Underwater robot for bridge detection

Abstract

The utility model provides an underwater robot for bridge detection, which relates to the technical field of bridge detection, and comprises a robot main body, a floating component for providing floating force is arranged at the upper part of the robot main body; the propeller set comprises two side propellers and two tail propellers, the two side propellers are located on the front face of the robot body, and the two tail propellers are located at the same end of the buoyancy assembly and symmetrically arranged front and back; and the two symmetrical walking mechanisms are arranged on the robot main body through mounting structural members. The beneficial effects of the utility model are that through the reasonable layout of the propeller group and the cooperative work of the propellers at the two sides and the tail part, accurate water surface positioning and movement are realized, and the robot is ensured to smoothly approach and fit a pile foundation from the water surface; the posture of the whole machine does not need to be adjusted when the pile foundation is close to the pile foundation, and the pile foundation can be directly adsorbed and attached through the propellers on the two sides; a tensioning mechanism in the walking mechanism has self-adaptability, and an elastic support is matched with a connecting frame connected in a sliding mode.

Description

An underwater robot for bridge inspection Technical Field

[0001] This utility model relates to the field of bridge inspection technology, and in particular to an underwater robot for bridge inspection. Background Technology

[0002] As the "lifeline" of a bridge, pile foundations are subject to long-term erosion by water flow and corrosive substances, making them prone to hidden dangers such as cracks, exposed reinforcement, and voids. Manual underwater inspection has limitations: divers face safety risks in low visibility and turbulent water environments; manual inspection yields poor data quality; it is time-consuming and costly. Underwater robots for bridge inspection are an inevitable choice that integrates safety and compliance, technological upgrading, and cost-effectiveness.

[0003] Existing underwater inspection robots commonly used in technology often suffer from the following problems:

[0004] ① Conventional underwater inspection robots are mostly designed for planar bridge piers, which cannot closely fit the circular bridge pile foundations, resulting in blind spots in the inspection;

[0005] ② Conventional underwater inspection robots, which are assembled around the pile foundation, can meet the requirements for close observation and inspection, but they have requirements on the shape of the bridge pile foundation and are cumbersome to operate. Each operation requires a lot of manual time to assemble and disassemble for recycling after completion.

[0006] ③ Some underwater inspection robots approach and inspect using magnetic attraction. This method is only suitable for metal pile foundations and cannot be effectively used on concrete pile foundations.

[0007] In summary, existing underwater inspection robots cannot simultaneously meet the following requirements: adaptability to non-planar bridge pile foundations, close-range operation, effective operation on both concrete and metal pile foundations, and simple and convenient pre-operation preparation and post-operation work. Therefore, an underwater robot for bridge inspection is proposed. Summary of the Invention

[0008] In view of this, the present invention provides an underwater robot for bridge inspection to solve the technical problems of poor adaptability and complex operation of underwater inspection robots that approach bridge pile foundations around columns in the prior art.

[0009] An embodiment of this utility model provides an underwater robot for bridge inspection, comprising:

[0010] The robot's main body has a buoyancy component on its upper part that provides buoyancy.

[0011] A thruster assembly comprising a side thruster and a tail thruster, the side thrusters being located on the robot body and the tail thruster being located on the buoyancy assembly;

[0012] The robot also includes two symmetrical walking mechanisms mounted on its main body via mounting structures. Each walking mechanism comprises a walking motor, a track, and a wheel set elastically supported on the inner side of the track by a tensioning mechanism. The wheel set is connected to the walking motor. The tensioning mechanism includes a first connecting frame, a second connecting frame, and an elastic support. The first connecting frame and the second connecting frame are slidably connected. The elastic support is rotatably connected to one side of the first connecting frame via an elastic element. The elastic support tensions the track. The side thrusters can propel the robot's main body underwater, causing the walking mechanism to fit against the surface of the bridge pier. The walking mechanism drives the track to move circumferentially along the surface of the bridge pier via the walking motor. The tail thrusters can change the robot's posture underwater, causing it to tilt and change its movement trajectory to a spiral shape.

[0013] Furthermore, the wheel set includes a driving wheel, a driven wheel, and four auxiliary wheels, with the driving wheel connected to the output shaft of the walking motor.

[0014] Furthermore, the robot body is provided with a main support frame, and the main support frame is provided with a mounting plate, and the tensioning mechanism is connected to the mounting plate.

