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Bridge pier underwater surface attachment cleaning method and underwater operation robot

A technology for cleaning robots and attachments, applied in cleaning methods and utensils, cleaning methods using liquids, chemical instruments and methods, etc. A wide range of adaptations, ensuring the effect of safe use

Active Publication Date: 2020-03-24
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the processing of the movable support depends on the cross-sectional parameters of the pier, and the cross-sectional parameters of the pier are ever-changing, even the cross-sectional parameters of different piers of the same bridge are different, the whole equipment needs to be customized in advance, so that its use range is narrow; it is not conducive Widespread use
[0004] In addition, a hanging basket type bridge pier cleaning rack is disclosed in the patent document with the notification number CN206015588U, which is the same as the structure in the above patent document, and needs to be customized for bridge piers of different sizes, and needs to be assembled on the water surface, and After cleaning one pier, it is very inconvenient to disassemble and move to the next pier for reassembly, and there are potential safety hazards

Method used

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  • Bridge pier underwater surface attachment cleaning method and underwater operation robot
  • Bridge pier underwater surface attachment cleaning method and underwater operation robot
  • Bridge pier underwater surface attachment cleaning method and underwater operation robot

Examples

Experimental program
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Effect test

Embodiment 1

[0042] see figure 1 , the underwater cleaning system 1 applicable to the cleaning method of the underwater surface attachments of bridge piers of the present invention includes an underwater working robot 2 and a pump arranged on the bridge deck 01 and supplying high-pressure water to the underwater working robot 2 through a composite umbilical cable 10 machine 11, and provide the cables in the composite umbilical cable 10 to supply electric energy and communication signals to the underwater working robot 2, that is, the composite umbilical cable 10 is at least integrated with communication lines, energy supply lines and high-pressure water flow pipes; for communication, it can Use the wireless module to communicate, or add a wireless communication module to communicate in wired and wireless ways. In this embodiment, the underwater working robot 2 constitutes an underwater cleaning robot due to the integrated cleaning module. The composite umbilical cable 10 is composed of a ...

Embodiment 2

[0069] As a description of Embodiment 2 of the present invention, only the differences from Embodiment 1 above will be described below.

[0070] Such as Figure 11 As shown, the spraying direction of the cavitation jet cleaning spray head 21 is arranged and installed on the side of the frame 3 along the direction perpendicular to the extending direction of the flexible track 4 .

[0071] see Figure 12 to Figure 16 After controlling the underwater cleaning robot 2 to clean out a fuselage accommodating groove 07 with a width greater than the distance between the outer edges of the flexible crawlers 4 on both sides on the pier surface 02, then Figure 12 The shown pier surface 02 full of attachments 03 is cleaned out of the fuselage accommodation tank 07, and then the position of the underwater cleaning robot 2 is adjusted until the flexible crawlers 4 on both sides are placed in the fuselage accommodation tank 07, and then the current The cleaning treatment of the strip-shape...

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Abstract

The invention relates to a bridge pier underwater surface attachment cleaning method and a underwater operation robot, and belongs to the underwater operation robot technology field. The cleaning method comprises the following steps of (1) putting a underwater cleaning robot into water, and then making a propeller drive the underwater cleaning robot to transversely move and adjust a posture till that a flexible crawler belt lands on a surface of a bridge pier along a vertical direction and abuts against the surface of the bridge pier; (2) starting negative pressure rotational flow adsorption devices arranged on two sides of a rack till that an adsorption force is used for driving the flexible crawler belt to abut against the surface of the bridge pier, and then closing the propeller; and (3) while the flexible crawler belt is controlled to drive the underwater cleaning robot to move along an axial direction of the bridge pier, making a cavitation jet flow cleaning nozzle installed on the rack carry out cleaning operation on attachments so as to wash strip-shaped cleaned areas arranged along the axial direction one by one in a target area. The cleaning method is suitable for cleaning a surface of a non-iron-and-steel structure and can be widely applied to the fields of bridge pier surface cleaning and the like.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a method for cleaning attachments on the underwater surface of bridge piers and an underwater working robot suitable for the cleaning method. Background technique [0002] After the bridge is built, part of the structure on the bridge will be soaked in water for a long time, such as the bridge pier, and the surface of this part will be attached to sea organisms such as barnacle algae, which will accelerate the corrosion of the bridge body and reduce the service life of the bridge; in addition, the bridge pier The detection and repair of the equipment also need to clean the surface attachments. [0003] In order to solve the above problems, a patent document with the publication number CN101550677A discloses a method for cleaning the upsetting wall of an underwater bridge pier, which specifically includes the following steps: (1) designing and processing the movable supp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B08B3/02E01D22/00B25J11/00B25J5/00
CPCB08B3/024B25J5/005B25J11/00E01D22/00
Inventor 杨灿军赵一冰陈燕虎刘斯悦魏谦笑
Owner ZHEJIANG UNIV
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