CN-121978115-A - Underwater component detection equipment and method for bridge

CN121978115ACN 121978115 ACN121978115 ACN 121978115ACN-121978115-A

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, wherein the underwater detection robot is carried with the camera device and the clamping mechanism and can independently move underwater, and the clamping mechanism drives the double-sided rack blocks to move through a driving assembly so as to drive clamping plate parts on two sides to synchronously open and close, so that stable clamping of bridge underwater components is realized. The equipment can be accurately positioned and stably attached to the surface of the component by matching with a plurality of groups of propeller propelling components, and high-definition detection is completed through the camera device. The invention solves the problems of poor positioning precision and insufficient attachment stability of the existing underwater detection equipment, improves the detection efficiency and data reliability, and is suitable for the detection operation of various bridge underwater piers and pile foundations.

Inventors

ZHANG LIANXIN
CHEN XIAOHONG
DING HAO

Assignees

中国煤炭地质总局地球物理勘探研究院

Dates

Publication Date: 20260505
Application Date: 20260327

Claims (10)

1. An underwater component detection apparatus for a bridge, comprising: the underwater detection robot comprises a base frame, a robot shell arranged on the base frame and an auxiliary propulsion device arranged at the bottom of the robot shell, wherein the auxiliary propulsion device is suitable for driving the robot shell and the base frame to move; the camera device is arranged at the top of the underwater detection robot and is used for collecting image information of the underwater bridge member; The device comprises an underwater detection robot, a clamping mechanism, a driving assembly and a clamping moving assembly, wherein the clamping mechanism is arranged at the front end of the underwater detection robot and is used for clamping and fixing an underwater bridge member, the clamping mechanism comprises a mounting base, the driving assembly and the clamping moving assembly, the driving assembly comprises a driving motor with the bottom end fixedly arranged on the mounting base and a double-sided rack block arranged on an output shaft of the driving motor, the driving motor drives the double-sided rack block to do linear reciprocating motion, the clamping moving assembly comprises a substrate, the substrate is arranged on the surface of the driving motor at an upper horizontal interval in parallel and a lower horizontal interval, and a first side clamping plate mechanism and a second side clamping plate mechanism which are symmetrically arranged and are hinged at two ends of the substrate far away from one side of the mounting base, and racks at two sides of the double-sided rack block are respectively meshed with arc gears of the first side clamping plate mechanism and the second side clamping plate mechanism so as to drive the two-sided clamping plate mechanism to synchronously open and close; And the controller is arranged inside the robot shell and is respectively electrically connected with the auxiliary propulsion device, the camera device and the clamping mechanism.
2. The underwater component inspection apparatus for bridges as claimed in claim 1, wherein the auxiliary propulsion means comprises a propulsion base sealingly installed at the bottom center of the robot housing and four sets of horizontally symmetrically installed propeller propulsion assemblies; Each group of propeller propulsion components comprises a waterproof motor, propeller blades, a waterproof sealing shell and a power regulation module, wherein the waterproof motor is arranged inside the waterproof sealing shell, an output shaft of the waterproof motor penetrates through a mechanical sealing piece at the front end of the waterproof sealing shell to be connected with the propeller blades, the periphery of the waterproof sealing shell is integrally and fixedly connected with the propulsion seat through a connecting frame, and the power regulation module is integrated in the center of the inner side of the waterproof sealing shell and is electrically connected with the waterproof motor and the controller through waterproof cables respectively.
3. The underwater component inspection apparatus for bridges as set forth in claim 1, wherein the first side clamping plate mechanism comprises a first side clamping plate, a first rack transmission structure and a first vertical common rotation axis structure, the first side clamping plate comprises a first clamping portion and a first connecting portion integrally connected at a design angle, the first rack transmission structure comprises a first arc gear connecting rod and a first vertical rotation axis structure vertically installed at a side of the first connecting portion far from the first clamping portion, the first arc gear connecting rod comprises a first connecting rod and a first arc gear integrally connected, a side of the first connecting rod far from the first arc gear is rotatably installed at a side of the first connecting portion far from the first clamping portion through the first vertical common rotation axis structure, the first arc gear is engaged with a side rack of the double-sided rack bar, and a center of the first arc gear is rotatably connected with the substrate through the first vertical rotation axis structure.
