Underwater pile foundation maintenance robot

Abstract

The invention discloses an underwater pile foundation maintenance robot. The underwater pile foundation maintenance robot comprises a moving mechanism, a maintenance mechanism, two mounting tables and two sets of pressing and abutting mechanisms. The two mounting tables are provided with mounting channels allowing pile foundations to penetrate through and are arranged at intervals in the axial direction of the mounting channels. The two sets of pressing and abutting mechanisms are installed on the two installation tables correspondingly, and each pressing and abutting mechanism is provided with a pressing and abutting end capable of stretching into and retreating from the adjacent installation channel. The moving mechanism is provided with two connecting ends, and the two connecting ends are mounted on the two mounting tables correspondingly; the maintenance mechanism is arranged on the mounting table. According to the scheme, the robot moves up and down on the pile foundation through cooperation of the two pressing and abutting mechanisms and the moving mechanism, the pressing and abutting ends directly abut against the outer wall of the pile foundation, the moving mechanism directly drives the two connecting ends to be close to or away from each other, winding or interference by foreign matter in water is not likely to happen, and the moving stability of the robot is improved; and the maintenance mechanism can conveniently maintain the stability of the pile foundation.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater pile foundation maintenance equipment, and particularly relates to an underwater pile foundation maintenance robot. Background Art

[0002] With the development of ocean engineering, underwater pile foundation structures are widely used in projects such as bridges, docks, and offshore platforms. Due to the long-term influence of factors such as seawater corrosion, water flow impact, and biological attachment, underwater pile foundations are prone to damages such as cracks, corrosion, and spalling, and need to be regularly inspected, maintained, and repaired.

[0003] Publication No. CN110565708A discloses a bridge underwater pile foundation detection system, which uses a thruster as the power part for the device to rise and fall, and with the assistance of walking wheels, enables the frame to roll relative to the pile foundation, reducing friction, so as to achieve up and down movement; while the buoyancy module is used to balance the self-weight of the detection equipment, and the detection equipment is trimmed to a state close to zero buoyancy; the observation component can collect information of the pile foundation and transmit it to the control box, and through the detection system, the apparent inspection of the pile foundation is realized, eliminating the danger of manual detection and improving the detection accuracy.

[0004] In this patent, the thruster is used as the power part for the device to move. However, due to the complex underwater environment, there are situations where the propeller blades of the thruster are floating and winding in the water or the flow channel of the thruster is blocked, which easily leads to the failure of the power part and is not conducive to the maintenance of the pile foundation. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies, and propose an underwater pile foundation maintenance robot to solve the technical problem that in the prior art, the thruster is used as the power part for the device to move, but due to the complex underwater environment, there are situations where the propeller blades of the thruster are floating and winding in the water or the flow channel of the thruster is blocked, which easily leads to the failure of the power part and is not conducive to the maintenance of the pile foundation.

[0006] To achieve the above technical purpose, the present invention adopts the following technical solutions: The present invention provides an underwater pile foundation maintenance robot, including: Two mounting platforms, both having mounting channels for the pile foundation to pass through, and arranged at intervals along the axial direction of the mounting channels; Two sets of pressing mechanisms, respectively installed on the two mounting platforms, and the pressing mechanism has a pressing end that can extend into and retreat from the adjacent mounting channel; A moving mechanism, having two connection ends, the two connection ends are respectively installed on the two mounting platforms, and the distance between them is adjustable; and A maintenance mechanism, arranged on the mounting platform for maintaining the pile foundation.

[0007] In some embodiments, one of the two mounting platforms is provided with a guiding channel, and the other is provided with a guiding arm slidably penetrating through the guiding channel, and both the guiding arm and the guiding channel extend along the axial direction of the mounting channel.

[0008] In some embodiments, the moving mechanism includes a lifting hydraulic cylinder, and the cylinder body and the hydraulic rod of the lifting hydraulic cylinder are respectively connected to the two mounting platforms; Wherein, the ends of the cylinder body and the hydraulic rod of the lifting hydraulic cylinder connected to the mounting platform constitute the two connection ends.

[0009] In some embodiments, the connection end is rotatably connected to the mounting platform, and the axial directions of the two connection ends rotating relative to the mounting platform are the same; and / or, A plurality of the lifting hydraulic cylinders are provided, and the plurality of lifting hydraulic cylinders are arranged at intervals along the circumferential direction of the mounting channel.

