Underwater component detection equipment and method for bridge

Abstract

The invention discloses an underwater component detection device and method for a bridge, and belongs to the technical field of bridge detection. The detection equipment comprises an underwater detection robot, a camera device, a clamping mechanism and a controller, and the underwater detection robot carries the camera device and the clamping mechanism and can autonomously move underwater; the clamping mechanism drives the double-face rack block to move through the driving assembly, and then the clamping plate components on the two sides are driven to be opened and closed synchronously, and stable clamping of the bridge underwater component is achieved. In cooperation with multiple groups of propeller propelling assemblies, the equipment can be accurately positioned and stably attached to the surface of a component, and high-definition detection is completed through a camera device. The problems that existing underwater detection equipment is poor in positioning precision and insufficient in attachment stability are solved, the detection efficiency and the data reliability are improved, and the device is suitable for detection operation of various bridge underwater pier columns and pile foundations.

Description

Technical Field

[0001] This invention belongs to the field of bridge engineering inspection technology, specifically relating to an underwater component inspection device and method for bridges, applicable to defect detection and safety assessment of underwater bridge piers, pile foundations and other components. Background Technology

[0002] Underwater bridge components are subject to long-term erosion from water flow, silt, and ship collisions, which can easily lead to defects such as cracks, concrete spalling, and steel corrosion, seriously affecting the structural safety of the bridge.

[0003] Traditional inspection methods primarily rely on manual inspection by divers, which suffers from low efficiency, high risk, and accuracy significantly affected by human factors. While existing underwater inspection robots can replace manual labor, they generally have the following drawbacks: Traditional underwater inspection devices rely solely on propeller propulsion, making it difficult to accurately dock on the surface of components. They are also susceptible to water flow interference, which can cause the inspection position to shift. Furthermore, the lack of a reliable clamping mechanism makes it impossible to stably attach to components in complex water flow environments, affecting the continuity and accuracy of inspection data. Existing clamping structures often use single-sided drive or asynchronous opening and closing methods, which can easily lead to problems such as clamping eccentricity, uneven force distribution, and even damage to the surface of components.

[0004] The aforementioned problems make it difficult for existing equipment to meet the high-precision and high-efficiency testing requirements of underwater bridge components. Therefore, there is an urgent need for an integrated device that combines precise positioning, stable clamping, and high-definition testing functions. Summary of the Invention

[0005] In view of this, the present invention aims to solve the technical problems of insufficient positioning accuracy, poor adhesion stability, and uneven force on the clamping mechanism of existing underwater bridge inspection equipment, and to provide an underwater component inspection equipment and method with accurate positioning, stable clamping, and high inspection efficiency.

[0006] The technical solution adopted in this invention is as follows: The first objective of this invention is to provide an underwater component inspection device for bridges, comprising: An underwater inspection robot includes a base frame, a robot housing mounted on the base frame, and an auxiliary propulsion device mounted on the bottom of the robot housing, the auxiliary propulsion device being adapted to drive the robot housing and the base frame to move; A camera device is installed on the top of the underwater inspection robot to collect image information of the underwater components of the bridge; A clamping mechanism, installed at the front end of the underwater inspection robot, is used to clamp and fix underwater bridge components. The clamping mechanism includes a mounting base, a drive assembly, and a clamping motion assembly. The drive assembly includes a drive motor fixedly mounted on the mounting base at its bottom end and a double-sided rack block mounted on the output shaft of the drive motor. The drive motor drives the double-sided rack block to perform linear reciprocating motion. The clamping motion assembly includes a base plate horizontally parallel to each other on the surface of the drive motor, and a first side clamping plate mechanism and a second side clamping plate mechanism symmetrically arranged and hinged to the two ends of the base plate away from the mounting base. The racks on both sides of the double-sided rack block mesh with the arc-shaped gears of the first side clamping plate mechanism and the second side clamping plate mechanism, respectively, to drive the two side clamping plate mechanisms to open and close synchronously. The controller is located inside the robot housing and is electrically connected to the auxiliary propulsion device, the camera device, and the gripping mechanism.

[0007] Furthermore, the auxiliary propulsion device includes a propulsion seat sealed and installed at the center of the bottom of the robot housing and four sets of horizontally symmetrically installed propeller propulsion assemblies; Each propeller propulsion assembly includes a waterproof motor, propeller blades, a waterproof sealing housing, and a power adjustment module. The waterproof motor is located inside the waterproof sealing housing, and its output shaft passes through a mechanical seal at the front end of the waterproof sealing housing and connects to the propeller blades. The outer periphery of the waterproof sealing housing is integrally fixedly connected to the propulsion base via a connecting frame. The power adjustment module is integrated into the inner center of the waterproof sealing housing and is electrically connected to the waterproof motor and the controller via waterproof cables.

[0008] Furthermore, the first side clamping plate mechanism includes a first side clamping plate, a first rack and pinion transmission structure, and a first vertical common rotation shaft structure; the first side clamping plate includes a first clamping part and a first connecting part integrally connected at a designed angle; the first rack and pinion transmission structure includes a first arc-shaped gear connecting rod and a first vertical rotation shaft structure vertically installed on the side of the first connecting part away from the first clamping part, the first arc-shaped gear connecting rod includes a first connecting rod and a first arc-shaped gear integrally connected, the side of the first connecting rod away from the first arc-shaped gear is rotatably installed on the side of the first connecting part away from the first clamping part through the first vertical common rotation shaft structure, the first arc-shaped gear meshes with the side rack of the double-sided rack block, and the center of the first arc-shaped gear is rotatably connected to the base plate through the first vertical rotation shaft structure.

[0009] Furthermore, the first side clamping plate mechanism also includes a first hinge link component and a second vertical common rotation shaft structure vertically mounted on the side of the first connecting portion near the first clamping portion. The first hinge link component includes a second link and a second vertical rotation shaft structure. One side of the second link is rotatably mounted on the base plate through the second vertical rotation shaft structure, and the other side is rotatably mounted on the first connecting portion through the second vertical common rotation shaft structure.

[0010] Furthermore, the first side clamping plate mechanism and the second side clamping plate mechanism have the same structure.

