CN111270870A - Underwater building crack repairing robot - Google Patents
Underwater building crack repairing robot Download PDFInfo
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- CN111270870A CN111270870A CN202010192329.8A CN202010192329A CN111270870A CN 111270870 A CN111270870 A CN 111270870A CN 202010192329 A CN202010192329 A CN 202010192329A CN 111270870 A CN111270870 A CN 111270870A
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- grouting
- push rod
- electric push
- robot
- mixing
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
- E04G23/0203—Arrangements for filling cracks or cavities in building constructions
- E04G23/0211—Arrangements for filling cracks or cavities in building constructions using injection
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
An underwater building crack repairing robot comprises a robot main body and a grouting mixing device; the grouting mixing device comprises a tray mechanism, a propelling mechanism, a mixing mechanism and an output mechanism, wherein the propelling mechanism propels grouting with different components into the mixing mechanism for mixing, and finally the mixed grouting is smeared at cracks of the underwater building through the output mechanism to repair the underwater building; the propelling mechanism comprises a grouting component storage bin, an electric push rod, a motor and a grouting component outlet, wherein grouting with at least two components and different components is stored in the grouting component storage bin; the mixing mechanism is used for mixing grouting with different components, inputting the mixed grouting into the output mechanism, and finally aligning the output mechanism to the position of a crack or a crack needing to be repaired of the underwater building to finish the repairing operation.
Description
Technical Field
The invention relates to the field of underwater machinery, in particular to an underwater building crack repairing robot.
Background
When cracks or cracks appear in the underwater building, the building has great potential safety hazards, so that the underwater building needs to be repaired in time after being found, and serious safety accidents are avoided, and property loss is caused.
At present, the repair of underwater construction cracks is generally to mix and mix two or more than two grouting components on water according to a certain proportion, fill the mixture into the underwater construction cracks within a certain time efficiency, and if the mixture exceeds a certain time efficiency, the grouting solidification cannot be used.
However, the underwater operation environment is different from the above-water operation environment, and the grouting carrying time is too long due to a series of factors such as hidden operation position, narrow operation space, low underwater visibility and the like, so that grouting solidification is caused and the underwater grouting device cannot be used.
Disclosure of Invention
The invention aims to solve the problem of making up the defects of the prior art and provides an underwater building crack repairing robot capable of preventing grouting solidification.
The technical problem of the invention can be solved by the following technical scheme:
the underwater building crack repairing robot comprises a robot main body and a grouting mixing device, wherein the grouting mixing device is fixedly arranged on the robot main body, and the robot main body comprises an electrical bin;
the grouting mixing device comprises a tray mechanism, a propelling mechanism, a mixing mechanism and an output mechanism, wherein the propelling mechanism is arranged in the tray mechanism and used for propelling grouting with different components into the mixing mechanism for mixing, and finally the output mechanism is used for smearing the mixed grouting to cracks of the underwater building to repair the underwater building;
the propulsion mechanism comprises a grouting component storage bin, an electric push rod, a motor and a grouting component outlet, grouting with at least two components and different components is stored in the grouting component storage bin, the electric push rod is in piston connection with the grouting component storage bin, the grouting component outlet is arranged at one end, far away from the electric push rod, of the grouting component storage bin and is connected with the mixing mechanism, the motor is arranged at one end of the electric push rod and is electrically connected with the electric bin, and the motor drives the electric push rod to push the grouting components in the grouting component storage bin to the grouting component outlet;
the mixing mechanism comprises a grouting component inlet, a central shaft, stirring blades, a cavity and a mixing outlet, the grouting component inlet is connected with the grouting component outlet, the mixing outlet is arranged at a position, far away from the grouting component inlet, on the mixing mechanism, the cavity is arranged inside the mixing mechanism, the central shaft is arranged at the central axis position of the cavity, and the stirring blades are fixedly connected to the central shaft;
the output mechanism comprises a transmission pipe and an output gun, one end of the transmission pipe is connected with the mixing outlet, the other end of the transmission pipe is connected with the output gun, the mixed grouting reaches the output gun after passing through the transmission pipe, and the output gun aims the grouting at the position of a crack or a crack needing to be repaired of the underwater building to complete the repairing operation.