[0010] In some embodiments, the underwater pile foundation maintenance robot further includes a rack, and the rack is arranged on the mounting platform and extends along the circumferential direction of the mounting channel; The maintenance mechanism includes a cleaning seat, a transmission gear, a driving part and a cleaning part. The cleaning seat is arranged on the mounting platform and can move relative to the mounting platform along the extending direction of the rack. The transmission gear is rotatably installed on the cleaning seat and meshes with the rack. The driving part is arranged on the cleaning seat and is connected to the transmission gear for driving the transmission gear to rotate. The cleaning part is arranged on the cleaning seat for cleaning the pile foundation.

[0011] In some embodiments, the mounting platform includes a locking part and two mounting half-rings. The two mounting half-rings can move relative to each other and have a locking position and an unlocking position in the moving stroke. When the two mounting half-rings are in the locking position, the two ends are respectively connected and enclose to form the mounting channel, and when in the unlocking state, at least one end is separated to form an avoidance gap. The locking part connects the two mounting half-rings and enables the two mounting half-rings to switch between the locking state and the unlocking state and avoid the avoidance gap; The pressing mechanism is installed on the mounting half-ring.

[0012] In some embodiments, the mounting half-ring has a rotating end and a moving end at both ends. The two rotating ends are rotatably connected and can drive the two moving ends to be connected and separated when rotating, so that the two mounting half-rings switch between the locking state and the unlocking state.

[0013] In some embodiments, the locking part includes a buckle, and the hook and the clamping ring of the buckle are respectively arranged on the two moving ends.

[0014] In some embodiments, one of the two movable ends is provided with a clamping protrusion, and the other is provided with a clamping groove for inserting the clamping protrusion. Pin holes are respectively provided on the side wall of the clamping groove and the clamping protrusion. The locking portion further includes a bolt, and the bolt can be sequentially inserted into the pin holes on the side wall of the clamping groove and the pin hole of the clamping protrusion.

[0015] In some embodiments, the pressing mechanism includes a pressing hydraulic cylinder. The cylinder body of the pressing hydraulic cylinder is installed on the mounting table, and its hydraulic rod faces the adjacent mounting channel. The pressing end is located at one end of the hydraulic rod of the pressing hydraulic cylinder facing the mounting channel; and / or, A plurality of the pressing mechanisms in each group are provided, and the plurality of pressing mechanisms in the same group are respectively arranged at intervals along the circumferential direction of the mounting channel.

[0016] Compared with the prior art, when the underwater pile foundation maintenance robot provided by the present invention is working, the two mounting tables are sequentially sleeved on the outer periphery of the pile foundation via their respective mounting channels, so that the two mounting tables are arranged at intervals up and down on the outer periphery of the pile foundation. At the same time, the pressing ends of the two groups of pressing mechanisms are driven to extend into the mounting channel until the pressing ends press against the outer wall of the pile foundation, so that the two mounting tables can be fixed on the pile foundation, facilitating the maintenance mechanism to maintain the pile foundation.

[0017] When the robot needs to be moved, taking downward movement as an example, first drive the pressing end of the lower pressing mechanism to disengage from the outer wall of the pile foundation, and keep the pressing end of the upper pressing mechanism pressing against the outer wall of the pile foundation. Then drive the lower connecting end to move downward away from the upper connecting end, thereby driving the lower mounting table to move downward. When the lower mounting table moves to the limit position, drive the pressing end of the lower pressing mechanism to press against the outer wall of the pile foundation. Then drive the pressing end of the upper pressing mechanism to disengage from the pile foundation, and drive the upper connecting end to move downward to approach the lower connecting end, thereby driving the upper mounting table to move downward, and then drive the pressing end of the upper pressing mechanism to press against the outer wall of the pile foundation. Repeat the above steps until the robot moves downward to the preset position. The upward movement steps are opposite to the downward movement steps.