[0015] Furthermore, both the first connecting frame and the second connecting frame are provided with mounting blocks on their surfaces, and the mounting block on the second connecting frame is provided with a guide rod that passes through and is slidably connected to the other mounting block.

[0016] Furthermore, a limiting block is provided on the end of the guide rod away from the mounting block, and the size of the limiting block is larger than the through hole diameter of the mounting block.

[0017] Furthermore, the ends of the first connecting frame and the second connecting frame that are far apart from each other are rotatably connected to the driving wheel and the driven wheel respectively through rotating bearings.

[0018] Furthermore, it also includes a muddy water camera and an observation camera, both of which are located on one side of the robot's main body.

[0019] Furthermore, the buoyancy component is connected to the surface of the mounting plate, and the buoyancy component is provided with a hook.

[0020] Furthermore, a flow channel extending through the middle of the buoyancy component to the other end of the buoyancy component is provided, and the tail thruster is disposed in the flow channel.

[0021] Furthermore, the surface of the side thruster is provided with a filter screen.

[0022] The beneficial effects of the technical solution provided by the embodiments of this utility model are as follows: The underwater robot for bridge inspection of this utility model, through the reasonable layout of the thruster group and the coordinated work of the thrusters on both sides and the tail, achieves precise water surface positioning and movement, ensuring that the robot can smoothly approach and fit against the pile foundation from the water surface; when approaching the pile foundation, there is no need to adjust the overall posture of the robot, and it can directly adhere to the pile foundation by adsorption through the thrusters on both sides; the tensioning mechanism in the walking mechanism has self-adaptability, and the elastic bracket and the sliding connection frame cooperate to allow the track to automatically adjust the tension according to the surface condition of the pile foundation, ensuring the stability and adaptability of the robot during the climbing process; the equipment of the detection module and the muddy water camera can obtain clear images and accurate data in complex underwater environments, providing comprehensive and intuitive basis for bridge inspection; the overall structure is compact and reasonable, the connection of each component is stable, and the operation is simple, significantly improving the inspection efficiency and safety, reducing the risks and costs of manual diving inspection, and has important application value and promotion prospects. Attached Figure Description

[0023] Figure 1 is a three-dimensional structural view of the underwater robot for bridge inspection according to this utility model;

[0024] Figure 2 is a perspective view of the underwater robot for bridge inspection according to this utility model from another angle.

[0025] Figure 3 is a three-dimensional view of the walking mechanism of the underwater robot used for bridge inspection according to this utility model;

[0026] Figure 4 is a three-dimensional view of the walking mechanism of the underwater robot used for bridge inspection according to this utility model from another perspective.

[0027] Figure 5 is a three-dimensional view of the tensioning mechanism of the underwater robot for bridge inspection according to this utility model.

[0028] Figure 6 shows different workstations during the implementation of the underwater robot for bridge inspection according to this utility model.

[0029] In the diagram: 1. Robot body; 11. Main support frame; 12. Mounting plate; 2. Side thruster; 21. Filter screen; 3. Buoyancy assembly; 31. Flow channel; 32. Hook; 33. GNSS positioning module; 34. Warning light; 35. Waterproof connector; 4. Tail thruster; 5. Walking mechanism; 51. Walking motor; 52. Drive wheel; 53. Driven wheel; 54. Auxiliary wheel; 55. Track; 6. Tensioning mechanism; 61. First connecting frame; 62. Second connecting frame; 63. Mounting block; 64. Guide rod; 65. Elastic support; 7. Turbid water camera; 8. Supplemental light; 9. Observation camera; 10. Sensor group. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be further described below with reference to the accompanying drawings. The following description presents a preferred embodiment of several possible embodiments of this utility model, intended to provide a basic understanding of the utility model, but not intended to identify the key or decisive elements of the utility model or to limit the scope of protection sought.

[0031] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0032] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures. Also, it should be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale.

[0034] In the description of this utility model, it should be noted that the circuits, electronic components and modules involved in this utility model are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated. The content protected by this utility model does not involve any improvement to the internal structure and method.