[0011] Furthermore, the mounting base includes a first base plate and a second base plate arranged parallel to each other, a connecting pipe disposed between the first base plate and the second base plate, and a plurality of wedge plate structures. The plurality of wedge plate structures are evenly distributed on the outer periphery of the connecting pipe and are respectively inserted into the first base plate and the second base plate on both sides. Each wedge plate structure includes a wedge plate body and a first protrusion and a second protrusion integrally connected on both sides of the wedge plate body in the length direction. The first protrusion is adapted to be inserted into the first connecting groove of the first base plate, and the second protrusion is adapted to be inserted into the second connecting groove of the second base plate.

[0012] Furthermore, the drive assembly also includes a motor mounting frame surrounding the outside of the drive motor. The motor mounting frame includes a first side connecting frame and a second side connecting frame that are parallel to and attached to both sides of the drive motor and vertically connected to the side of the second base plate away from the first base plate, and a third side connecting frame that is vertically connected between the first side connecting frame and the second side connecting frame and away from the mounting base. The substrate includes an upper substrate and a lower substrate that are parallel to each other and attached to the upper and lower surfaces of the drive motor. The upper substrate and the lower substrate are respectively provided with a first insertion slot and a second insertion slot. The upper and lower sides of the first side connecting frame are respectively provided with a first insertion block, and the upper and lower sides of the second side connecting frame are respectively provided with a second insertion block. The first insertion block is adapted to be inserted into the first insertion slot, and the second insertion block is adapted to be inserted into the second insertion slot.

[0013] Furthermore, the double-sided rack block includes a rack body and a first side rack and a second side rack disposed on both sides of the rack body; the first side rack and the second side rack respectively mesh with the first arc-shaped gear on the corresponding side.

[0014] Furthermore, the camera device includes a mounting bracket fixedly installed on the top of the robot housing and a camera installed on the top of the mounting bracket. The mounting bracket is an adjustable gimbal structure, and the camera is a CCD high-definition camera.

[0015] A second objective of this invention is to provide a method for inspecting underwater components of bridges, using the aforementioned underwater component inspection equipment, comprising the following steps: S1: The equipment is launched into the water, and the controller activates the auxiliary propulsion device to drive the equipment to move towards the underwater components of the bridge; S2: The camera device captures images of underwater components, and the controller identifies the position of the underwater components and adjusts the attitude of the equipment; S3: The drive assembly starts, the drive motor drives the double-sided rack block to move, and synchronously drives the first side clamping plate mechanism and the second side clamping plate mechanism to close, thus completing the clamping and fixing of the component; S4: The camera device performs high-definition scanning inspection of the component surface and collects defect data; S5: After the test is completed, the drive component runs in reverse, the clamping plate component opens, the equipment detaches from the component and returns to the water surface.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention integrates four core components—an underwater inspection robot, a camera device, a clamping mechanism, and a controller—and sets up a linkage between the drive component and the clamping motion component of the clamping mechanism, thereby achieving automation, precision, and stability in the inspection of underwater bridge components as a whole. This equipment uses an underwater inspection robot as its mobile platform, achieving autonomous underwater movement through a bottom-assisted propulsion device. This provides basic spatial mobility for inspection operations, replacing traditional manual diving inspections and fundamentally avoiding the safety risks of manual underwater operations. A top-mounted camera system enables real-time image acquisition of underwater components, providing visual evidence for equipment positioning and defect detection. Simultaneously, the robot's mobility ensures full coverage of the inspection range. The core clamping mechanism employs a power output structure of a drive motor and double-sided rack blocks, combined with a symmetrical double-sided clamping mechanism hinged to a base plate. Through the meshing transmission of the double-sided rack blocks and the two-sided arc-shaped gears, the linear reciprocating motion of the drive motor is synchronously converted into the symmetrical opening and closing action of the clamping mechanism on both sides. This transmission structure ensures the synchronicity and uniform force distribution of the clamping, achieving stable clamping and fixing of underwater bridge components and solving the problem of existing underwater inspection equipment being susceptible to water flow interference. The system addresses the pain point of unstable attachment to components by providing a stable operating posture for subsequent inspections. The controller, as the core control unit, forms a closed-loop control system electrically connected to the auxiliary propulsion device, camera device, and clamping mechanism. This enables fully automated linkage of the entire process—from equipment movement and positioning, visual recognition, clamping and fixing, to high-definition inspection—without manual intervention, significantly improving inspection efficiency. Simultaneously, the modular design of the clamping mechanism and the integrated assembly of the robot and camera device result in a compact and functionally integrated equipment structure, balancing the flexibility of underwater movement with the stability of inspection operations. It adapts to the inspection needs of underwater bridge components of different specifications, effectively improving the clarity, continuity, and accuracy of inspection data. Compared to traditional inspection methods and existing equipment, it achieves significant improvements in operational safety, inspection efficiency, and inspection accuracy, providing an integrated and highly reliable inspection solution for the safety assessment of underwater bridge components. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a three-dimensional structure of an underwater component inspection device for bridges in one direction, as shown in an embodiment of the present invention. Figure 2 This is a schematic diagram of the main structure of an underwater component inspection device for bridges in an embodiment of the present invention; Figure 3 This is a side view of the underwater component inspection equipment for bridges in an embodiment of the present invention. Figure 4 This is a three-dimensional structural diagram of the underwater component inspection equipment for bridges in another direction, as shown in an embodiment of the present invention. Figure 5 This is a front view schematic diagram of the underwater component inspection device for bridges in an embodiment of the present invention, with the clamping motion component removed. Figure 6 This is a three-dimensional structural diagram of the clamping mechanism in an embodiment of the present invention; Figure 7 This is an exploded structural diagram of the clamping mechanism in an embodiment of the present invention; Figure 8 This is a schematic diagram of the assembly structure of the mounting base and the drive assembly in an embodiment of the present invention; Figure 9 This is an exploded view of the mounting base and drive assembly in an embodiment of the present invention; Figure 10 This is an exploded view of the mounting base in an embodiment of the present invention; Figure 11 This is a schematic diagram of a one-way assembly structure of the clamping plate component in an embodiment of the present invention; Figure 12 This is a schematic diagram of the assembly structure of the clamping plate component in another direction according to an embodiment of the present invention; Figure 13 This is a schematic diagram of the assembly structure of the first side clamping plate mechanism in an embodiment of the present invention; Figure 14 This is a schematic diagram of the control connection structure between the controller and the auxiliary propulsion device, the camera device, and the clamping mechanism in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1-Underwater inspection robot; 11-Base frame; 111-Side frame; 112-Bottom frame; 12-Robot housing; 121-Mounting base surface; 13-Auxiliary propulsion device; 131-First propeller propulsion assembly; 132-Second propeller propulsion assembly; 133-Third propeller propulsion assembly; 134-Fourth propeller propulsion assembly; 2-Camera device; 21-Mounting bracket; 22-Camera; 3-Clamping mechanism; 31-Mounting base; 311-First base plate; 3111-First connecting groove; 312 - Second base plate; 3121 - Second connecting groove; 313 - Connecting pipe; 314-Wedge plate structure; 3141-Wedge plate body; 3142-First protrusion; 3143-Second protrusion; 32-Driver components; 321-Motor mounting frame; 3211-First side connecting frame; 32111-First plug-in block; 3212-Second side connecting frame; 32121-Second plug-in block; 3213-Third side connecting frame; 32131-Third plug-in block; 322 - Drive motor; 3221 - Motor mounting bracket; 323-Double-sided rack block; 3231-Rack body; 3232-First side rack; 3233-Second side rack; 33-Clamping motion component; 331-Substrate; 3311-Upper substrate; 33111-First insertion slot; 3312-Lower substrate; 33121-Second insertion slot; 332 - Clamping plate component; 3321 - First side clamping plate mechanism; 33211-First side clamping plate; 332111-First clamping part; 332112-First connecting part; 33212 - First rack and pinion transmission structure; 332121 - First arc-shaped gear connecting rod; 3321211 - First connecting rod; 3321212 - First arc-shaped gear; 332122 - First vertical rotation shaft structure; 33213 - First hinge link assembly; 332131 - Second link; 332132 - Second vertical rotation shaft structure; 33214 - First vertical common rotation axis structure; 33215 - Second vertical common rotation axis structure; 3322 - Second side clamping plate mechanism; 4-Controller. Detailed Implementation