[0018] In this way, the present solution realizes the up and down movement of the robot on the pile foundation through the cooperation of the two groups of pressing mechanisms and the moving mechanism. Since the pressing end directly presses against the outer wall of the pile foundation, and the moving mechanism directly drives the two connecting ends to approach and separate from each other, compared with the propeller blades or propulsion channels, it is not easy to be entangled or interfered by foreign objects in the water, improving the stability of the robot movement and facilitating the maintenance mechanism to stably maintain the pile foundation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the underwater pile foundation maintenance robot provided by an embodiment of the present invention; Figure 2 is Figure 1Schematic diagram of the underwater pile foundation maintenance robot when installed on the pile foundation; Figure 3 is Figure 1 Exploded view of the underwater pile foundation maintenance robot; Figure 4 is Figure 1 Schematic diagram of the connection between a connecting end of the moving mechanism and the installation platform; Figure 5 is Figure 1 Schematic diagram of the installation platform (partial) and the maintenance mechanism; Figure 6 is Figure 5 Schematic diagram of the installation platform (partial) and the maintenance mechanism from another angle; Figure 7 is Figure 6 Partial schematic diagram of the installation platform and the maintenance mechanism; Figure 8 is Figure 7 Schematic diagram of the cooperation between the maintenance mechanism and the rack; Figure 9 is Figure 1 Schematic diagram of one installation platform and a set of pressing mechanisms; Figure 10 is Figure 9 Partial schematic diagram of the installation platform and the locking part; Figure 11 is Figure 9 Schematic diagram of the pressing mechanism.

[0020] Explanation of reference numerals: 1. Installation platform; 1a. Installation channel; 1b. Guide channel; 1c. Slide groove; 11. Guide arm; 12. Locking part; 121. Buckle; 13. Installation semi-ring; 131. Rotating end; 132. Movable end; 132a. Pin hole; 2. Pressing mechanism; 21. Pressing end; 22. Pressing hydraulic cylinder; 3. Moving mechanism; 31. Connecting end; 32. Lifting hydraulic cylinder; 4. Maintenance mechanism; 41. Cleaning seat; 42. Transmission gear; 43. Cleaning part; 44. Slide block; 5. Transition seat; 6. Rack; 7. Pile foundation. Detailed implementation manners

[0021] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] In order to solve the technical problem that in the prior art, a thruster is used as the power part for the movement of the device. However, due to the relatively complex underwater environment, there is a situation where the propeller blades of the thruster are floating and entangled in the water or the flow channel of the thruster is blocked, which easily leads to the failure of the power part and is not conducive to the maintenance of the pile foundation. The present invention provides an underwater pile foundation maintenance robot, in which the power part is not easily entangled or interfered by foreign objects in the water, the stability of the robot movement is improved, and it is convenient for the maintenance mechanism to stably maintain the pile foundation.

[0023] Please refer to Figures 1 to 3 , Figures 1 to 3 which is a schematic structural diagram of an underwater pile foundation maintenance robot in an embodiment of the present invention. The underwater pile foundation maintenance robot includes a moving mechanism 3, a maintenance mechanism 4, two mounting platforms 1 and two groups of pressing mechanisms 2. Both of the two mounting platforms 1 have mounting channels 1a through which the pile foundation 7 passes, and are arranged at intervals along the axial direction of the mounting channels 1a; the two groups of pressing mechanisms 2 are respectively installed on the two mounting platforms 1, and the pressing mechanism 2 has a pressing end 21 that can extend into and retract from the adjacent mounting channel 1a; the moving mechanism 3 has two connecting ends 31, and the two connecting ends 31 are respectively installed on the two mounting platforms 1, and the distance between the two is adjustable; the maintenance mechanism 4 is arranged on the mounting platform 1 for maintaining the pile foundation 7. Specifically, there are multiple pressing mechanisms 2 in each group, and the multiple pressing mechanisms 2 in the same group are respectively arranged at intervals along the circumferential direction of the mounting channel 1a.

[0024] When the underwater pile foundation maintenance robot provided by the present invention is working, the two mounting platforms 1 are successively sleeved on the outer periphery of the pile foundation 7 through their respective mounting channels 1a, so that the two mounting platforms 1 are arranged at intervals up and down on the outer periphery of the pile foundation 7. At the same time, the pressing ends 21 of the two groups of pressing mechanisms 2 are driven to extend into the mounting channel 1a until the pressing ends 21 press against the outer wall of the pile foundation 7, so that the two mounting platforms 1 can be fixed on the pile foundation 7, which is convenient for the maintenance mechanism 4 to maintain the pile foundation 7.

