forward synchronously through the slide groove of the support slide 14, and the impact rod gradually compresses the elastic tension spring in the rebounding instrument 5. Under different water depth conditions, the push rod on the pressurizing power component 31 can maintain stable telescopic performance. When the suction cup body 41 contacts the surface of the underwater concrete structure, the electric valve 42 opens the drainage channel 43, and the pressurizing module 3 continues to drive the shell 21 to move forward, and applies pressure to the suction cup body 41 through the rectangular mounting plates 211 on both sides of the front end of the shell 21, so that the water in the suction cup body 41 is discharged and adsorbed on the surface of the underwater concrete structure, and then the electric valve 42 closes the drainage channel 43. The rectangular mounting plates 211 and the suction cup can make the waterproof shell 2 perpendicular to the surface of the underwater concrete structure, and fix the position of the impact rod at a certain measuring point to ensure that the impact rod of the rebound instrument 5 vertically applies pressure to the surface of the underwater concrete structure. When this measurement is completed, the electric valve 42 opens the drainage channel 43, the waterproof shell 2 is out of the adsorption state, and the rebound instrument 5 can be moved to the next measuring point for detection.

[0060] In some embodiments, since the pressurized power component 31 can drive the waterproof housing 2 to move in the first direction, it is possible to determine whether each suction cup component is in place based on the adsorption state information of the two suction cup bodies 41, so that the rebound tester 5 can apply pressure and measure perpendicularly to the surface of the underwater concrete structure.

[0061] Reference Figures 1 to 5 The rebound hammer 5 device of the second aspect embodiment of the present application, the rebound hammer 5 can be a rebound hammer 5 based on an underwater robot, and the rebound hammer 5 device includes the mounting platform of the first aspect embodiment of the present application to ensure the normal operation of the rebound hammer 5 in an underwater environment.

[0062] In some embodiments of the present application, the strength of different positions of the underwater concrete structure can be detected by the movement of the underwater robot and the adsorption of the adsorption module 4. The axis of the rebounding hammer 5 is always perpendicular to the surface of the underwater concrete structure and applies pressure slowly and evenly. After the rebound hammer in the rebounding hammer 5 is unhooked and impacts the rebounding rod, the rebounding hammer drives the pointer to move backward to a certain position. The indicating scale line on the pointer block shows a certain value on the scale, which is the rebound value. At this time, the carrying platform can effectively withstand the impact force when the rebounding hammer rebounds. After the digital display rebounding hammer 5 automatically records the rebound value of this measurement, the adsorption module 4 is out of the adsorption state, the pressurized power component 31 drives the push rod to retract, drives the waterproof shell 2 to move backward, and the rebounding rod is extended again. The underwater robot carries the rebounding hammer 5 through the carrying platform and moves to the next measuring point for detection.

[0063] It is understandable that the rebound hammer 5 device and the underwater robot are an organic whole. The rebound hammer 5 carrying platform based on the underwater robot makes installation convenient and quick, has high adaptability, and can be flexibly coordinated with underwater robots of different models. The carried rebound hammer 5 can adopt the digital display rebound hammer 5 on the market, and there is no need to modify the internal structure of the rebound hammer 5. In practical applications, such as when inspecting underwater bridge piers and pile foundations, the carrying platform can operate stably in various water flow environments.

[0064] Reference Figures 1 to 5 The underwater robot of the third aspect embodiment of the present application may be a robot for underwater concrete structure inspection. The underwater robot includes the rebound tester 5 device of the second aspect embodiment of the present application to propose a modular, high-efficiency, and high-precision strength inspection solution in the field of underwater concrete structure inspection.

[0065] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. A carrying platform, characterized in that: include: Install the module; A waterproof housing is slidably disposed on the mounting module along a first direction, and the waterproof housing is used for mounting a rebound tester; A pressurizing module, arranged on the mounting module and used to drive the waterproof housing to move, so that the detection end of the rebound tester can perform detection along a first direction; The adsorption module comprises at least two suction cup components, each of which is arranged on the waterproof housing at intervals and is located in a first plane, wherein the first plane is perpendicular to the first direction.

2. The mounting platform according to claim 1, characterized in that: The installation module includes a fixed base, an outrigger, an outrigger plate and a support slide, at least two of the fixed bases are respectively arranged on both sides of the waterproof housing along the first direction, each of the fixed bases is provided with the outrigger and the outrigger plate, the pressurizing module is arranged on the outrigger plate, the support slide is arranged on each of the outriggers, and the support slide is used to guide the movement of the detection end of the rebound tester.

3. The mounting platform according to claim 2, characterized in that: The waterproof housing includes a shell, a seal and a fixed slider. The first end of the shell is connected to the pressurizing module, and the second end of the shell is used to extend the detection end of the rebound tester. The seal is arranged at the connection between the shell and the detection end of the rebound tester. The fixed slider is arranged on the shell and is slidably connected to the supporting slide.

4. The mounting platform according to claim 1, characterized in that: The pressurization module includes a pressurization power component, a pressurization plate and a mounting block. The pressurization power component is connected to the mounting module via the mounting block. The pressurization plate is mounted on the pressurization power component. The waterproof housing is mounted on the pressurization plate. The pressurization power component is used to drive the rebound tester to apply pressure to the surface of the underwater concrete structure.

5. The mounting platform according to claim 4, characterized in that: The pressurizing power component includes a push rod motor; And / or the rebound hammer is a digital rebound hammer.

6. The mounting platform according to claim 1, characterized in that: The suction cup component includes a suction cup body and an electric valve. The suction cup body can be adsorbed on the surface of the underwater concrete structure and is used to fix the position of the waterproof shell. A drainage channel is provided in the suction cup body. The electric valve is arranged in the drainage channel and can control the opening and closing of the drainage channel.

7. The carrying platform according to claim 6, characterized in that: The waterproof housing is provided with mounting plates on both sides along the first direction, respectively. The mounting plates are in the same plane and are used to set the suction cup body, and the drainage channel extends from the suction cup body to the mounting plates.

8. The mounting platform according to claim 1, characterized in that: It also includes a control device, which is configured to control the pressurizing module to drive the waterproof housing to move according to the contact information of the detection end of the rebound tester on the detection point, and when each suction cup component is in place, the rebound tester applies pressure and feeds back the detection data to the control device.

9. A rebound test device, characterized in that: include: The mounting platform according to any one of claims 1 to 8.

10. An underwater robot, characterized in that: include: The rebound hammer device as claimed in claim 9.

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