Further, the storehouse is stored including two grout components in the storehouse to grout component, stores storehouse A and grout component and stores storehouse B for grout component respectively, grout component store storehouse A with grout component stores storehouse B and can store the grout of two kinds of different components.
Further, the electric push rod comprises an electric push rod A and an electric push rod B, and the electric push rod A and the electric push rod B are respectively in piston connection with the grouting component storage bin A and the grouting component storage bin B;
the motor comprises a motor A and a motor B, the motor A is connected to one end of the electric push rod A, and the motor B is connected to one end of the electric push rod B.
Further, the motor A and the motor B are electrically connected with the electric bin, the motor A and the motor B respectively control the rotating speed of the motors through a controller in the electric bin, and then the electric push rod A and the electric push rod B are respectively controlled to push the grouting speed, so that the aim of mixing and using two grouting components according to any proportion is fulfilled.
Furthermore, the end part of the electric push rod is provided with a propelling disc, and the propelling disc is connected with the inside of the grouting component storage bin in a sealing manner.
Further, the output gun comprises a nozzle, the nozzle is connected to the front end of the output gun through threads, and the nozzle is of a detachable structure on the output gun.
Further, the robot main body includes a suction cup device that can suck the entire robot main body on a wall of a building.
Further, the sucking disc device includes sucking disc driving motor, sucking disc transmission lead screw, sucking disc mount, sucking disc, guide rail, sucking disc driving motor with the electrical bin electricity is connected, sucking disc driving motor with sucking disc transmission lead screw swing joint, sucking disc driving motor can drive sucking disc transmission lead screw removes, sucking disc transmission lead screw with sucking disc mount fixed connection, the sucking disc is fixed set up in on the sucking disc mount, the guide rail fixed set up in the both sides of robot main part, the both ends of sucking disc mount all with guide rail swing joint.
Further, the robot main body comprises a manipulator fixedly arranged on the robot main body, the output gun comprises a handrail fixedly arranged on the output gun, and the manipulator grabs the handrail to control the motion direction of the output gun to complete the repair operation.
Furthermore, the robot main body comprises a plurality of propellers, the propellers are fixedly connected to the robot main body and electrically connected with the electric bin, and the propellers can realize the actions of advancing, retreating, turning the bow left and right, ascending, descending and the like of the robot.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an underwater building crack repairing robot which is mainly used for repairing cracks or cracks of an underwater building, grouting with different components is stored in separate tanks through a grouting mixing device, the grouting components are carried to the underwater, mixing is completed under the water through a mixing mechanism, and finally mixed grouting is coated on the cracks of the underwater building through an output mechanism controlled by a manipulator, so that the effects that the grouting components are mixed at any time and are not mixed at any time are realized, the aging problem of the mixed grouting is completely solved, the efficiency of underwater crack repairing operation is greatly improved, and grouting waste is avoided.
The invention provides an underwater building crack repairing robot.A mixing mechanism in a grouting mixing device below the robot adopts a spiral winding structure, namely, a stirring blade is in a spiral winding structure around a central shaft, so that grouting of different components in the mixing mechanism can be fully mixed.
The underwater building crack repairing robot provided by the invention can fix the robot on the building surface of a building to be repaired by using the sucker device, and the sucker device can stretch out forwards when in use and retract when not in use, so that the occupied space of the whole robot can be saved.