[0025] When the robot needs to move, taking downward movement as an example, first drive the pressing end 21 of the lower pressing mechanism 2 to disengage from the outer wall of the pile foundation 7, and keep the pressing end 21 of the upper pressing mechanism 2 pressing against the outer wall of the pile foundation 7. Then drive the lower connecting end 31 to move downward away from the upper connecting end 31, thereby driving the lower mounting platform 1 to move downward. When the lower mounting platform 1 moves downward to the limit position, then drive the pressing end 21 of the lower pressing mechanism 2 to press against the outer wall of the pile foundation 7. Then drive the pressing end 21 of the upper pressing mechanism 2 to disengage from the pile foundation 7, and drive the upper connecting end 31 to move downward to approach the lower connecting end 31, thereby driving the upper mounting platform 1 to move downward, and then drive the pressing end 21 of the upper pressing mechanism 2 to press against the outer wall of the pile foundation 7. Repeat the above steps until the robot moves downward to the preset position. The upward movement steps are opposite to the downward movement steps.

[0026] In this way, this solution realizes the up and down movement of the robot on the pile foundation 7 through the cooperation of two sets of pressing mechanisms 2 and the moving mechanism 3. Since the pressing end 21 directly presses against the outer wall of the pile foundation 7, and the moving mechanism 3 directly drives the two connecting ends 31 to move closer to and away from each other, it is less likely to be entangled or disturbed by foreign objects in the water compared to the propeller blades or propulsion channels of the propeller, thereby improving the stability of the robot's movement and facilitating the maintenance mechanism 4 to stably maintain the pile foundation 7.

[0027] It should be noted that the steps for the robot to move up the outer wall of the pile foundation 7 are as follows: first, the pressing end 21 of the upper pressing mechanism 2 is separated from the outer wall of the pile foundation 7, and the pressing end 21 of the lower pressing mechanism 2 is kept pressed against the outer wall of the pile foundation 7. Then, the upper connecting end 31 is driven upward away from the lower connecting end 31, thereby driving the upper mounting platform 1 to move upward, and when the upper mounting platform 1 moves up to the limit position, the pressing end 21 of the upper pressing mechanism 2 is driven to press against the outer wall of the pile foundation 7. Then, the pressing end 21 of the lower pressing mechanism 2 is driven to separate from the pile foundation 7, and the lower connecting end 31 is driven to move upward to approach the upper connecting end 31, thereby driving the lower mounting platform 1 to move upward, and then the pressing end 21 of the lower pressing mechanism 2 is driven to press against the outer wall of the pile foundation 7. Repeat the above steps until the robot moves up to the preset position.

[0028] In one embodiment, one of the two mounting platforms 1 is provided with a guide channel 1b, and the other is provided with a guide arm 11 slidably inserted into the guide channel 1b, and the guide arm 11 and the guide channel 1b both extend along the axial direction of the mounting channel 1a.

[0029] In this embodiment, one end of the guide arm 11 is connected to one mounting platform 1, and the other end is passed through the guide channel 1b on the other mounting platform 1, so that the two mounting platforms 1 are guided to move relative to each other along the guide of the guide arm 11 by means of the cooperation between the guide arm 11 and the guide channel 1b. The radial deviation of the two mounting platforms 1 relative to each other along the guide rod can be limited, thereby preventing the displacement of the two mounting platforms 1 and damaging the moving mechanism 3, thereby extending the service life of the robot.

[0030] It should be noted that the moving mechanism 3 can be configured in the form of a linear motor or an electric push rod, or in other forms.

[0031] In one embodiment, the moving mechanism 3 includes a lifting hydraulic cylinder 32, and the cylinder body and hydraulic rod of the lifting hydraulic cylinder 32 are respectively connected to two mounting platforms 1; wherein, the cylinder body and hydraulic rod of the lifting hydraulic cylinder 32 connected to the ends of the mounting platform 1 constitute two connecting ends 31.

[0032] In this embodiment, the moving mechanism 3 is configured in the form of a lifting hydraulic cylinder 32, and the two connecting ends 31 are located at both ends of the lifting hydraulic cylinder 32. Thus, when the hydraulic rod of the lifting hydraulic cylinder 32 extends and retracts, the two mounting platforms 1 can be driven to approach and move away from each other, and the structure is stable and reliable. Moreover, since the robot is used in water, compared with the electric drive form, the hydraulic drive is more stable and has a longer service life.

