CN-121973915-A - Robot for detecting bridge pile foundation underwater special operation

CN121973915ACN 121973915 ACN121973915 ACN 121973915ACN-121973915-A

Abstract

The invention belongs to the technical field of special operation robots, and discloses a robot for detecting underwater special operation of a bridge pile foundation. The robot for detecting the underwater special operation of the bridge pile foundation comprises a machine body frame and a connecting cable, wherein a detection assembly is arranged in the machine body frame, a pushing member is arranged on the machine body frame, a surrounding mechanism is arranged on one side in the machine body frame, a cleaning mechanism is arranged on the other side in the machine body frame and used for cleaning the surface of the pile foundation, and the connecting cable is fixed on the machine body frame and used for supplying power for the detection assembly, the pushing member, the surrounding mechanism and the cleaning mechanism. This bridge pile foundation special operation under water detects uses robot based on the design of encircling the mechanism, can set up the detection anchor point for the robot fast, lays the detection route who encircles the pile foundation, realizes the robot to the detection of encircleing of pile foundation based on this detection route, simplifies the operation flow, and detection operation can be accomplished to detection route one time, realizes the stylized detection, has solved the problem that proposes among the background art.

Inventors

DONG XIAOMA
Huan Jiuyang
WANG YUNLONG
YANG CHAO
CHEN LIFEI

Assignees

扬州工业职业技术学院

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (8)

1. The utility model provides a bridge pile foundation special operation detects with robot under water, includes organism frame and connecting cable, the inside of organism frame is provided with the detection component, install propulsion spare, its characterized in that on the organism frame: one side in the machine body frame is provided with a surrounding mechanism, the other side in the machine body frame is provided with a cleaning mechanism for cleaning the surface of a pile foundation, and a connecting cable is fixed on the machine body frame to supply power for the detection assembly, the pushing piece, the surrounding mechanism and the cleaning mechanism and transmit information; The winding mechanism comprises an equipment box, a winding motor, a sealing partition plate I, a winding roller, an elastic spiral strip, an adsorption component and a calibration component, wherein the equipment box is arranged on one side in a machine body frame, the winding motor is arranged in the equipment box, the sealing partition plate I is fixedly arranged in the equipment box to provide sealing for the winding motor, the output end of the winding motor penetrates through the sealing partition plate and is fixedly connected with one end of the winding roller, the other end of the winding roller is arranged on a bearing seat on the inner wall of the equipment box, the elastic spiral strip is wound in a winding ring on the winding roller, one end of the elastic spiral strip is fixedly connected with the winding ring, the other end of the elastic spiral strip penetrates through a hole in the bottom of the side surface of the equipment box to the outside of the winding ring, the adsorption component is connected with a connecting cable, the connecting cable is fixed in the elastic spiral strip in an penetrating mode and penetrates through the winding roller, and the calibration component is arranged on the machine body frame to calibrate the position of the elastic spiral strip to realize spiral release.
2. The robot for detecting the underwater special operation of the bridge pile foundation is characterized in that the adsorption assembly comprises an adsorption box, an adsorption propeller and supporting protrusions, the connecting cables penetrate through the adsorption box, the adsorption propeller is fixedly installed in the adsorption box, openings are formed in the adsorption box at two sides corresponding to the adsorption propeller, the adsorption propeller is powered by the connecting cables, the adsorption propeller works to provide negative pressure to enable the adsorption box to be adsorbed on the pile foundation, and the supporting protrusions are arranged at four corners of one side, corresponding to an inlet of the adsorption propeller, of the outer wall of the adsorption box.
3. The robot for detecting the underwater special operation of the bridge pile foundation is characterized in that the cleaning mechanism comprises a cylindrical cleaning shell, a cleaning motor, a second sealing partition plate, cleaning rollers and bristles, the cylindrical cleaning shell is arranged on a machine body frame, the cleaning motor is fixedly arranged in the cylindrical cleaning shell, the second sealing partition plate is fixedly connected in the cylindrical cleaning shell to provide sealing for the cleaning motor, the output end of the cleaning motor penetrates through the second sealing partition plate and is fixedly connected with one end of the cleaning rollers, the other end of the cleaning rollers is movably connected to a bearing seat on the inner wall of the cylindrical cleaning shell, the bristles are uniformly distributed on the cleaning rollers, the cleaning rollers are positioned in gaps on one side of the cylindrical cleaning shell, which is far away from the machine body frame, and part of movement paths of the bristles are positioned on the outer side of the cylindrical cleaning shell.
4. The robot for detecting the underwater special operation of the bridge pile foundation is characterized in that the cleaning mechanism further comprises cleaning comb teeth, a waste discharge port, a waste discharge assembly and a waste discharge pipeline, wherein the cleaning comb teeth are arranged on the inner wall of the cylindrical cleaning shell and are positioned in the movement track of the bristles for cleaning dirt by the bristles, the waste discharge port is formed in the end face, far away from the cleaning motor, of the cylindrical cleaning shell, one end of the waste discharge pipeline is fixedly arranged at the position, corresponding to the waste discharge port, of the outer wall of the cylindrical cleaning shell and is communicated with the waste discharge port, and the waste discharge assembly is arranged at the position, corresponding to the waste discharge port, of the cylindrical cleaning shell.
5. The robot for detecting the underwater special operation of the bridge pile foundation is characterized in that the waste discharge assembly comprises a bottom shell, a top shell, a bearing, a rotating ring, driving teeth and waste discharge paddles, the bottom shell is arranged at a position corresponding to a waste discharge port in the cylindrical cleaning shell, the bottom shell and the waste discharge port are coaxial, one side of the rotating ring is inserted into the bottom shell and is movably connected with the inner side wall of the bottom shell through the bearing, the top shell and the bottom shell are coaxial and are clamped through a clamping piece on the outer side of the top shell, the other side of the rotating ring is arranged in the top shell, the driving teeth are fixedly arranged on the outer wall of the rotating ring, the inner wall of the rotating ring is fixedly connected with a plurality of waste discharge paddles, and a driving gear on the cleaning roller is meshed with the driving teeth from a through hole on the bottom shell to drive the rotating ring.
6. The robot for detecting the underwater special operation of the bridge pile foundation according to claim 5, wherein the detecting component comprises an ultrasonic detector and an image acquisition component, and the detecting component is arranged between the encircling mechanism and the cleaning mechanism.
7. The robot for detecting the underwater special operation of the bridge pile foundation is characterized in that the calibration assembly comprises a calibration rod, a connecting seat, a release spring, a mounting groove, a limit spring, a pressure sensor, a movable block and a U-shaped lapping rod, one end of the calibration rod is movably connected with the connecting seat in the middle of the machine body frame, one side, close to the machine body frame, of the calibration rod is movably connected with the machine body frame through the release spring, the movable block is inserted into the mounting groove formed in the other end of the calibration rod, two ends of the movable block are movably connected with two corresponding side walls in the mounting groove through the limit spring, the pressure sensor is mounted on the two side walls of the mounting groove at the inner side of the limit spring, and one end of the movable block extends out of the mounting groove and is movably connected with the bottom of the U-shaped lapping rod.
8. The robot for detecting the underwater special operation of the bridge pile foundation is characterized in that two ends of the movable block extend to the inner sides of the two limit springs respectively, the length of an opening of the mounting groove is larger than the section length of the part, extending out of the mounting groove, of the movable block, so that the movable block can move in the mounting groove, and the movable block is limited by the two limit springs to be positioned in the middle of the mounting groove when the movable block is not subjected to external force.