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0020] In the description of this invention, it should be noted that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Please see Figure 1-14 As shown, this embodiment of the invention provides an underwater component inspection device for bridges. The underwater component inspection device includes an underwater inspection robot 1, a camera device 2, a clamping mechanism 3, and a controller 4, wherein: The underwater inspection robot 1 includes a base frame 11, a robot shell 12, and an auxiliary propulsion device 13. The robot shell 12 is mounted on the base frame 11, and the auxiliary propulsion device 13 is mounted on the bottom of the robot shell 12. The auxiliary propulsion device 13 is adapted to drive the robot shell 12 and the base frame 11 to move. The camera device 2 is mounted on the top of the underwater inspection robot 1 and is used to collect image information of the underwater components of the bridge; The clamping mechanism 3 is installed at the front end of the underwater inspection robot 1 and is used to clamp and fix the underwater bridge components. The clamping mechanism 3 includes a mounting base 31, a drive assembly 32 and a clamping motion assembly 33. The drive assembly 32 includes a drive motor 322 and a double-sided rack block 323. The bottom end of the drive motor 322 is fixedly installed on the mounting base 31, and the double-sided rack block 323 is installed on the output shaft of the drive motor 322. The drive motor 322 drives the double-sided rack block 323 to perform linear reciprocating motion. The clamping motion assembly 33 includes a base plate 331 and a clamping plate component 332. The base plate 331 is horizontally and parallelly mounted on the surface of the drive motor 322. The clamping plate component 332 includes a first side clamping plate mechanism 3321 and a second side clamping plate mechanism 3322. The first side clamping plate mechanism 3321 and the second side clamping plate mechanism 3322 are symmetrically arranged and hinged to the two ends of the base plate 331 away from the mounting base 31. The racks on both sides of the double-sided rack block 323 mesh with the arc gears of the first side clamping plate mechanism 3321 and the second side clamping plate mechanism 3322 respectively, so as to drive the two side clamping plate mechanisms to open and close synchronously. The controller 4 is located inside the robot housing 12 and is electrically connected to the auxiliary propulsion device 13, the camera device 2 and the clamping mechanism 3 respectively.

[0023] In this embodiment, after the equipment is launched into the water, the controller 4 activates the auxiliary propulsion device 13, and the four propeller propulsion components work together. Two components of the side frame provide horizontal thrust, driving the equipment to move towards the underwater bridge structure. The other two components are responsible for depth adjustment and attitude stabilization. With the visual feedback from the camera device 2, the controller 4 achieves precise positioning of the equipment through differential speed control. The multi-dimensional power output of the propeller combined with visual recognition can achieve a positioning error of ±5cm in water flow with a velocity ≤2m / s, ensuring that the axis of the clamping mechanism 3 coincides with the axis of the component. The drive motor drives the double-sided rack block 323 to perform linear reciprocating motion. The two sides of the double-sided rack block 323 simultaneously engage with the first side clamping mechanism 3321 and the second side clamping mechanism 3322. The engagement of the arc-shaped gears converts linear motion into symmetrical rotation of the two clamping plates. The combination of the arc-shaped gear connecting rod and the hinge connecting rod can adapt to piers / piles of different diameters, ensuring a tight fit between the clamping part and the surface of the component, and a uniform distribution of clamping force. After clamping, the auxiliary propulsion component enters a low-speed compensation mode, adjusting the thrust in real time to counteract water flow disturbances and prevent relative displacement between the equipment and the component. The adjustable gimbal of the camera device 2, combined with the stable posture of the equipment, can collect continuous and clear images of the component surface and identify defects such as cracks and spalling. When the drive motor runs in reverse, it drives the double-sided rack block 323 to reset, the two clamping plates open synchronously, the equipment detaches from the component, the auxiliary propulsion device 13 starts, and the equipment returns to the water surface along the original path, completing one inspection operation.

[0024] Therefore, by using the coordinated propulsion of multiple propellers and combining it with visual control, the positioning deviation problem caused by traditional equipment relying solely on propeller propulsion is solved, thus improving positioning efficiency. The symmetrical clamping structure driven by double-sided racks and pinions solves the problem of uneven force caused by single-sided drive, and can maintain stable attachment even in complex water flow environments, greatly improving the clamping success rate. In this way, the stable equipment posture combined with high-definition cameras solves the problems of image blurring and data interruption, and significantly improves the traceability and reliability of the detection results. The entire process from positioning to detection requires no manual intervention, and the detection time for a single component is reduced from 2-3 hours manually to 30-45 minutes, significantly improving detection efficiency.