[0035] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] Please refer to Figures 1 and 2. An embodiment of this utility model provides an underwater robot for bridge inspection, which mainly includes a robot body 1, a buoyancy component 3, a thruster assembly, a walking mechanism 5, and a tensioning mechanism 6. The robot body 1 has a built-in main control unit for controlling the thruster assembly, and the robot body 1 is also equipped with a sensor assembly 10, which includes an attitude sensor and a depth sensor, for real-time monitoring of the robot's depth position and current orientation and other attitude information, to help operators have a more comprehensive understanding of the robot's underwater status, so as to facilitate the smooth progress of underwater inspection work.

[0037] Example 1: The robot body 1 has a rectangular structure and is symmetrical front and back, so it can perform inspection work by sticking to the bridge pier from either the front or back side. It has a main body support 11 inside, and an installation plate 12 is fixedly connected to the main body support 11.

[0038] The buoyancy component 3 is streamlined and is installed on the upper part of the robot body 1 and connected to the surface of the mounting plate 12. The buoyancy component has a certain buoyancy, which enables the robot to obtain neutral buoyancy in water, making it convenient for the robot to move in water.

[0039] Meanwhile, since the buoyancy component 3 is located at the top of the robot body 1 and the robot's counterweight is located at the bottom, the center of buoyancy can be kept upward, so that the robot can achieve self-balancing in the water.

[0040] In this embodiment, the thruster assembly includes two side thrusters 2 and two tail thrusters 4. The two side thrusters 2 are located on the front sides of the robot body 1 and are installed in the flow channel 31 of the buoyancy component 3. The two tail thrusters 4 are located at the same end of the buoyancy component 3 and are arranged symmetrically front and back.

[0041] Through coordinated operation, the thruster assembly can precisely control the robot's underwater movement direction and attitude, enabling the robot to stably approach and adhere to bridge pile foundations on the water surface. Compared to existing underwater robot products that use vector thrusters arranged in a layout of 6 or 8, the underwater robot does not need to use multiple thrusters to tilt 90° in coordination to achieve adsorption to the bridge piers. It requires fewer thrusters, has a lower overall cost, and has strong resistance to current during attitude tilting, enabling it to cope with complex inspection operation environments.

[0042] The entire robot system consists of four parts: an underwater robot, a power distribution control box, a winding wheel mechanism, and a control terminal. The underwater robot is the main operating unit, with a built-in main control board that issues commands from the shore to perform underwater operations. The winding wheel mechanism integrates a ground station, which is responsible for the robot's power supply, signal cable deployment and retraction, and receiving and transmitting control commands and data such as images and videos through the ground station. The ground station is connected to the robot via cables. The power distribution box has an independent power supply system for powering and controlling the entire robot. The control terminal sends control commands to the ground station via WiFi, and the ground station then sends the commands to the underwater robot via cables, thus controlling the robot. At the same time, the terminal can receive real-time video and other data from the robot's operations. Through the control terminal, the robot can be directly operated to start the sewage camera for filming or the ultrasonic detection module for detection.

[0043] The robot can hover against the current in water by adjusting the thrusters located on its top, tail, and front, in conjunction with the robot's positioning and attitude sensing systems.

[0044] Example 2: A flow channel 31 is provided in the middle of the buoyancy component 3. The flow channel 31 extends from the middle of the buoyancy component 3 to the other end. The tail thruster 4 is installed in the flow channel 31. The tail thruster 4 and the side thruster 2 have the same structure and are both existing technology products. They include a motor and a propeller. The motor drives the propeller to generate thrust.

[0045] The buoyancy component 3 is also equipped with two hooks 32, which facilitates the lowering of the robot into the water by a lifting device. The buoyancy component 3 is equipped with a GNSS positioning module 33, which monitors the robot's position in real time when the robot approaches the bridge pier on the water surface. When the robot's position deviates due to the water flow, the main control unit controls the thruster group to provide thrust to achieve the anti-current function.

[0046] In addition, the surface of the side thruster 2 is covered with a filter screen 21 to prevent underwater debris from entering the thruster assembly.

[0047] Please refer to Figures 3 to 5. In this embodiment, the two symmetrical walking mechanisms 5 are fixed to the robot body 1 by the main support 11 and the mounting plate 12.

[0048] Furthermore, each traveling mechanism 5 consists of a traveling motor 51, a track 55, a wheel set, and a tensioning mechanism 6. The wheel set includes a driving wheel 52, a driven wheel 53, and four auxiliary wheels 54. The driving wheel 52 is connected to the output shaft of the traveling motor 51.