[0033] In one embodiment, please refer to Figure 4 , the connecting end 31 is rotatably connected to the mounting platform 1, and the axial directions of the two connecting ends 31 rotating relative to the mounting platform 1 are the same; and / or, there are multiple lifting hydraulic cylinders 32, and the multiple lifting hydraulic cylinders 32 are arranged at intervals along the circumferential direction of the installation channel 1a.

[0034] In this embodiment, the two connecting ends 31 of the lifting hydraulic cylinder 32 are respectively rotatably connected to the two mounting platforms 1, so that there is a certain amount of movement margin between the lifting hydraulic cylinder 32 and the mounting platform 1, avoiding direct rigid connection between the lifting hydraulic cylinder 32 and the mounting platform 1 and being easily damaged, and further extending the service life of the robot. It should be noted that in this solution, the connecting end 31 is rotatably mounted on the mounting platform 1 through a transition seat 5, and the connecting end 31, the transition seat 5 and the mounting platform 1 are rotatably connected in sequence, and the axial directions are the same. Specifically, ear rings are respectively provided on the opposite sides of the transition seat 5 for the connecting end 31 and the mounting platform 1 to be rotatably connected.

[0035] In addition, in this embodiment, multiple lifting hydraulic cylinders 32 are arranged at intervals along the circumferential direction of the installation channel 1a to improve the stability of the relative movement of the two mounting platforms 1. Specifically, in this solution, there are five lifting hydraulic cylinders 32 arranged at intervals.

[0036] It should be noted that the maintenance form of the maintenance mechanism 4 can be a camera, a high-pressure water gun, a cleaning brush, or other forms. And the unit for maintaining the pile foundation 7 can be fixedly arranged on the mounting platform 1 or movably arranged on the mounting platform 1.

[0037] In one embodiment, please refer to Figures 5 to 8 , the underwater pile foundation maintenance robot further includes a rack 6, the rack 6 is arranged on the mounting platform 1 and extends along the circumferential direction of the installation channel 1a; the maintenance mechanism 4 includes a cleaning seat 41, a transmission gear 42, a driving part and a cleaning part 43, the cleaning seat 41 is arranged on the mounting platform 1 and can move relative to the mounting platform 1 along the extending direction of the rack 6, the transmission gear 42 is rotatably mounted on the cleaning seat 41 and meshes with the rack 6, the driving part is arranged on the cleaning seat 41 and is connected to the transmission gear 42 for driving the transmission gear 42 to rotate, and the cleaning part 43 is arranged on the cleaning seat 41 for cleaning the pile foundation 7.

[0038] In this embodiment, the cleaning part 43 is arranged on the cleaning base 41, so that the driving part can drive the transmission gear to rotate, and then drive the cleaning part 43 to move relative to the mounting table 1 along the extension direction of the rack 6, so that the cleaning part 43 can clean the circumference of the pile foundation 7, improving the cleaning efficiency and quality.

[0039] Specifically, in this embodiment, there are two maintenance mechanisms 4. Correspondingly, there are two racks 6. The two racks 6 are arranged at intervals along the circumference of the installation channel 1a, and the two maintenance mechanisms 4 correspond to the two racks 6. In addition, the cleaning part 43 includes a camera and a high-pressure water gun system.

[0040] In addition, in this solution, one of the cleaning base 41 and the mounting table 1 is provided with a sliding groove 1c, and the other is provided with a sliding block 44. The sliding block 44 is slidably arranged in the sliding groove 1c, and the sliding groove 1c extends along the circumference of the installation channel 1a to guide the cleaning base 41 to move along the circumference of the installation channel 1a.

[0041] It should be noted that in this embodiment, the cleaning part includes a detection unit and a cleaning unit. The detection unit includes a high-definition camera and a motor for driving the high-definition camera to rotate. The high-definition camera is rotatably installed on the cleaning base 41 and is driven to rotate by the corresponding motor. The cleaning unit includes a high-pressure water flow nozzle, a pump body, and a motor for driving the high-pressure water flow nozzle to rotate. The pump body is installed on the cleaning base 41 and is connected to the high-pressure water flow nozzle to provide high-pressure water for the high-pressure water flow nozzle. The high-pressure water flow nozzle is rotatably installed on the mounting table 1 and is driven to rotate by the corresponding motor.