Drawings
FIG. 1 is a schematic overall structure diagram of an underwater building crack repairing robot of the invention;
FIG. 2 is a side view of the underwater construction crack repairing robot of the present invention;
FIG. 3 is a schematic view showing an internal structure of the grouting mixing device according to the present invention;
FIG. 4 is a schematic view of the overall structure of the tray mechanism of the present invention;
FIG. 5 is a schematic view of the internal structure of the propulsion mechanism of the present invention;
FIG. 6 is a schematic view of the internal structure of the mixing mechanism of the present invention;
fig. 7 is a schematic structural diagram of the output mechanism of the present invention.
Reference numbers in the figures:
the robot comprises a robot main body 100, an electric bin 110, an upper plate 120, a lower plate 130, a propeller 140, a first floating body device 150, a manipulator 160, a lighting camera shooting mechanism 170, a sucker device 180, a sucker driving motor 181, a sucker transmission screw rod 182, a sucker fixing frame 183, a sucker 184, a propeller 1841 and a guide rail 185;
the grouting mixing device J, the tray mechanism 1, the bottom plate 11 and the second floating body device 12; a propelling mechanism 2, a grouting component storage bin 21, a grouting component storage bin A211, a grouting component storage bin B212, a partition plate 213, an electric push rod 22, an electric push rod A221, a propelling disc A2211, an electric push rod B222, a propelling disc B2221, a motor 23, a motor A231, a motor B232, a grouting component outlet 24, a grouting component outlet A241 and a grouting component outlet B242; the mixing mechanism 3, a grouting component inlet A31, a grouting component inlet B32, a central shaft 33, a stirring blade 34, a cavity 35 and a mixing outlet 36; output mechanism 4, delivery pipe 41, output gun 42, handrail 421, nozzle 422.
Detailed Description
The present invention will be further described below based on preferred embodiments with reference to the accompanying drawings.
In addition, the various components on the drawings are enlarged (thick) or reduced (thin) for convenience of understanding, but this is not intended to limit the scope of the present invention.
Singular references also include plural references and vice versa.
In the description of the embodiments of the present invention, it should be noted that, if the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are usually placed when the products of the present invention are used, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, the present invention should not be construed as being limited. Furthermore, the terms first, second, etc. may be used in the description to distinguish between different elements, but these should not be limited by the order of manufacture or by importance to be understood as indicating or implying any particular importance, and their names may differ between the detailed description of the invention and the claims.
The terminology used in the description is for the purpose of describing the embodiments of the invention and is not intended to be limiting of the invention. It is also to be understood that, unless otherwise expressly stated or limited, the terms "disposed," "connected," and "connected" are intended to be open-ended, i.e., may be fixedly connected, detachably connected, or integrally connected; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, or may be interconnected between two elements. Those skilled in the art will specifically understand that the above description is intended to be within the meaning of the present invention.
The invention provides an underwater building crack repairing robot which can be used for grouting and repairing cracks or cracks of an underwater building and avoiding safety accidents, and as shown in figure 1, the robot comprises a robot main body 100 and a grouting mixing device J, wherein the grouting mixing device J is fixedly arranged on the robot main body 100 and is placed under water along with the robot main body 100 to operate.
The robot main body 100 comprises an electric bin 110, an upper plate 120, a lower plate 130, a propeller 140, a first floating body device 150, a manipulator 160, a lighting camera mechanism 170 and a sucker device 180, wherein the electric bin 110 is connected with the water control platform through a cable and used for receiving electric signals of the water control platform; the upper end and the lower end of the electric bin 110 are fixedly connected with an upper plate 120 and a lower plate 130 respectively; a plurality of propellers 140 are arranged, are fixedly connected to the upper plate 120 and are electrically connected with the electric bin 110, and the propellers 140 can realize the actions of advancing, retreating, turning left and right, rising, descending and the like of the robot; the first buoyant device 150 is fixedly attached to the upper plate 120 to provide buoyancy to the entire robot main body 100 in water; the manipulator 160 is fixedly connected to one end of the lower plate 130 and is used for grabbing the grouting mixing device J to complete the repairing operation; the illumination camera mechanism 170 is fixedly connected to the lower plate 130, and can feed back the situation that the robot main body 100 is underwater.