[0049] In an optional embodiment, the tensioning mechanism 6 includes a first connecting frame 61, a second connecting frame 62, and an elastic support 65, the elastic support 65 being rotatably connected to one side of the first connecting frame 61 via an elastic element to provide tension adaptability for the track 55.

[0050] The ends of the first connecting frame 61 and the second connecting frame 62, which are far apart from each other, are rotatably connected to the driving wheel 52 and the driven wheel 53 respectively through rotating bearings. The tensioning mechanism 6 is also connected to the mounting plate 12 to ensure the stability of the overall structure.

[0051] In an optional embodiment, both the first connecting frame 61 and the second connecting frame 62 are provided with mounting blocks 63. The mounting block 63 on the second connecting frame 62 is provided with a guide rod 64. The guide rod 64 passes through and slides to connect with another mounting block 63. The end of the guide rod 64 away from the mounting block 63 is provided with a limiting block with a size larger than the through hole diameter.

[0052] In addition, a muddy water camera 7 and an observation camera 9 are installed on one side of the robot body 1. When the operator operates the robot to approach the bridge pier on the water surface, the distance between the robot and the bridge pier is determined by the image signals of the muddy water camera 7 and the observation camera 9. When working underwater, the environment in front of the robot can be observed in real time.

[0053] To improve the observation effect of muddy water camera 7 and observation camera 9, a supplementary light 8 is also installed on one side of muddy water camera 7.

[0054] In addition, one side of the robot body 1 is equipped with a detection module, which is an ultrasonic detection module. It can detect the surface condition, corrosion degree, and structural integrity of the bridge pile foundation and transmit the data to the control center on shore.

[0055] In another embodiment, the upper end of the robot body 1 is connected to the ground station via a waterproof connector 35, and a warning light 34 is provided on the upper end of the robot body 1 to warn of special situations.

[0056] In practical applications, the underwater robot is first hoisted to the water area near the bridge pile foundation by the hook 32. The buoyancy component 3 provides buoyancy for the robot, enabling it to float stably on the water surface. The thruster group is activated, and the side thrusters 2 and the tail thrusters 4 work together to push the robot body 1 closer to the bridge pile foundation. Under the propulsion of the side thrusters 2, the robot body 1 is pressed against the outer surface of the pile foundation.

[0057] At this time, the walking motor 51 drives the drive wheel 52 to rotate, which in turn drives the track 55 to rotate under the action of friction with the surface of the pile. The robot then rolls steadily along the outer wall of the pile and dives into the water to carry out inspection work.

[0058] It should be noted that the robot body 1 is in a vertical position underwater. At this time, the two parallel tracks 55 remain horizontal. Through friction transmission between the tracks 55 and the surface of the bridge pile, the robot body 1 moves in a circle along the surface of the bridge pile. When the tail thruster 4 is controlled to change the posture of the robot body 1, the robot body 1 tilts relative to the vertical direction. At this time, the two parallel tracks 55 tilt to the horizontal line. The robot body 1 tilts to the axis of the bridge pile and moves around the outer periphery of the bridge pile. Its trajectory changes from a circular trajectory to a spiral trajectory, so that the robot body 1 can move around and detect the outer periphery of the bridge pile and change its height.

[0059] During the climbing process, the elastic support 65 of the tensioning mechanism 6 automatically adjusts the tension of the track 55 according to the shape of the pile foundation surface and the stress on the track 55, ensuring that the track 55 maintains good contact with the pile foundation surface at all times, improving the stability and adaptability of the robot's climbing. The detection module and the muddy water camera 7 work synchronously to collect detection data and image information, and transmit them to the shore in real time for inspection personnel to analyze and judge the health status of the bridge pile foundation.

[0060] It is understandable that operators on the shore or on the ship send instructions through the control terminal to the robot's built-in main controller via the ground station, thereby realizing the drive control of the robot's tracks 55. The robot's forward and backward movement and turning direction on the bridge pier are realized by the forward and reverse rotation and differential rotation of the walking motor 51, with the bridge pier surface as the ground reference.