[0042] It should be understood that the specific structures and principles of the above detection unit and cleaning unit are prior art and will not be elaborated here.

[0043] In one of the embodiments, please refer to Figure 9 and Figure 10 , the mounting table 1 includes a locking part 12 and two mounting half-rings 13. The two mounting half-rings 13 can move relative to each other and have a locking position and an unlocking position in the moving stroke. When the two mounting half-rings 13 are in the locking position, the two ends are respectively connected and enclose to form the installation channel 1a, and when in the unlocking state, at least one end is separated to form an avoidance gap. The locking part 12 connects the two mounting half-rings 13 and enables the two mounting half-rings 13 to switch between the locking state and the unlocking state and avoid the above avoidance gap; the pressing mechanism 2 is installed on the mounting half-ring 13.

[0044] In this embodiment, before installing the robot on the pile foundation 7, first switch the two installation half-rings 13 to the unlocking position, so that the two installation half-rings 13 open their internal space, enabling the pile foundation 7 to enter the interior of the two installation half-rings 13 through the avoidance gap. Then, switch the two installation half-rings 13 to the locking position, and lock the two installation half-rings 13 at the locking position through the locking portion 12, improving the installation convenience.

[0045] It should be noted that in one embodiment, the two installation half-rings 13 can be completely separated and move closer to and away from each other during use to achieve their disassembly and assembly on the pile foundation 7. In another embodiment, the two installation half-rings 13 are assembled in a form similar to handcuffs.

[0046] In one of the embodiments, the installation half-ring 13 has rotating ends 131 and movable ends 132 at both ends. The two rotating ends 131 are rotatably connected, and when rotating, they can drive the two movable ends 132 to be connected and separated from each other, enabling the two installation half-rings 13 to switch between the locked state and the unlocked state.

[0047] In this embodiment, one end of the two installation half-rings 13 is rotatably connected, and the other end can approach and separate from each other, reducing the movement space of the installation half-rings 13 when sleeved on the pile foundation 7 and improving the convenience. At the same time, the two installation half-rings 13 can form a whole, facilitating carrying.

[0048] It should be noted that in one embodiment, the locking portion 12 is set in the form of a motor. The motor is installed on one installation half-ring 13 and is connected to the rotating end 131 of the other installation half-ring 13 to drive the two rotating ends 131 to rotate relative to each other and enable the two installation half-rings 13 to switch between the unlocking position and the locking position. In another embodiment, the locking portion 12 can be set in the form of a locking bolt and a locking nut, and holes are respectively provided at the two movable ends 132.

[0049] In one of the embodiments, the locking portion 12 includes a buckle 121, and the hook and the buckle of the buckle 121 are respectively arranged at the two movable ends 132.

[0050] In this embodiment, the hook and the buckle of the buckle 121 are respectively arranged at the two movable ends 132, so that the locking and unlocking of the buckle and the hook can be realized by moving the handle of the buckle 121, and further the connection and separation of the two movable ends 132 can be realized. The structure is simple and the operation is convenient. It should be noted that the specific structure and principle of the buckle 121 are prior art and will not be elaborated here.

[0051] In one embodiment, one of the two movable ends 132 is provided with a clamping projection, and the other is provided with a clamping groove for the clamping projection to be inserted. The side wall of the clamping groove and the clamping projection are respectively provided with pin holes 132a; the locking portion 12 further includes a bolt that can be sequentially inserted into the pin holes 132a on the side wall of the clamping groove and the pin holes 132a of the clamping projection.

[0052] In this embodiment, after the buckle 121 connects the two movable ends 132, the bolt is arranged in the pin holes 132a of the two movable ends 132, further improving the connection stability of the two movable ends 132, so that the two mounting half-rings 13 are stably in the locked position.

[0053] It should be noted that the pressing mechanism 2 can be set in the form of an electric push rod or a linear motor, or can be set in other forms.

[0054] In one embodiment, please refer to Figure 11 , the pressing mechanism 2 includes a pressing hydraulic cylinder 22. The cylinder body of the pressing hydraulic cylinder 22 is installed on the installation table 1, and its hydraulic rod faces the adjacent installation channel 1a; the pressing end 21 is located at one end of the hydraulic rod of the pressing hydraulic cylinder 22 facing the installation channel 1a.