[0025] It should be noted that, please refer to Figure 4 As shown, the base frame 11 in this embodiment includes two side frames 111 and a base frame 112. The two side frames 111 are vertically parallel and spaced apart, while the base frame 112 is horizontally and vertically connected to the bottom between the two side frames 111. The tops of the two side frames 111 are connected to the two sides of the robot housing 12. It can be understood that the structural shape of the base frame 11 can be selected according to the actual situation.

[0026] For more details, please refer to Figure 2 , Figure 4As shown, in one embodiment of the present invention, the auxiliary propulsion device 13 includes a propulsion base and four sets of propeller propulsion assemblies, wherein: The propulsion seat is sealed and installed at the bottom center of the robot housing 12. Four sets of propeller propulsion assemblies are installed horizontally and symmetrically. Each set of propeller propulsion assemblies includes a waterproof motor, propeller blades, a waterproof sealing housing, and a power adjustment module. The waterproof motor is located inside the waterproof sealing housing, and its output shaft passes through the mechanical seal at the front end of the waterproof sealing housing and connects to the propeller blades. The outer periphery of the waterproof sealing housing is integrally fixed to the propulsion seat through a connecting frame. The power adjustment module is integrated in the inner center of the waterproof sealing housing and is electrically connected to the waterproof motor and controller 4 through waterproof cables.

[0027] Specifically, in this embodiment, the four propeller propulsion assemblies include a first propeller propulsion assembly 131, a second propeller propulsion assembly 132, a third propeller propulsion assembly 133, and a fourth propeller propulsion assembly 134. The four propeller propulsion assemblies are arranged in a rectangular array at four symmetrical points on the propulsion base. The specific points are as follows: The first propeller propulsion assembly 131 is located at the left front position, the second propeller propulsion assembly 132 is located at the right front position, the third propeller propulsion assembly 133 is located at the left rear position, and the fourth propeller propulsion assembly 134 is located at the right rear position. In this way, through the coordinated control of the four propeller propulsion assemblies, the power of the main propulsion system is supplemented, the fine attitude adjustment / steering of the main equipment is realized, and emergency auxiliary propulsion is provided, etc.

[0028] Controller 4 sends electrical signal commands (speed and steering adjustment signals) to the power adjustment module integrated in the center of the waterproof sealed housing via a waterproof cable. Upon receiving the command, the power adjustment module transmits the appropriate current / voltage signal to the waterproof motor inside the waterproof sealed housing via the waterproof cable, laying the foundation for power output. During this process, the power adjustment module's central installation shortens the cable connection between it and the waterproof motor, ensuring delay-free signal transmission and stronger anti-interference capabilities. After receiving the power drive signal, the waterproof motor starts, and its output shaft rotates at high speed. The output shaft passes through the mechanical seal (double-end sealing structure, with waterproof lubricant) at the front of the waterproof sealed housing, directly transmitting the rotational power to the outer propeller blades, driving them to rotate synchronously. During this process, the waterproof sealed housing provides complete protection for the waterproof motor, and the mechanical seal achieves a seamless seal at the output shaft penetration point, completely preventing water from entering the housing and ensuring reliable underwater operation of the waterproof motor. Four sets of propeller propulsion components are horizontally and symmetrically installed on the outer periphery of the propeller base. The power adjustment modules of all components are uniformly controlled by controller 4, achieving three core actions: same speed and rotation, same speed and reverse rotation, and differential speed adjustment. For example, when four sets of propeller blades rotate in the same direction, they push the water to form a counter-force in the same direction, causing the underwater inspection robot 1 to move horizontally in a straight line (approaching / moving away from the underwater components of the bridge); when two sets of opposite components rotate in the same direction and another set of opposite components rotate in the opposite direction, they form a horizontal rotational torque, causing the robot to turn 360° in place and adjust the inspection orientation; when a single side / single set of components adjusts its speed (while the speed of the other components remains unchanged), the thrust difference on both sides / around the perimeter cancels out the lateral / longitudinal interference of the underwater water flow, enabling the robot to make slight adjustments to its posture (left and right yaw, forward and backward translation).

[0029] Therefore, in this technical solution, the auxiliary propulsion device 13 is sealed and fixed to the bottom center of the robot housing 12 via a propulsion seat. Four sets of propeller propulsion components are arranged horizontally and symmetrically. Each propeller propulsion component has a waterproof motor with a built-in waterproof sealed housing. Its output shaft is connected to the propeller blades via a mechanical seal. The waterproof sealed housing is integrally fixed to the propulsion seat via a connecting frame. The power adjustment module is integrated into the inner center of the waterproof sealed housing and is connected to the waterproof motor and controller via waterproof cables. This modular sealing and connection achieves a sealed connection between the propulsion device and the main body of the equipment, as well as all-dimensional waterproof protection, effectively preventing component failures caused by water infiltration and ensuring the reliability of underwater operations. Furthermore, the built-in short-distance connection design of the power adjustment module significantly improves the response speed and accuracy of power control, allowing the controller 4 to... The propeller speed and direction are adjusted in real time. On the other hand, the horizontally symmetrical layout of the four propeller propulsion components, combined with the integral fixed connection with the propulsion base, makes the power output centrally symmetrically distributed. The thrust can be evenly transmitted to the main body of the equipment, which not only ensures the stability of the equipment's underwater horizontal movement and turning in place, but also precisely counteracts water flow interference through flexible differential speed adjustment, maintaining the stability of the equipment's attitude. At the same time, the center of gravity of the propulsion device coincides with the center of gravity of the main body of the equipment, reducing power loss and improving the overall stability of the equipment's operation. The modular component design also allows individual components to be disassembled and maintained independently, combining operational safety and maintenance convenience. The overall design of this propulsion device provides reliable power support for the equipment's precise underwater positioning, stable clamping, and high-definition detection, greatly improving the equipment's adaptability and operational efficiency in complex underwater environments.