Description

Robot for detecting bridge pile foundation underwater special operation Technical Field The invention relates to the technical field of special operation robots, in particular to a robot for detecting underwater special operation of bridge pile foundations. Background The bridge pile foundation is a core deep foundation for connecting the bridge superstructure and the foundation, and consists of a plurality of pile bodies and a bearing platform at the pile top, and the purpose of bridge pile foundation detection is to find out the construction quality and bearing performance of the pile foundation, provide scientific basis for engineering acceptance and subsequent construction, timely find out hidden structural hazards in daily maintenance, judge the pile body integrity through detection, and timely find out defects such as pile breakage, diameter shrinkage, segregation, mud inclusion and the like The current bridge pile foundation detection is mainly artificial diving detection and underwater robot detection, and along with the development of robots, the detection mode by means of the robots is basically mainstream, and due to the fact that the underwater environment is complex, the control difficulty of the robots is also high, the skill level requirements on operators are high, and the programmed rapid detection is difficult to achieve, so that the robot for detecting the bridge pile foundation underwater special operation is provided. Disclosure of Invention The invention aims to provide a robot for detecting the underwater special operation of a bridge pile foundation, which solves the problems in the background technology. The robot for detecting the underwater special operation of the bridge pile foundation comprises a machine body frame and a connecting cable, wherein a detection assembly is arranged in the machine body frame, a pushing member is arranged on the machine body frame, a surrounding mechanism is arranged on one side in the machine body frame, a cleaning mechanism is arranged on the other side in the machine body frame and used for cleaning the surface of the pile foundation, and the connecting cable is fixed on the machine body frame and used for supplying power to the detection assembly, the pushing member, the surrounding mechanism and the cleaning mechanism and transmitting information. The winding mechanism comprises an equipment box, a winding motor, a sealing partition plate I, a winding roller, an elastic spiral strip, an adsorption component and a calibration component, wherein the equipment box is arranged on one side in a machine body frame, the winding motor is arranged in the equipment box, the sealing partition plate I is fixedly arranged in the equipment box to provide sealing for the winding motor, the output end of the winding motor penetrates through the sealing partition plate and is fixedly connected with one end of the winding roller, the other end of the winding roller is arranged on a bearing seat on the inner wall of the equipment box, the elastic spiral strip is wound in a winding ring on the winding roller, one end of the elastic spiral strip is fixedly connected with the winding ring, the other end of the elastic spiral strip penetrates through a hole in the bottom of the side surface of the equipment box to the outside of the winding ring, the adsorption component is connected with a connecting cable, the connecting cable is fixed in the elastic spiral strip in an penetrating mode and penetrates through the winding roller, and the calibration component is arranged on the machine body frame to calibrate the position of the elastic spiral strip to realize spiral release. Preferably, the adsorption component comprises an adsorption box, an adsorption propeller and supporting protrusions, the connecting cables penetrate through the adsorption box, the adsorption propeller is fixedly installed in the adsorption box, openings are formed in two sides of the adsorption box corresponding to the adsorption propeller, the adsorption propeller is powered by the connecting cables, the adsorption propeller works to provide negative pressure to enable the adsorption box to be adsorbed on a pile foundation, and the supporting protrusions are arranged at four corners of one side of the outer wall of the adsorption box corresponding to the inlet of the adsorption propeller. Preferably, the cleaning mechanism comprises a cylindrical cleaning shell, a cleaning motor, a second sealing partition plate, a cleaning roller and bristles, the cylindrical cleaning shell is arranged on the machine body frame, the cleaning motor is fixedly arranged in the cylindrical cleaning shell, the second sealing partition plate is fixedly connected with the inside of the cylindrical cleaning shell to provide sealing for the cleaning motor, the output end of the cleaning motor penetrates through the second sealing partition plate and is fixedly connected with one end of the cleaning roller, the other