[0055] In this embodiment, the pressing mechanism 2 is set as the pressing hydraulic cylinder 22. The telescopic ends of multiple pressing hydraulic cylinders 22 in the same group press against the outer wall of the pile foundation 7, realizing the fixation and detachment of the installation table 1 on the pile foundation 7, and the structure is stable and reliable. In addition, a rubber cushion layer is provided at the pressing end 21 of the pressing hydraulic cylinder 22. For the problem that the pressing hydraulic cylinder 22 needs to bear a certain weight of shear force, a certain length of iron block is added between the pressing hydraulic cylinder 22 and the rubber cushion layer. When the pressing hydraulic cylinder 22 is still in the locked state, all the shear force on the pressing hydraulic cylinder 22 is borne by the iron block.

[0056] For a better understanding of the present invention, the following Figures 1 to 11 is used to detail the technical solution of the present invention: The usage steps of the underwater pile foundation maintenance robot in this solution are specifically as follows: Step 1: After determining the position of the pile foundation 7 to be detected, the robot is initially installed on the pile foundation 7 manually, and the pressing hydraulic cylinder 22 is adjusted to fix the robot on the pile foundation 7, and the external buckle 121 is fastened to ensure the overall locking of the robot; Step 2: Debug the power system of the robot to ensure that the robot can complete the entire process of climbing and descending on the pile foundation 7, and ensure that the subsequent cleaning and detection actions are not interfered; Step 3: First move the robot to a safe position, manually install the detection unit and the cleaning unit at the positions reserved on the cleaning seat 41, and then adjust the hydraulic cylinder to make the robot reach the estimated position to be detected and cleaned; Step 4: After reaching the preliminary designated position, arrange the display device, image processing system, signal receiving system and power system on the mother ship or on shore; Step 5: Adjust the angles of the camera and the nozzle by controlling the motors of the detection unit and the cleaning unit. Check the underwater environment through the equipped high-definition camera, and transmit the real-time images to the display device on the shore or on the mother ship. Personnel continue to adjust the pressing hydraulic cylinder 22 and the lifting hydraulic cylinder 32 through the display device to make the robot reach the final working position; Step 6: After the robot reaches the position to be cleaned, adjust the angle of the high-pressure water jet nozzle, and personnel control through the switch to make the jet wash the attachments on the surface of the pile foundation 7; Step 7: After the cleaning is completed, the high-definition camera on the upper part can observe large cracks and other defects on the outside of the concrete, and transmit the recorded images to the shore equipment for personnel to analyze; Step 8: After the cleaning and detection of the entire pile foundation 7 are completed, retrieve the robot and other equipment to prevent the device from being damaged by long-term immersion in water.

[0057] This solution has the following beneficial effects: The robot is driven to move by adjusting the hydraulic cylinder, realizing rapid fixation and precise positioning, reducing manual intervention, eliminating the need for divers to repeatedly adjust, and significantly shortening the deployment time. And the robot can be remotely controlled to move, clean and detect through the shore-based or mother ship, reducing the risk of underwater operations and the dependence on divers.

[0058] This invention is equipped with a high-definition camera and an image transmission system, which can transmit the state of the underwater pile foundation 7 in real time, assisting the operator to accurately locate the defect area and avoiding the blind spots or errors of traditional manual detection. Compared with traditional mechanical brushes or low-pressure water flows, the high-pressure water jet can more thoroughly remove the attachments on the surface of the pile foundation 7, such as shellfish and algae, etc., and reduce the physical damage to the structure of the pile foundation 7.

[0059] This solution can also be remotely controlled throughout the process, avoiding divers being exposed to high pressure, low visibility or dangerous water flow environments for a long time, and significantly reducing the operation risk. The hydraulic system has an automatic pressure relief function, which can protect the equipment in time when the load is abnormal and extend the service life. The whole device solves the core problems of low efficiency, high risk and insufficient accuracy in traditional underwater pile foundation maintenance, and has achieved great breakthroughs in terms of safety, economy and technological advancement.