[0030] For more details, please refer to Figure 6 , Figure 7 , Figure 11 As shown, in one embodiment of the present invention, the first side clamping plate mechanism 3321 includes a first side clamping plate 33211, a first rack and pinion transmission structure 33212, and a first vertical common rotation shaft structure 33214, wherein: The first side clamping plate 33211 includes a first clamping part 332111 and a first connecting part 332112, which are integrally connected at a designed angle. The first rack and pinion transmission structure 33212 includes a first arc-shaped gear connecting rod 332121 and a first vertical rotation shaft structure 332122, which is vertically mounted on the side of the first connecting part 332112 away from the first clamping part 332111. The first arc-shaped gear connecting rod 332121 includes an integrally connected part 332122. The first connecting rod 3321211 and the first arc gear 3321212 are connected. The side of the first connecting rod 3321211 away from the first arc gear 3321212 is rotatably mounted on the side of the first connecting part 332112 away from the first clamping part 332111 via the first vertical common rotating shaft structure 33214. The first arc gear 3321212 meshes with the side rack of the double-sided rack block 323, and the center of the first arc gear 3321212 is rotatably connected to the base plate 331 via the first vertical rotating shaft structure 332122.

[0031] Thus, through the integrated design and transmission mechanism of the first side clamping plate 3321, precise transmission of clamping power, stable and controllable clamping action, and optimized structural adaptability are achieved. The first clamping part 332111 and the first connecting part 332112 of the first side clamping plate 33211 are integrally connected at a designed angle, ensuring structural rigidity under clamping force and avoiding deformation affecting clamping accuracy. At the same time, the preset angle can adapt to the arc-shaped surface of the underwater bridge component, improving the clamping fit. The first arc-shaped gear connecting rod 332121, the first side clamping plate 33211, and the base plate 331 form a double rotation fulcrum linkage through the first vertical common rotation shaft structure 33214 and the first vertical rotation shaft structure 3321222, which works in conjunction with the first arc-shaped gear 3321212 and the double-sided The meshing transmission of the rack on the side of the rack block 323 smoothly transforms the linear motion of the double-sided rack block 323 into the arc-shaped opening and closing motion of the first side clamping plate 33211 around the rotation axis. The transmission process is smooth and has small gaps. Moreover, the limiting of the double rotation fulcrum ensures that the trajectory of the clamping action is precise and controllable, avoiding deviation. The overall structure achieves spatial adaptation of transmission and clamping actions through the vertical installation design of multiple rotation axes. When symmetrically cooperated with the second side clamping plate mechanism 3322, it can ensure that the clamping plates on both sides open and close synchronously and the force is evenly distributed. It can stably clamp underwater components of different specifications and avoid damage to the surface of the components during clamping. It provides reliable structural support for the equipment to achieve precise and stable clamping in complex underwater environments, thereby ensuring the smooth progress of subsequent testing operations.

[0032] Specifically, please refer to Figure 12 , Figure 13As shown, in one embodiment of the present invention, the first side clamping plate mechanism 3321 further includes a first hinge link component 33213 and a second vertical common rotation shaft structure 33215. The second vertical common rotation shaft structure 33215 is vertically installed on the side of the first connecting portion 332112 near the first clamping portion 332111. The first hinge link component 33213 includes a second link 332131 and a second vertical rotation shaft structure 332132. One side of the second link 332131 is rotatably installed on the base plate 331 through the second vertical rotation shaft structure 332132, and the other side is rotatably installed on the first connecting portion 332112 through the second vertical common rotation shaft structure 33215.

[0033] Specifically, in this embodiment, the addition of the first hinge link component 33213 and the second vertical common rotation shaft structure 33215 further optimizes the transmission stability and clamping posture controllability of the first side clamping plate mechanism 3321, significantly improving the overall clamping performance. The second link 332131, through the second vertical rotation shaft structure 332132 and the second vertical common rotation shaft structure 33215, forms additional hinge support with the base plate 331 and the first connecting part 332112 of the first side clamping plate 33211, respectively. This forms a coordinated linkage system with the original dual rotation fulcrum transmission structure of the first arc-shaped gear link 332121, which not only provides dual limits on the opening and closing trajectory of the first side clamping plate 33211, but also effectively suppresses the swaying and shaking caused by uneven force or water flow disturbance during the clamping process, ensuring that the clamping action accurately conforms to the preset trajectory. It can also distribute the force during transmission and clamping, avoiding wear and deformation caused by excessive load on a single transmission structure, and improving the overall rigidity and service life of the mechanism. At the same time, the hinge linkage design can adapt to the arc opening and closing angle of the first side clamping plate 33211. With the meshing transmission of the first arc gear 3321212 and the double-sided rack block 323, the first side clamping plate 33211 always maintains an adapted posture with the surface of the component during the opening and closing process, enhancing the tightness of the clamping part with underwater components with different curvatures. When symmetrically cooperated with the second side clamping plate mechanism 3322, it further ensures the synchronicity and force balance of the clamping actions on both sides, avoiding local squeezing damage to the surface of the component. It provides a more comprehensive structural guarantee for the stable and reliable clamping of the equipment in complex underwater environments, and indirectly ensures the image clarity and data accuracy of subsequent camera detection.

[0034] As a preferred embodiment, the first side clamping plate mechanism 3321 and the second side clamping plate mechanism 3322 have the same structure and are adapted to the double-sided meshing transmission of the double-sided rack block 323. This ensures that the opening and closing speed, rotation angle and clamping force of the two sides of the double-sided rack block 323 are completely consistent when the double-sided rack block 323 moves in a straight line. This avoids the problems of clamping eccentricity and uneven force from the structural source, greatly improves the stability and coaxiality of clamping the underwater components of the bridge, and effectively prevents local damage to the surface of the components during the clamping process.

[0035] Secondly, the identical structural design enables modular production and assembly of the mechanism, reducing the types of parts and mold development costs, and improving production efficiency. Furthermore, during equipment maintenance, the parts of both sides of the mechanism are interchangeable, significantly reducing maintenance difficulty and spare parts costs, and enhancing the ease of maintenance. Finally, the symmetrical and consistent structure allows for precise matching of the motion trajectories and transmission accuracy of both sides of the mechanism. Combined with the dual limiting of the hinge linkage components, this further enhances the synchronization of the overall clamping mechanism's movements and structural stability, enabling the equipment to adapt to underwater bridge components of different diameters. This improves the adaptability and versatility of the clamping mechanism, ensuring the reliability and efficiency of clamping operations in complex underwater environments.

