CN113186999A - Underwater concrete bottom plate leakage detection and repair equipment - Google Patents
Underwater concrete bottom plate leakage detection and repair equipment Download PDFInfo
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- CN113186999A CN113186999A CN202110480039.8A CN202110480039A CN113186999A CN 113186999 A CN113186999 A CN 113186999A CN 202110480039 A CN202110480039 A CN 202110480039A CN 113186999 A CN113186999 A CN 113186999A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D37/00—Repair of damaged foundations or foundation structures
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/02—Handling of bulk concrete specially for foundation or hydraulic engineering purposes
- E02D15/06—Placing concrete under water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
- G01N15/08—Investigating permeability, pore-volume, or surface area of porous materials
Abstract
The invention provides an underwater concrete bottom plate leakage detection and repair device which comprises a machine body, a walking unit, a chassis assembly, a power unit and a plurality of replaceable construction units, wherein the walking unit is arranged on the machine body; the chassis assembly comprises a rack, a telescopic unit and a movable guide mechanism, wherein the telescopic unit is provided with a first camera and is arranged on the movable guide mechanism; the movable guide mechanism is arranged at the top end inside the rack; a mounting platform is arranged in the rack, and a plurality of placing units for placing a plurality of replaceable construction units are arranged on the mounting platform; the power unit is in transmission connection with the telescopic unit; each replaceable construction unit can be selectively connected with the telescopic unit to be in transmission connection with the power unit, so that the power unit can respectively drive the replaceable construction units to work, and the operation process of detecting and repairing the leakage of the underwater concrete bottom plate is completed. The present invention is directed to overcoming the deficiencies in the prior art.
Description
Technical Field
The invention belongs to the technical field of constructional engineering, and particularly relates to leakage detection and repair equipment for an underwater concrete bottom plate.
Background
In order to prevent the concrete structure from being damaged by the change of the temperature stress, expansion joints are often arranged at certain intervals in the length direction of the concrete structure to release the temperature stress. The concrete hydraulic structure is characterized in that reinforcing steel bars are arranged at the expansion joint, concrete pouring is discontinuous, the expansion joint is filled with fiber boards, pouring sealant is arranged on the surface layer of the expansion joint, a buried rubber waterstop is arranged in the expansion joint to prevent the expansion joint from leaking, the waterstop is embedded in concrete on two sides of the expansion joint, and a round hole in the center of the waterstop can be well suitable for relative pulling or extrusion of the concrete on two sides of the expansion joint, as shown in fig. 5.
Because the position of the telescopic joint is a local weak position of a concrete structure, the defects of slab staggering, distortion, uneven settlement, deep cracks and the like frequently occur in hydraulic buildings such as ship locks, concrete water channels, impounding reservoirs and the like, the basic functions of water retention, water storage and the like of the structure are influenced, the foundation is emptied by seepage water, the bottom slab is emptied, the stress of the structure is unbalanced and damaged, and further serious safety quality accidents are caused.
For the leakage problem of the structure, a small-sized underwater vehicle is generally adopted for detecting the lower part, but the small-sized underwater vehicle has two obvious defects, one of which is that surface aquatic organisms cannot be automatically cleared, the underwater shooting is greatly influenced or even cannot be carried out, and the dislocation condition or the approximate width of a surface crack is difficult to judge visually; secondly, the self-stability is weak, and the device is only suitable for completely static areas and cannot be suitable for water areas with certain flow velocity. For the limited environment, a common method is to dispatch a diver to firstly perform underwater touch cleaning, carry an underwater camera to shoot the concrete defects, and match a certain sand bag counterweight to improve the self-stability, but the underwater manual operation has great potential safety hazard, and especially the underwater manual operation cannot be performed in an industrial plant area added with chemical agents such as high-concentration sodium hypochlorite and the like.