Preferably, the manipulator 160 is a 6-axis manipulator, which can flexibly change the position and angle, and ensure that the grouting and mixing device J can be accurately filled in the crack position of the underwater building.
Preferably, in the present embodiment, two suction cup devices 180 are provided and fixedly coupled to the same end of the upper plate 120 and the lower plate 130 as the robot hand 160, respectively, and the suction cup devices 180 can suck the entire robot main body 100 to the wall of the building.
Specifically, the suction cup device 180 includes a suction cup driving motor 181, a suction cup transmission screw 182, a suction cup fixing frame 183, a suction cup 184, a guide rail 185, the suction cup driving motor 181 is electrically connected with the electrical bin 110, and receives an instruction of the electrical bin 110, the suction cup driving motor 181 is movably connected with the suction cup transmission screw 182, the suction cup driving motor 181 can drive the suction cup transmission screw 182 to move, one end of the suction cup transmission screw 182 is fixedly connected with the suction cup fixing frame 183, the suction cup 184 is fixedly arranged on the suction cup fixing frame 183, the guide rail 185 is fixedly arranged on two sides of the upper plate 120, and two ends of the suction cup fixing frame 183 are movably connected with the guide rail.
When the suction cup driving motor 181 operates, the suction cup driving screw 182 is driven to move, and then the suction cup fixing frame 183 fixedly connected with the suction cup driving screw 182 is driven to move along the guide rail 185, and the suction cup 184 moves along with the suction cup fixing frame 183, so that the robot main body 100 is fixed on a building surface to be repaired through the suction cup 184.
The suction cup 184 includes a propeller 1841, the propeller 1841 is fixedly disposed in the suction cup 184 and electrically connected to the electrical cabin 110, and the suction cup 184 discharges water between the suction cup 184 and the building surface by using the propeller 1841, so that the robot body 100 is attached to the wall of the building.
Specifically, when the robot body 100 needs to be attached to a wall of a building, the electric cabin 110 controls the propeller 1841 to rotate forward to discharge water in the suction cup 184, so that negative pressure is formed in the suction cup 184, and the external water pressure of the suction cup 184 is positive pressure, so that the suction cup 184 is sucked on the surface of the building; after the repairing operation is completed, the electric bin 110 controls the propeller 1841 to rotate reversely, water is filled into the suction cup 184, the suction cup 184 loses the fixing effect, and the robot main body 100 can move freely after being separated from the wall of the building.
Grout mixing arrangement J includes tray mechanism 1, advancing mechanism 2, mixing mechanism 3 and output mechanism 4, and advancing mechanism 2 sets up inside tray mechanism 1 for the grout of storing different components, and impel the grout of different components to mix in mixing mechanism 3, paints the crack department to the building under water via output mechanism 4 with the grout of mixing at last, restores the building under water.
Tray mechanism 1 includes bottom plate 11 and second body device 12 of mutual fixed connection, and bottom plate 11 comprises the aluminium alloy ex-trusions weldment, and advancing mechanism 2 and mixing mechanism 3 are all installed on bottom plate 11, and second body device 12 fixed mounting is in the both sides of bottom plate 11 to second body device 12 comprises the body material, and the body material can provide buoyancy for whole underwater construction crack mixing arrangement that grouts in water for the buoyancy and the gravity balance of grouting mixing arrangement J.
Preferably, in the present embodiment, the grout component storage bin 21 includes two components of grout therein, that is, the grout component storage bin 21 includes a grout component storage bin a211, a grout component storage bin B212, and a partition 213 therein, wherein the grout component storage bin a211 and the grout component storage bin B212 can store two different components of grout, and are separated from each other by the partition 213.