[0036] Specifically, please refer to Figure 10 As shown, in one embodiment of the present invention, the mounting base 31 includes a first base plate 311, a second base plate 312, a connecting pipe 313, and a plurality of wedge-shaped plate structures 314, wherein: The first base plate 311 and the second base plate 312 are arranged parallel to each other at intervals. The connecting pipe 313 and a plurality of wedge plate structures 314 are arranged between the first base plate 311 and the second base plate 312. The plurality of wedge plate structures 314 are evenly distributed on the outer periphery of the connecting pipe 313 and are respectively inserted into the first base plate 311 and the second base plate 312 on both sides. Each wedge plate structure 314 includes a wedge plate body 3141, a first protrusion 3142 and a second protrusion 3143. The first protrusion 3142 and the second protrusion 3143 are integrally connected on both sides of the wedge plate body 3141 in the length direction. The first protrusion 3142 is adapted to be inserted into the first connecting groove 3111 of the first base plate 311, and the second protrusion 3143 is adapted to be inserted into the second connecting groove 3121 of the second base plate 312.

[0037] In this technical solution, the mounting base 31 adopts a combination of a first base plate 311, a second base plate 312, a connecting pipe 313, and a wedge-shaped plate structure 314 evenly distributed on the outer periphery. The wedge-shaped plate structure 314 is fixed by the insertion and engagement of the protrusions on both sides with the connecting grooves of the base plate. First, the connecting pipe 313 serves as the core support, and the wedge-shaped plate structure 314 is evenly distributed on the outer periphery, forming a stable support structure with multi-directional force, which greatly improves the overall structural rigidity and deformation resistance of the mounting base 31. It can effectively bear the weight of the drive component and the clamping motion component, as well as the reaction force during clamping operations, ensuring the stability of power transmission. Second, the wedge-shaped structure of the wedge-shaped plate body 3141 can distribute the force, and with the precise insertion and engagement of the protrusions and the connecting grooves, it can effectively... The rapid assembly and positioning of each component improves assembly efficiency. At the same time, the evenly distributed wedge plate structure 314 ensures uniform stress on the base, avoiding structural damage caused by local stress concentration and extending service life. Furthermore, the modular combination design of multiple components with plug-in connection facilitates the disassembly, maintenance, and replacement of parts of the base. This structure can be precisely adapted to the mounting base 121 of the robot shell 12, achieving a stable connection between the clamping mechanism and the underwater inspection robot 1. This ensures that the mechanism as a whole does not shift or loosen during clamping operations, providing a stable installation foundation for the subsequent drive components to drive the clamping motion components 33 to complete synchronous opening and closing actions. Meanwhile, the overall compact structural design effectively controls the size and weight of the clamping mechanism 3, meeting the lightweight requirements of underwater inspection equipment.

[0038] Specifically, please refer to Figure 8 , Figure 9 As shown, in one embodiment of the present invention, the drive assembly 32 further includes a motor mounting frame 321 surrounding the drive motor 322. The motor mounting frame 321 includes a first side connecting frame 3211, a second side connecting frame 3212, and a third side connecting frame 3213. The first side connecting frame 3211 and the second side connecting frame 3212 are parallel to and attached to both sides of the drive motor 322 and are vertically connected to the side of the second base plate 312 away from the first base plate 311. The third side connecting frame 3213 is vertically connected between the first side connecting frame 3211 and the second side connecting frame 3212 and is away from the mounting base 31. A plurality of third insertion blocks 32131 are also provided on the upper and lower sides of the third side connecting frame 3213. The third insertion blocks 32131 are inserted into the substrate 331 to realize the fixed connection between the third side connecting frame 3213 and the substrate 331.

[0039] The substrate 331 includes an upper substrate 3311 and a lower substrate 3312. The upper substrate 3311 and the lower substrate 3312 are attached to the upper and lower surfaces of the drive motor 322 in parallel. The upper substrate 3311 and the lower substrate 3312 are respectively provided with a first insertion groove 33111 and a second insertion groove 33121. The upper and lower sides of the first side connecting frame 3211 are respectively provided with a first insertion block 32111, and the upper and lower sides of the second side connecting frame 3212 are respectively provided with a second insertion block 32121. The first insertion block 32111 is adapted to be inserted into the first insertion groove 33111, and the second insertion block 32121 is adapted to be inserted into the second insertion groove 33121.

[0040] This technical solution uses a motor mounting frame 321 to surround the drive motor 322 and fix it to the mounting base 31. The base plate 331 is attached to the drive motor 322 from both sides and connected to the motor mounting frame 321 through the cooperation of the plug-in block and the plug-in slot. The motor mounting frame 321, which is composed of a three-sided connecting structure, forms a comprehensive wrapping and fixing of the drive motor 322. Combined with the vertical connection with the mounting base 31, this greatly improves the installation stability of the drive motor 322, effectively suppresses the vibration and displacement of the drive motor 322 during operation, and ensures the smoothness of power output. Secondly, the close fit between the upper and lower base plates and the drive motor 322, combined with the precise plug-in cooperation of the plug-in block and the plug-in slot, realizes the rapid positioning and stable connection of the base plate, the motor mounting frame 321, and the drive motor 322. This not only improves the assembly efficiency but also makes the base plate 331 and the drive assembly 32 an integrated structure. The structure ensures the coaxiality between the clamping motion component 33 and the drive component 32, preventing jamming during transmission. Simultaneously, the three-sided enclosing structure of the motor mounting frame 321 works in conjunction with the upper and lower clamping structures of the base plate 331, providing multi-dimensional support and limiting for the drive motor 322. This disperses the reaction force transmitted to the drive motor 322 during clamping operations, preventing component damage caused by localized stress concentration and extending the service life of the drive component 32. Furthermore, the plug-in connection method makes disassembly and maintenance between the base plate 331 and the motor mounting frame 321 more convenient, and the overall compact structure achieves seamless connection between the drive component 32 and the clamping motion component 33. This ensures that the linear motion of the double-sided rack block 323 can be accurately converted into the synchronous opening and closing action of the clamping plates on both sides, providing reliable structural support for the stable and precise operation of the clamping mechanism.

[0041] Specifically, please refer to Figure 9 As shown, in one embodiment of the present invention, the double-sided rack block 323 includes a rack block body 3231, a first side rack 3232, and a second side rack 3233, wherein: The first side rack 3232 and the second side rack 3233 are respectively disposed on the two sides of the tooth block body 3231. The first side rack 3232 and the second side rack 3233 respectively mesh with the first arc gear 3321212 on the corresponding side.