Because a diver has difficulty in underwater operation and low underwater repair efficiency, the repair of the leakage position of the structure is generally carried out by adopting a dry construction method, namely closing an upper and lower stream inspection gate, pumping the formed closed area water body by using a water pump, and carrying out expansion joint repair by adopting a conventional mode of cutting and grinding concrete, installing a new water stop and a fiber board and erecting a formwork for pouring by a repair worker; and repairing the deep cracks of the bottom plate by adopting a drilling and grouting mode. The method has several problems, one of which is that the sealing effect of the maintenance gate is difficult to ensure, a certain leakage amount still exists after the maintenance gate is normally closed, and the cutting machine and the electric drill are in live-line operation, so that great risk exists in the aspect of power consumption safety; secondly, the damaged parts are often dispersed, and a plurality of positions have no maintenance gates and cannot form a dry construction environment; thirdly, the start-up maintenance working condition has a great influence on production, and dry construction requires a long construction time, so that the systems of industrial water circulation, shipping and the like cannot maintain the operation of the lowest load, and the whole operator is usually in a paralyzed state for a long time; fourthly, various devices such as cleaning devices, cutting machines, hydraulic drills, grouting devices, detection devices and the like need to be carried, and the devices all need to occupy certain storage space and are inconvenient to use and store.
Disclosure of Invention
The invention aims to provide leakage detection and repair equipment for an underwater concrete bottom plate, and aims to overcome the defects in the prior art.
The invention is realized by the following technical scheme:
an underwater concrete bottom plate leakage detection and repair device comprises a machine body, a walking unit, a chassis assembly, a power unit and a plurality of replaceable construction units, wherein the walking unit is arranged on the machine body and is used for driving the machine body to move in any direction in water;
the chassis assembly comprises a rack, a telescopic unit and a movable guide mechanism, wherein the telescopic unit is provided with a first camera and is arranged on the movable guide mechanism;
the movable guide mechanism is arranged at the top end in the rack and is used for realizing the longitudinal and transverse displacement of the telescopic unit at the top end of the rack;
a mounting platform is arranged in the rack, and a plurality of placing units for placing a plurality of replaceable construction units are arranged on the mounting platform;
the power unit is in transmission connection with the telescopic unit;
each replaceable construction unit can be selectively connected with the telescopic unit to be in transmission connection with the power unit, so that the power unit can respectively drive the replaceable construction units to work, and the operation process of detecting and repairing the leakage of the underwater concrete bottom plate is completed.
Further, the placing unit comprises a placing hole formed in the mounting platform and a first butt joint mechanism arranged in the placing hole;
the telescopic unit comprises a telescopic support arm and a second butt joint mechanism, the top end of the telescopic support arm is arranged on the moving guide mechanism and is in transmission connection with the power unit, and the second butt joint mechanism is sleeved outside the bottom end of the telescopic support arm;
the replaceable construction unit comprises a matching butt joint mechanism and a construction mechanism, the matching butt joint mechanism is sleeved on the outer side of the construction mechanism and is suitable for butt joint with the first butt joint mechanism, so that the construction mechanism is placed in the placement hole, the matching butt joint mechanism is suitable for butt joint with the second butt joint mechanism, the construction mechanism is in transmission connection with the telescopic support arm, and the power unit can drive the construction mechanism.
Further, the placing holes comprise first placing holes and second placing holes which are located below the first placing holes and communicated with the first placing holes, the diameter of each first placing hole is larger than that of each second placing hole, a plurality of first sliding grooves are uniformly formed in the inner wall of each first placing hole along the circumferential direction of the inner wall, the groove length direction of each first sliding groove is consistent with the radial direction of each first placing hole, each first butting mechanism comprises a first driving mechanism and a plurality of first sleeve rods, the plurality of first sleeve rods are in one-to-one correspondence with the plurality of first sliding grooves, and each first sleeve rod is arranged in the corresponding first sliding groove in a sliding manner;
the second butting mechanism comprises a sleeve, a second driving mechanism and a plurality of second sleeve rods, the sleeve is sleeved on the outer side of the bottom end of the telescopic support arm, a plurality of second sliding grooves are uniformly formed in the outer wall of the sleeve along the circumferential direction of the sleeve, the groove length direction of each second sliding groove is consistent with the radial direction of the sleeve, the plurality of second sleeve rods are in one-to-one correspondence with the plurality of second sliding grooves, and each second sleeve rod is arranged in the corresponding second sliding groove in a sliding manner;
the matched butt joint mechanism comprises a ring beam and a plurality of connecting rods, the ring beam is sleeved on the outer side of the construction mechanism, the diameter of the ring beam is smaller than that of the first placing hole and larger than that of the second placing hole and that of the sleeve, and the connecting rods penetrate through the side wall of the ring beam and are uniformly arranged along the circumferential direction of the ring beam;
the connecting rods correspond to the first sleeve rods one by one, and the first driving mechanism is used for driving each first sleeve rod to slide along the corresponding first sliding groove, so that each first sleeve rod is abutted to or separated from the ring beam, and one end of each connecting rod is inserted into or separated from the corresponding first sleeve rod;
the connecting rods are in one-to-one correspondence with the second sleeve rods, and the second driving mechanism is used for driving each second sleeve rod to slide along the corresponding second sliding groove, so that each second sleeve rod is abutted to or separated from the ring beam, and one end of each connecting rod is inserted into or separated from the corresponding second sleeve rod.