Further, electric push rod 22 includes electric push rod A221 and electric push rod B222, grout component export 24 is including grout component export A241 and grout component export B242, electric push rod A221 and electric push rod B222 store storehouse A211 with grout component respectively and grout component and store storehouse B212 and be the piston connection, electric push rod A221 promotes grout component and stores the inside grout of storehouse A211 to grout component export A241, electric push rod B222 promotes grout component and stores the inside grout of storehouse B212 to grout component export B242.
Further, a propelling disc a2211 is arranged at the end of the electric push rod a221, a propelling disc B2221 is arranged at the end of the electric push rod B222, the propelling disc a2211 and the propelling disc B2221 are respectively in sealing contact with the interiors of the grouting component storage bin a211 and the grouting component storage bin B212, so that when the electric push rod a221 and the electric push rod B222 move in the grouting component storage bin a211 and the grouting component storage bin B212 respectively, the grouting components in the grouting component storage bin a211 and the grouting component storage bin B212 can be fully pushed out, and the structure of the propelling device is similar to that of a rubber pad in a needle tube connected with the needle tube.
Further, the motor 23 includes a motor a231 and a motor B232, the motor a231 is disposed at one end of the electric push rod a221, which is far away from the push disk a2211, the motor B232 is disposed at one end of the electric push rod B222, which is far away from the push disk B2221, the motor a231 and the motor B232 are both electrically connected with the electric bin 110 of the robot main body 100 through cables, receive signals transmitted by the electric bin 110, and further push the electric push rod a221 and the electric push rod B222 to operate.
Preferably, a controller is arranged in the electric bin 110, and the controller controls the rotation speeds of the motor a231 and the motor B232 respectively through a software program, so as to control the grouting speeds of the electric push rod a221 and the electric push rod B222 respectively, thereby achieving the purpose that the two grouting components can be mixed and used according to any proportion.
Mixing mechanism 3 is including the grout component entry, center pin 33, stirring vane 34, cavity 35 and mix export 36, preferably, the grout component entry includes grout component entry A31 and grout component entry B32, grout component entry A31 and grout component entry B32 are connected with grout component export A241 and grout component export B242 respectively, mix export 36 sets up the position department of keeping away from the grout component entry on mixing mechanism 3, mixing mechanism 3's inside is equipped with cavity 35, the axis position department of cavity 35 is provided with center pin 33, stirring vane 34 fixed connection is on center pin 33.
The grout of both components is pushed into the cavity 35 through the grout component outlet 24 and the grout component inlet, specifically, the grout component outlet a241 and the grout component outlet B242 are both cylindrical structures, the grout component inlet a31 and the grout component inlet B32 are both circular hole-shaped structures, and the outer diameters of the grout component outlet a241 and the grout component outlet B242 are smaller than the inner diameters of the grout component inlet a31 and the grout component inlet B32, so that the grout component outlet a241 can be inserted into the grout component inlet a31, and the grout component outlet B242 can be inserted into the grout component inlet B32.
The grouting component in the grouting component storage bin A211 and the grouting component storage bin B212 can be respectively pushed into the cavity 35, after the cavity 35 is filled with grouting, the grouting in the cavity 35 can flow forwards around the central shaft 33 and along the stirring blades 34 due to the pushing force of the electric push rod 22, and in the flowing process, the grouting of the two components is continuously contacted and uniformly mixed and is pushed out from the mixing outlet 36.
The output mechanism 4 comprises a transmission pipe 41 and an output gun 42, one end of the transmission pipe 41 is connected with the mixing outlet 36, the other end of the transmission pipe is connected with the output gun 42, the mixed grouting is pushed out from the mixing outlet 36 and reaches the output gun 42 after passing through the transmission pipe 41, and the output gun 42 aims the grouting at the position of a crack or a crack needing to be repaired of the underwater building to complete the repairing operation.