[0042] This technical solution, by setting a first side rack 3232 and a second side rack 3233 on both sides of the tooth block body 3231, and precisely meshing them with the corresponding arc-shaped gears, firstly achieves the simultaneous transmission of power from a single double-sided rack block 323 to the clamping mechanisms on both sides, synchronously converting the linear reciprocating motion output by the drive motor 322 into the symmetrical opening and closing motion of the clamping mechanisms on both sides. From the root of the transmission structure, this ensures that the speed and angle of the opening and closing of the clamping plates on both sides are completely consistent, ensuring uniform force during clamping and avoiding equipment offset or component surface damage caused by clamping eccentricity. Secondly, the precise meshing of the double-sided racks and arc-shaped gears allows for precise power transmission... The direct and efficient transmission reduces transmission backlash and energy loss, improving the response speed and control precision of clamping actions, enabling rapid and precise clamping of underwater bridge components. Furthermore, the integrated double-sided rack and pinion structure significantly simplifies the overall transmission system compared to independent dual-sided transmission structures, reducing the number of parts, assembly difficulty, and the probability of failure. The meshing transmission of the rack and pinion with the arc gear provides stable transmission and good wear resistance, adapting to the long-term operational needs of complex underwater environments. This further ensures the reliability and service life of the clamping mechanism, providing efficient and precise power transmission support for stable underwater clamping operations.

[0043] Specifically, please refer to Figure 2 , 3 As shown, in one embodiment of the present invention, the camera device 2 includes a mounting bracket 21 and a camera 22. The mounting bracket 21 is fixedly mounted on the top of the robot housing 12, and the camera 22 is mounted on the top of the mounting bracket 21. The mounting bracket 21 is an adjustable gimbal structure, and the camera 22 is a CCD high-definition camera.

[0044] This technical solution designs the camera device 2 as a mounting frame 21 with an adjustable angle gimbal structure, equipped with a CCD high-definition camera. The mounting frame 21 is fixed to the top of the robot housing 12, and the camera 22 is located on the top of the mounting frame 21. First, utilizing the high-definition imaging characteristics of the CCD high-definition camera, it can clearly capture minute defects in the underwater components of the bridge, significantly improving the clarity and accuracy of the detection data and providing reliable visual evidence for component defect identification. Second, the gimbal angle adjustment structure of the mounting frame 21 allows the camera 22 to achieve multi-directional and multi-angle field of view adjustment, adapting to the shooting needs of different clamping positions of the clamping mechanism 3 and different detection surfaces of the components, with no blind spots in the detection field of view. At the same time, the shooting angle can be flexibly adjusted after the device has completed clamping, ensuring precision. The camera device 2 is precisely positioned within the detection area. Furthermore, its high-mounted design on the top of the robot housing 12 effectively prevents obstruction of the shooting field of view by components such as the clamping mechanism 3 and the propulsion device, ensuring a wide field of view. The stable adjustment characteristics of the gimbal structure, combined with the overall posture stability of the equipment, effectively prevent image jitter and blurring during underwater shooting. In addition, the fixed installation method of the overall structure ensures the installation stability of the camera device 2, adapting to complex underwater operating environments. The combination of high-definition imaging and adjustable angles allows the equipment to perform comprehensive, high-precision visual inspection of underwater bridge components, significantly improving the comprehensiveness and accuracy of the inspection and providing high-quality image data support for subsequent defect analysis and safety assessment.

[0045] Please see Figure 14 As shown, another embodiment of the present invention also provides a method for detecting underwater components of bridges, using the underwater component detection equipment described above. The detection method includes the following steps: S1: The equipment is launched into the water. Controller 4 starts the auxiliary propulsion device 13 to drive the equipment to move towards the underwater components of the bridge. S2: Camera device 2 acquires images of underwater components, and controller 4 identifies the position of underwater components and adjusts the attitude of the equipment; S3: Drive component 32 starts, drive motor 322 drives double-sided rack block 323 to move, synchronously drive first side clamping mechanism 3321 and second side clamping mechanism 3322 to close, and complete the clamping and fixing of the component. S4: Camera device 2 performs high-definition scanning inspection on the surface of the component and collects defect data; S5: After the test is completed, the drive component 32 runs in reverse, the clamping plate component 332 opens, the equipment detaches from the component and returns to the water surface.

[0046] The aforementioned detection method employs standardized steps including "submersible movement, visual positioning and attitude adjustment, synchronous clamping and fixation, high-definition scanning detection, and unlocking and withdrawal." Combined with the structural advantages of the aforementioned underwater component detection equipment, this creates a suitable operational method, achieving fully automated operation of the entire process for underwater bridge component detection. No manual underwater intervention is required, completely eliminating the safety risks of manual diving inspection. Furthermore, relying on the visual recognition of the camera device and the precise attitude adjustment of the auxiliary propulsion device, rapid and accurate alignment of the equipment with the underwater component is achieved, significantly improving the positioning efficiency and accuracy of the detection operation. Secondly, the drive component drives the double-sided rack block 323 to achieve synchronous clamping and fixation of the clamping mechanisms on both sides, allowing the equipment to stably attach to the component surface. Combined with multi-angle high-definition scanning detection by the CCD high-definition camera, this effectively... This method avoids image blurring and data loss caused by water flow disturbance, ensuring the clarity, continuity, and completeness of defect data collection and significantly improving the accuracy of detection results. Furthermore, the detection process is tightly integrated and logically coherent, with rapid clamping and unlocking actions, greatly shortening the detection time for a single component and improving overall detection efficiency. After detection, the equipment can autonomously detach and return to the surface, simplifying the workflow and reducing the difficulty of equipment recovery. In addition, the method is highly compatible with the structure and function of the equipment, fully leveraging the collaborative advantages of its components. It can adapt to underwater bridge components of different specifications and complex underwater operating environments, demonstrating strong versatility and adaptability in detection operations. This provides an efficient, reliable, and accurate detection solution for the safety assessment of underwater bridge components.

[0047] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the scope of protection of this invention.