4. An underwater component detection apparatus for bridges as claimed in claim 3, wherein the first side clamping plate mechanism further comprises a first hinge link member and a second vertical common rotation axis structure vertically installed at one side of the first connection portion near the first clamping portion, the first hinge link member comprises a second link and a second vertical rotation axis structure, one side of the second link is rotatably installed on the base plate through the second vertical rotation axis structure, and the other side is rotatably installed on the first connection portion through the second vertical common rotation axis structure.
5. The underwater component detection apparatus for bridges as in claim 4, wherein the first side splint mechanism is identical in structure to the second side splint mechanism.
6. The underwater component detection device for bridges according to claim 1, wherein the installation base comprises a first bottom plate, a second bottom plate, a connecting pipe, a plurality of wedge-shaped plate structures, each wedge-shaped plate structure comprises a wedge-shaped plate body, a first bulge and a second bulge, the first bulge and the second bulge are integrally connected to the two sides of the wedge-shaped plate body in the length direction, the connecting pipe and the plurality of wedge-shaped plate structures are arranged between the first bottom plate and the second bottom plate, the wedge-shaped plate structures are uniformly distributed on the periphery of the connecting pipe and are respectively inserted into the first bottom plate and the second bottom plate, the first bulge is suitable for being inserted into a first connecting groove of the first bottom plate, and the second bulge is suitable for being inserted into a second connecting groove of the second bottom plate.
7. The underwater component detection apparatus for bridges as set forth in claim 6, wherein the driving assembly further comprises a motor installation frame enclosed outside the driving motor, the motor installation frame comprising a first side connection frame and a second side connection frame which are attached in parallel to both sides of the driving motor and vertically connected to a side of the second base plate facing away from the first base plate, and a third side connection frame vertically connected between the first side connection frame and the second side connection frame and far from a side of the installation base; The base plate includes upper base plate and the lower base plate of upper and lower parallel laminating of driving motor upper and lower surface, just upper base plate with first grafting groove and second grafting groove have been seted up respectively on the lower base plate, the upper and lower both sides of first side link are equipped with first grafting piece respectively, the upper and lower both sides of second side link are equipped with the second grafting piece respectively, first grafting piece is suitable for inserting and establishes first grafting inslot, the second grafting piece is suitable for inserting and establishes in the second grafting inslot.
8. The underwater component detection apparatus for bridges as set forth in claim 3, wherein said double-sided rack block comprises a rack block body, a first side rack and a second side rack provided on both sides of said rack block body, said first side rack and said second side rack being engaged with said first arc gear of the corresponding side, respectively.
9. The underwater component detection apparatus for bridges of claim 1, wherein the camera device comprises a mounting frame fixedly mounted on the top of the robot housing and a camera mounted on the top of the mounting frame, the mounting frame is of a pan-tilt structure with an adjustable angle, and the camera is a CCD high-definition camera.
10. A method for detecting an underwater component for a bridge, characterized by being applied to the underwater component detection apparatus as claimed in any one of claims 1 to 9, comprising the steps of: S 1 , launching the equipment, starting an auxiliary propulsion device by a controller, and driving the equipment to move towards the bridge underwater component; S 2 , the camera device collects images of the underwater components, and the controller recognizes the positions of the underwater components and adjusts the posture of the equipment; s 3 , starting a driving assembly, driving a double-sided rack block to move by a driving motor, and synchronously driving a first side clamping plate mechanism and a second side clamping plate mechanism to be closed so as to clamp and fix a component; S 4 , carrying out high-definition scanning detection on the surface of the component by using a camera device, and collecting defect data; and S 5 , after detection is completed, the driving assembly reversely operates, the clamping plate part is opened, and the device is separated from the component and returns to the water surface.