The output gun 42 comprises a handrail 421 and a nozzle 422, the handrail 421 is fixedly arranged on the output gun 42, and the manipulator 160 grasps the handrail 421 to control the movement direction of the output gun 42 and align to the position of the crack or fissure to be repaired of the underwater building; the nozzle 422 is screwed to the front end of the output gun 42, and the nozzle 422 is detachably provided to the output gun 42.
It should be noted that the present invention is not limited to the shape, structure and size of the nozzle 422, and the nozzle 422 may be circular or duckbill-shaped, so as to fill the architectural cracks with different widths, and any structure of the nozzle 422 that is detachably installed at the front end of the output gun 42 and can be used for filling the architectural cracks is within the protection scope of the present invention.
The working principle of the robot for repairing the crack of the underwater building provided by the invention is described in detail below.
The method comprises the steps of firstly releasing the underwater building crack repairing robot to the position near the crack of the underwater building on water, switching on a power supply, then determining the specific position of the repaired crack through the illumination camera mechanism 170, controlling the robot to move underwater through the propeller 140 to be close to the repairing position, adsorbing the robot on the wall of the building through the sucker device 180, observing through the illumination camera mechanism 170 on the robot main body 100, after the crack position is found, controlling the position of the output gun 42 through the manipulator 160 to align the crack or the crack, and filling and repairing. And after the repairing is finished, the underwater building crack grouting mixing device is retracted to the water.
While the invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes and modifications can be made therein without departing from the spirit of the invention, and it is intended to claim all such changes and modifications as fall within the scope of the appended claims.
Claims (10)
1. The utility model provides an underwater construction crack repairing robot which characterized in that: the robot comprises a robot main body (100) and a grouting mixing device (J), wherein the grouting mixing device (J) is fixedly arranged on the robot main body (100), and the robot main body (100) comprises an electrical bin (110);
the grouting mixing device (J) comprises a tray mechanism (1), a propelling mechanism (2), a mixing mechanism (3) and an output mechanism (4), wherein the propelling mechanism (2) is arranged in the tray mechanism (1) and used for propelling grouting with different components into the mixing mechanism (3) for mixing, and finally the mixed grouting is smeared at cracks of an underwater building through the output mechanism (4) to repair the underwater building;
the propulsion mechanism (2) comprises a grouting component storage bin (21), an electric push rod (22), a motor (23) and a grouting component outlet (24), grouting of at least two components and different components is stored in the grouting component storage bin (21), the electric push rod (22) is connected with the grouting component storage bin (21) in a piston mode, the grouting component outlet (24) is arranged at one end, far away from the electric push rod (22), of the grouting component storage bin (21) and is connected with the mixing mechanism (3), the motor (23) is arranged at one end of the electric push rod (22) and is electrically connected with the electric bin (110), and the motor (23) drives the electric push rod (22) to push grouting components in the grouting component storage bin (21) to the grouting component outlet (24);
the mixing mechanism (3) comprises a grouting component inlet, a central shaft (33), stirring blades (34), a cavity (35) and a mixing outlet (36), the grouting component inlet is connected with the grouting component outlet (24), the mixing outlet (36) is arranged at a position, far away from the grouting component inlet, on the mixing mechanism (3), the cavity (35) is arranged inside the mixing mechanism (3), the central shaft (33) is arranged at the central axis position of the cavity (35), and the stirring blades (34) are fixedly connected to the central shaft (33);
the output mechanism (4) comprises a transmission pipe (41) and an output gun (42), one end of the transmission pipe (41) is connected with the mixing outlet (36), the other end of the transmission pipe is connected with the output gun (42), the mixed grouting reaches the output gun (42) after passing through the transmission pipe (41), and the output gun (42) aims the grouting at the position of cracks or cracks of the underwater building to be repaired, so that the repairing operation is completed.
2. The underwater construction crack repairing robot according to claim 1, wherein the grouting component storage bin (21) includes two grouting component storage bins, namely a grouting component storage bin a (211) and a grouting component storage bin B (212), and the grouting component storage bin a (211) and the grouting component storage bin B (212) can store two different grouting components.