Claims

1. An underwater component inspection device for bridges, characterized in that, include: An underwater inspection robot includes a base frame, a robot housing mounted on the base frame, and an auxiliary propulsion device mounted on the bottom of the robot housing, the auxiliary propulsion device being adapted to drive the robot housing and the base frame to move; A camera device is installed on the top of the underwater inspection robot to collect image information of the underwater components of the bridge; A clamping mechanism is installed at the front end of the underwater inspection robot for clamping and fixing underwater bridge components. The clamping mechanism includes a mounting base, a drive assembly, and a clamping motion assembly. The drive assembly includes a drive motor with its bottom end fixedly mounted on the mounting base and a double-sided rack block mounted on the output shaft of the drive motor. The drive motor drives the double-sided rack block to perform linear reciprocating motion. The clamping motion assembly includes a base plate that is horizontally and parallelly installed on the surface of the drive motor, and a first side clamping plate mechanism and a second side clamping plate mechanism that are symmetrically arranged and hinged to the two ends of the base plate away from the mounting base. The racks on both sides of the double-sided rack block mesh with the arc gears of the first side clamping plate mechanism and the second side clamping plate mechanism respectively, so as to drive the two side clamping plate mechanisms to open and close synchronously. The controller is located inside the robot housing and is electrically connected to the auxiliary propulsion device, the camera device, and the gripping mechanism.

2. The underwater component inspection equipment for bridges according to claim 1, characterized in that, The auxiliary propulsion device includes a propulsion seat sealed and installed at the center of the bottom of the robot housing and four sets of horizontally symmetrically installed propeller propulsion assemblies. Each propeller propulsion assembly includes a waterproof motor, propeller blades, a waterproof sealing housing, and a power adjustment module. The waterproof motor is located inside the waterproof sealing housing, and its output shaft passes through a mechanical seal at the front end of the waterproof sealing housing and connects to the propeller blades. The outer periphery of the waterproof sealing housing is integrally fixedly connected to the propulsion base via a connecting frame. The power adjustment module is integrated into the inner center of the waterproof sealing housing and is electrically connected to the waterproof motor and the controller via waterproof cables.

3. The underwater component inspection equipment for bridges according to claim 1, characterized in that, The first side clamping plate mechanism includes a first side clamping plate, a first rack and pinion transmission structure, and a first vertical common rotation shaft structure. The first side clamping plate includes a first clamping part and a first connecting part integrally connected at a designed angle. The first rack and pinion transmission structure includes a first arc-shaped gear connecting rod and a first vertical rotation shaft structure vertically installed on the side of the first connecting part away from the first clamping part. The first arc-shaped gear connecting rod includes a first connecting rod and a first arc-shaped gear integrally connected. The side of the first connecting rod away from the first arc-shaped gear is rotatably installed on the side of the first connecting part away from the first clamping part via the first vertical common rotation shaft structure. The first arc-shaped gear meshes with the side rack of the double-sided rack block, and the center of the first arc-shaped gear is rotatably connected to the base plate via the first vertical rotation shaft structure.

4. The underwater component inspection equipment for bridges according to claim 3, characterized in that, The first side clamping plate mechanism further includes a first hinge link component and a second vertical common rotation shaft structure vertically mounted on the side of the first connecting portion near the first clamping portion. The first hinge link component includes a second link and a second vertical rotation shaft structure. One side of the second link is rotatably mounted on the base plate through the second vertical rotation shaft structure, and the other side is rotatably mounted on the first connecting portion through the second vertical common rotation shaft structure.

5. The underwater component inspection equipment for bridges according to claim 4, characterized in that, The first side clamping plate mechanism and the second side clamping plate mechanism have the same structure.

6. The underwater component inspection equipment for bridges according to claim 1, characterized in that, The mounting base includes a first base plate and a second base plate arranged parallel to each other, a connecting pipe disposed between the first base plate and the second base plate, and a plurality of wedge plate structures. The plurality of wedge plate structures are evenly distributed on the outer periphery of the connecting pipe and are respectively inserted into the first base plate and the second base plate on both sides. Each wedge plate structure includes a wedge plate body and a first protrusion and a second protrusion integrally connected on both sides of the wedge plate body in the length direction. The first protrusion is adapted to be inserted into the first connecting groove of the first base plate, and the second protrusion is adapted to be inserted into the second connecting groove of the second base plate.

7. The underwater component inspection equipment for bridges according to claim 6, characterized in that, The drive assembly also includes a motor mounting frame surrounding the outside of the drive motor. The motor mounting frame includes a first side connecting frame and a second side connecting frame that are parallel to and attached to both sides of the drive motor and vertically connected to the side of the second base plate away from the first base plate, and a third side connecting frame that is vertically connected between the first side connecting frame and the second side connecting frame and away from the mounting base. The substrate includes an upper substrate and a lower substrate that are parallel to each other and attached to the upper and lower surfaces of the drive motor. The upper substrate and the lower substrate are respectively provided with a first insertion slot and a second insertion slot. The upper and lower sides of the first side connecting frame are respectively provided with a first insertion block, and the upper and lower sides of the second side connecting frame are respectively provided with a second insertion block. The first insertion block is adapted to be inserted into the first insertion slot, and the second insertion block is adapted to be inserted into the second insertion slot.

8. The underwater component inspection equipment for bridges according to claim 3, characterized in that: The double-sided rack block includes a rack body and a first side rack and a second side rack disposed on both sides of the rack body; the first side rack and the second side rack respectively mesh with the first arc-shaped gear on the corresponding side.

9. The underwater component inspection equipment for bridges according to claim 1, characterized in that, The camera device includes a mounting bracket fixedly installed on the top of the robot housing and a camera mounted on the top of the mounting bracket. The mounting bracket is an adjustable gimbal structure, and the camera is a CCD high-definition camera.

10. A method for inspecting underwater components of bridges, characterized in that, The underwater component inspection equipment according to any one of claims 1-9 comprises the following steps: S1: The equipment is launched into the water, and the controller activates the auxiliary propulsion device to drive the equipment to move towards the underwater components of the bridge; S2: The camera device captures images of underwater components, and the controller identifies the position of the underwater components and adjusts the attitude of the equipment; S3: The drive assembly starts, the drive motor drives the double-sided rack block to move, and synchronously drives the first side clamping plate mechanism and the second side clamping plate mechanism to close, thus completing the clamping and fixing of the component; S4: The camera device performs high-definition scanning inspection of the component surface and collects defect data; S5: After the test is completed, the drive component runs in reverse, the clamping plate component opens, the equipment detaches from the component and returns to the water surface.

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