Description

Underwater component detection equipment and method for bridge Technical Field The invention belongs to the technical field of bridge engineering detection, and particularly relates to an underwater component detection device and method for a bridge, which are suitable for defect detection and safety evaluation of components such as an underwater pier column and a pile foundation of the bridge. Background The bridge underwater components are influenced by water flow scouring, sediment erosion, ship collision and the like for a long time, so that the bridge underwater components are easy to generate cracks, concrete stripping, steel bar corrosion and other diseases, and the safety of the bridge structure is seriously influenced. The traditional detection method mainly relies on manual detection of divers, and has the problems of low efficiency, high risk, high detection accuracy, large influence of human factors and the like. Although the existing underwater detection robot can replace manual work, the following defects generally exist: The traditional underwater detection device is difficult to accurately stop on the surface of a component due to the fact that the propeller is used for propelling, the detection position is easy to deviate due to the fact that water flow is easy to interfere, a reliable clamping mechanism is lacked, the traditional underwater detection device cannot be stably attached to the component in a complex water flow environment, continuity and accuracy of detection data are affected, the traditional clamping structure adopts a single-side driving or asynchronous opening and closing mode, the problems of eccentric clamping and uneven stress are easy to occur, and even the surface of the component is damaged. The above problems lead to the difficulty in meeting the requirements of high-precision and high-efficiency detection of the bridge underwater components in the existing equipment, so that an integrated equipment with the functions of precise positioning, stable clamping and high-definition detection is needed. Disclosure of Invention In view of the above, the invention aims to solve the technical problems of insufficient positioning precision, poor attachment stability and uneven stress of a clamping mechanism of the existing bridge underwater detection equipment, and provides the underwater component detection equipment and the method with accurate positioning, stable clamping and high detection efficiency. The invention adopts the technical scheme that the first aim of the invention is to provide the underwater component detection equipment for the bridge, which comprises the following components: the underwater detection robot comprises a base frame, a robot shell arranged on the base frame and an auxiliary propulsion device arranged at the bottom of the robot shell, wherein the auxiliary propulsion device is suitable for driving the robot shell and the base frame to move; the camera device is arranged at the top of the underwater detection robot and is used for collecting image information of the underwater bridge member; The device comprises an underwater detection robot, a clamping mechanism, a driving assembly and a clamping moving assembly, wherein the clamping mechanism is arranged at the front end of the underwater detection robot and is used for clamping and fixing an underwater bridge member, the clamping mechanism comprises a mounting base, the driving assembly and the clamping moving assembly, the driving assembly comprises a driving motor with the bottom end fixedly arranged on the mounting base and a double-sided rack block arranged on an output shaft of the driving motor, the driving motor drives the double-sided rack block to do linear reciprocating motion, the clamping moving assembly comprises a substrate, the substrate is arranged on the surface of the driving motor at an upper horizontal interval in parallel and a lower horizontal interval, and a first side clamping plate mechanism and a second side clamping plate mechanism which are symmetrically arranged and are hinged at two ends of the substrate far away from one side of the mounting base, and racks at two sides of the double-sided rack block are respectively meshed with arc gears of the first side clamping plate mechanism and the second side clamping plate mechanism so as to drive the two-sided clamping plate mechanism to synchronously open and close; And the controller is arranged inside the robot shell and is respectively electrically connected with the auxiliary propulsion device, the camera device and the clamping mechanism. Further, the auxiliary propulsion device comprises a propulsion seat which is arranged at the bottom center of the robot shell in a sealing way, and four groups of horizontally and symmetrically arranged propeller propulsion assemblies; Each group of propeller propulsion components comprises a waterproof motor, propeller blades, a waterproof sealing shell and a power regulation