[0060] The above specific implementation manners of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An underwater pile foundation maintenance robot, characterized in that: include: The two mounting platforms are each provided with a mounting channel for the pile foundation to pass through, and are spaced apart along the axial direction of the mounting channel; Two sets of pressing mechanisms are respectively installed on the two mounting platforms, and the pressing mechanisms have pressing ends that can extend into and withdraw from the adjacent mounting channels; The moving mechanism has two connecting ends, the two connecting ends are respectively mounted on the two mounting platforms, and the distance between the two connecting ends is adjustable; and A maintenance mechanism is arranged on the mounting platform and is used for maintaining the pile foundation.

2. The underwater pile foundation maintenance robot according to claim 1, characterized in that: One of the two mounting platforms is provided with a guide channel, and the other is provided with a guide arm slidably arranged in the guide channel, and both the guide arm and the guide channel extend along the axial direction of the mounting channel.

3. The underwater pile foundation maintenance robot according to claim 1, characterized in that: The moving mechanism comprises a lifting hydraulic cylinder, the cylinder body and hydraulic rod of which are respectively connected to the two mounting platforms; Wherein, the cylinder body and the hydraulic rod of the lifting hydraulic cylinder are connected to the end of the mounting platform to form the two connecting ends.

4. The underwater pile foundation maintenance robot according to claim 3, characterized in that: The connecting end is rotatably connected to the mounting platform, and the two connecting ends rotate in the same axial direction relative to the mounting platform; and / or, A plurality of lifting hydraulic cylinders are provided, and the plurality of lifting hydraulic cylinders are arranged at intervals along the circumference of the installation channel.

5. The underwater pile foundation maintenance robot according to claim 1, characterized in that: The underwater pile foundation maintenance robot further includes a rack, which is arranged on the mounting platform and extends along the circumference of the mounting channel; The maintenance mechanism includes a cleaning seat, a transmission gear, a driving unit and a cleaning unit. The cleaning seat is arranged on the mounting platform and can move relative to the mounting platform along the extension direction of the rack. The transmission gear is rotatably mounted on the cleaning seat and meshes with the rack. The driving unit is arranged on the cleaning seat and connected to the transmission gear to drive the transmission gear to rotate. The cleaning unit is arranged on the cleaning seat and is used to clean the pile foundation.

6. The underwater pile foundation maintenance robot according to claim 1, characterized in that: The mounting platform comprises a locking portion and two mounting half rings, the two mounting half rings are relatively movable and have a locking position and an unlocking position in the movable stroke, when the two mounting half rings are in the locking position, both ends are respectively connected and surround to form the mounting channel, and when in the unlocking state, at least one end is separated and an avoidance gap is formed, the locking portion connects the two mounting half rings and enables the two mounting half rings to switch between the locking state and the unlocking state and avoid the avoidance gap; The pressing mechanism is installed on the installation half ring.

7. The underwater pile foundation maintenance robot according to claim 6, characterized in that: The installation half ring has a rotating end and a movable end located at both ends. The two rotating ends are rotatably connected and can drive the two movable ends to connect and separate with each other during rotation, so that the two installation half rings switch between the locked state and the unlocked state.

8. The underwater pile foundation maintenance robot according to claim 7, characterized in that: The locking portion comprises a buckle, and a hook and a snap ring of the buckle are respectively arranged at the two movable ends.

9. The underwater pile foundation maintenance robot according to claim 7 or 8, characterized in that: One of the two movable ends is provided with a locking protrusion, and the other is provided with a locking groove for the locking protrusion to be inserted, and the side wall of the locking groove and the locking protrusion are respectively provided with pin holes; The locking portion further comprises a latch pin, which can be inserted into the pin hole of the side wall of the card slot and the pin hole of the card protrusion in sequence.

10. The underwater pile foundation maintenance robot according to claim 1, characterized in that: The pressing mechanism comprises a pressing hydraulic cylinder, the cylinder body of the pressing hydraulic cylinder is mounted on the mounting platform, and the hydraulic rod thereof faces the adjacent mounting channel, and the pressing end is located at one end of the hydraulic rod of the pressing hydraulic cylinder facing the mounting channel; and / or, Each group of the pressing and abutting mechanisms is provided with a plurality of them, and the plurality of pressing and abutting mechanisms in the same group are respectively arranged at intervals along the circumferential direction of the installation channel.

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