[0061] Please refer to Figure 6, which shows the underwater robot of this application in different postures outside the bridge pier. The control of its working state is as follows:

[0062] When the robot is in positions 1, 2, and 8 in Figure 6, simply adjust the working state of the side thrusters 2. The thrust of the side thrusters 2 and the impact force of the water flow will press the robot firmly against the pile foundation. When the robot is in positions 3 and 7 in Figure 6, the side thrusters 2 will press the robot firmly against the pile foundation, while the thrust generated by the tail thrusters 4 and the friction generated by the robot pressing against the pile foundation will resist the impact force of the water flow. When the robot is in positions 4, 5, and 6 in Figure 6, the thrust of the side thrusters 2 will resist the impact force of the water flow, allowing the robot to adhere firmly to the pile foundation.

[0063] Through the above operation method, the robot can closely follow the pile foundation and move on the pile foundation as if walking on flat ground by walking on the track 55, realizing the full range of movement of pile detection, spiraling up or down.

[0064] In this document, the directional terms such as front, back, top, and bottom are defined based on the position of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that these are relative concepts and can vary depending on different methods of use and placement; the use of these directional terms should not limit the scope of protection claimed in this application.

[0065] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0066] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An underwater robot for bridge inspection, characterized in that, include: The robot body (1) has a buoyancy assembly (3) on its upper part; a thruster assembly including a side thruster (2) and a tail thruster (4), wherein the side thruster (2) is located on the robot body (1) and the tail thruster (4) is located on the buoyancy assembly (3); and two symmetrical walking mechanisms (5), which are mounted on the robot body (1) by mounting structures. Each walking mechanism (5) includes a walking motor (51), a track (55), and a wheel set elastically supported on the inner side of the track (55) by a tensioning mechanism (6). The wheel set is connected to the walking motor (51). The tensioning mechanism includes a first connecting frame (61) and a second connecting frame (62). The connecting frame (62) and the elastic support (65) are connected in a sliding manner. The first connecting frame (61) and the second connecting frame (62) are connected in a sliding manner. The elastic support (65) is rotatably connected to one side of the first connecting frame (61) through an elastic element. The elastic support (65) tensions the track (55). The side thruster (2) can push the robot body (1) to move underwater, so that the walking mechanism (5) is in contact with the surface of the pier. The walking mechanism (5) drives the track (55) to move circumferentially along the surface of the pier through the walking motor (51). The tail thruster (4) can change the posture of the robot body (1) underwater, so that it tilts and changes its movement trajectory to a spiral shape.

2. The underwater robot for bridge inspection as described in claim 1, characterized in that: The wheel set includes a drive wheel (52), a driven wheel (53) and four auxiliary wheels (54), and the drive wheel (52) is connected to the output shaft of the walking motor (51).

3. The underwater robot for bridge inspection as described in claim 1, characterized in that: The robot body (1) is provided with a main support (11), and the main support (11) is provided with a mounting plate (12). The tensioning mechanism (6) is connected to the mounting plate (12).

4. The underwater robot for bridge inspection as described in claim 1, characterized in that: The first connecting frame (61) and the second connecting frame (62) are both provided with mounting blocks (63). The mounting block (63) located on the second connecting frame (62) is provided with a guide rod (64) that passes through and is slidably connected to the other mounting block (63).

5. The underwater robot for bridge inspection as described in claim 4, characterized in that: The guide rod (64) has a limiting block on one end away from the mounting block (63), and the size of the limiting block is larger than the through hole diameter of the mounting block (63).

6. The underwater robot for bridge inspection as described in claim 2, characterized in that: The ends of the first connecting frame (61) and the second connecting frame (62) that are far apart from each other are rotatably connected to the driving wheel (52) and the driven wheel (53) respectively through rotating bearings.

7. The underwater robot for bridge inspection as described in claim 1, characterized in that: It also includes a muddy water camera (7) and an observation camera (9), both of which are located on one side of the robot body (1).

8. The underwater robot for bridge inspection as described in claim 3, characterized in that: The buoyancy component (3) is connected to the surface of the mounting plate (12), and the buoyancy component (3) is provided with a hook (32).

9. The underwater robot for bridge inspection as described in claim 1, characterized in that: The buoyancy component (3) has a flow channel (31) extending through to the other end of the buoyancy component (3) in the middle, and the tail thruster (4) is located in the flow channel (31).

10. The underwater robot for bridge inspection as described in claim 1, characterized in that: The surface of the side thruster (2) is provided with a filter screen (21).

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