Modular underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm

Abstract

The invention relates to the technical field of mechanical arms, in particular to a modular underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm which is characterized in that one end of a transmission arm rod is provided with a modular interface, the other end of the transmission arm rod is provided with a mechanical arm connecting part, the mechanical arm connecting part is provided with two arm frames, and each arm frame comprises an inner side arm frame and an outer side arm frame; the inner side arm frame and the outer side arm frame are connected through a joint, and a soft movable cleaning part is arranged on the inner side of the arm frame; the modularized interface is connected with an underwater unmanned aerial vehicle interface to transmit current and control signals, a waterproof steering engine is arranged in the transmission arm rod to receive the control signals, a gear transmission system is arranged in the driving mechanical arm connecting part to achieve opening and closing of the two arm frames, and the soft body movable cleaning part is fastened to three sliding blocks capable of relatively moving. While the surface of the pile foundation is cleaned, damage detection can be conducted on the pile foundation structure, the work efficiency can be greatly improved, manual intervention is reduced, the safety degree of the work is greatly improved, the labor cost is reduced, and great practical significance is achieved.

Description

technical field [0001] The invention relates to the technical field of robotic arms, in particular to a modular underwater pile foundation structure self-adaptive cleaning and damage detection robotic arm. Background technique [0002] As an important part of bridges, drilling platforms and wharf structures, pile foundations play an important role in transferring the load of the superstructure to the foundation. The development of its disease directly affects the practicability and durability of the bridge-span structure, and even endangers its operational safety in severe cases. The corrosion types of underwater pile foundations mainly include physical corrosion, chemical corrosion, biological corrosion, etc., and biological corrosion has a very serious impact on bridge pile foundations. Biocorrosion refers to the direct and indirect corrosion of the materials caused by the substances produced in the process of attachment, growth, reproduction, metabolism, and death of org...

AI Technical Summary

Problems solved by technology

[0004] However, there are some defects in the above two commonly used cleaning techniques, which cannot reasonably solve practical engineering problems:

[0005] At present, the cleaning tools used for manual and mechanical equipment cleaning are generally hard blades, etc., which may cause physical damage to the underwater pile foundation structure of the bridge during the cleaning process, and when cleaning attachments, due to the existence of piles that are difficult to fit Foundation and other problems, many attachments will remain

[0006] The quality and durability of the paint used in the paint protection method are the main factors for the anti-corrosion effect, and it is difficult to guarantee its performance

The paint protection method is limited in dealing with corroded underwater pile foundations, and cannot repair damaged pile foundations

[0007] The physical removal technology at this stage lacks devices that can detect and monitor the underwater pile foundations of bridges in real time during underwater operations. It is impossible to accurately understand the degree of corrosion and cleanliness of the underwater pile foundations, and manual operations are often required. The high cost of the project is not conducive to the actual

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