3. The underwater construction crack repairing robot according to claim 2, wherein the electric push rod (22) comprises an electric push rod A (221) and an electric push rod B (222), and the electric push rod A (221) and the electric push rod B (222) are respectively in piston connection with the grouting component storage bin A (211) and the grouting component storage bin B (212); the motor (23) comprises a motor A (231) and a motor B (232), the motor A (231) is connected to one end of the electric push rod A (221), and the motor B (232) is connected to one end of the electric push rod B (222).
4. The underwater building crack repairing robot according to claim 3, wherein the motor A (231) and the motor B (232) are both electrically connected to the electrical bin (110), and the motor A (231) and the motor B (232) respectively control the rotation speed thereof through a controller in the electrical bin (110), so as to respectively control the speed of the electric push rod A (221) and the electric push rod B (222) for propelling grouting, thereby achieving the purpose that two grouting components can be mixed and used according to any proportion.
5. The underwater construction crack repairing robot according to claim 1, wherein a propulsion disk is provided at an end of the electric push rod (22), and the propulsion disk is hermetically connected with the inside of the grouting component storage bin (21).
6. The underwater construction crack repairing robot of claim 1, wherein the output gun (42) comprises a nozzle (422), the nozzle (422) is connected to the front end of the output gun (42) through threads, and the nozzle (422) is a detachable structure on the output gun (42).
7. The underwater building crack repairing robot according to claim 1, wherein the robot main body (100) comprises a suction cup device (180), and the suction cup device (180) can suck the whole robot main body (100) on a wall of a building.
8. The underwater building crack repairing robot of claim 7, the sucker device (180) comprises a sucker driving motor (181), a sucker transmission screw rod (182), a sucker fixing frame (183), a sucker (184) and a guide rail (185), the sucker driving motor (181) is electrically connected with the electric bin (110), the sucker driving motor (181) is movably connected with the sucker transmission screw rod (182), the sucker driving motor (181) can drive the sucker transmission screw rod (182) to move, the sucker transmission screw rod (182) is fixedly connected with the sucker fixing frame (183), the sucker (184) is fixedly arranged on the sucker fixing frame (183), the guide rails (185) are fixedly arranged on two sides of the robot main body (100), and the two ends of the sucker fixing frame (183) are movably connected with the guide rail (185).
9. The underwater building crack repairing robot according to claim 1, wherein the robot body (100) comprises a manipulator (160) fixedly arranged on the robot body (100), the output gun (42) comprises a handrail (421) fixedly arranged on the output gun (42), and the manipulator (160) grabs the handrail (421) to control the movement direction of the output gun (42) so as to complete the repairing operation.
10. The underwater building crack repairing robot according to claim 1, wherein the robot body (100) comprises a plurality of propellers (140), each propeller (140) is fixedly connected to the robot body (100) and electrically connected to the electric bin (110), and the propellers (140) can achieve the actions of advancing, retreating, turning left and right, ascending, descending and the like of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010192329.8A CN111270870A (en) | 2020-03-18 | 2020-03-18 | Underwater building crack repairing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010192329.8A CN111270870A (en) | 2020-03-18 | 2020-03-18 | Underwater building crack repairing robot |
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| Publication Number | Publication Date |
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| CN111270870A true CN111270870A (en) | 2020-06-12 |
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| CN202010192329.8A Pending CN111270870A (en) | 2020-03-18 | 2020-03-18 | Underwater building crack repairing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113818488A (en) * | 2021-09-15 | 2021-12-21 | 山东未来机器人有限公司 | Underwater circulating repairing operation device |
-
2020
- 2020-03-18 CN CN202010192329.8A patent/CN111270870A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113818488A (en) * | 2021-09-15 | 2021-12-21 | 山东未来机器人有限公司 | Underwater circulating repairing operation device |
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