Furthermore, the second docking mechanism is rotatably arranged on the outer side of the bottom end of the telescopic support arm, and the first camera is provided with first lighting equipment.
Further, the construction mechanism is any one of a cleaning end head, a hydraulic cutting machine, a hydraulic drill, a grouting pipe, a pouring sealant gun head, a sound wave detector, a laser range finder and a clamping manipulator.
Further, the front end and the rear end of the machine body are both provided with a second camera and a second lighting device which can rotate 360 degrees.
Further, a control integration system is included, the control integration system being communicatively coupled to the telescoping unit, the telescoping unit being communicatively coupled to the replaceable construction unit to which it is coupled.
Furthermore, the moving guide mechanism comprises two longitudinal steel rails respectively arranged on two opposite sides of the frame, a transverse steel rail with two ends respectively arranged on the two longitudinal steel rails in a sliding manner, a support arm chassis arranged on the transverse steel rail in a sliding manner, and a driving mechanism for driving the transverse steel rail and the support arm chassis to move.
Furthermore, the walking unit comprises a plurality of pairs of crawler wheels symmetrically arranged at the bottom of the frame and a plurality of propellers arranged on the machine body, and the propellers can realize the advancing, retreating, turning, floating and submerging of the machine body.
Furthermore, a telescopic joint is arranged on the crawler wheel, the top end of the telescopic joint is connected with the rack, the crawler wheel can rotate around a shaft, and a plurality of gyroscopes are arranged on the rack.
Compared with the prior art, the invention has the beneficial effects that: the system is provided with a plurality of replaceable construction units, meets the requirements of different types of underwater construction, and can realize the functions of underwater leakage detection, underwater leakage repair, inspection and acceptance after repair and the like; the power unit and the plurality of replaceable construction units are detachably configured with each other so as to be stored and used independently, and the replaceable construction units and the power unit form power transmission when being in butt joint configuration with the telescopic unit, so that the power unit provides construction driving force for the replaceable construction units, and the replaceable construction units are stably matched with each other for construction, so that in the process of detecting and repairing the leakage of the underwater concrete bottom plate, the replaceable construction units are matched with each other, the continuous leakage detection and repairing construction process of the underwater concrete bottom plate is completed, the construction efficiency is improved, and the underwater construction of a diver is not needed; the replaceable construction units are arranged on the mounting platform, and the telescopic units can longitudinally and transversely displace on the rack under the driving of the movable guide mechanism, so that the telescopic units can move to the corresponding replaceable construction units, and different replaceable construction units can be conveniently connected; meanwhile, the walking unit is arranged on the machine body, so that the machine body can move in any direction under water.
Drawings
FIG. 1 is a schematic structural view of an underwater concrete floor leakage detecting and repairing apparatus according to the present invention;
FIG. 2 is a side view of the underwater concrete floor leakage detection and repair apparatus of the present invention;
FIG. 3 is a schematic view of the connection between a first docking mechanism and a mating docking mechanism in the apparatus for detecting and repairing the leakage of an underwater concrete floor according to the present invention;
FIG. 4 is a schematic view of the connection between a second docking mechanism and a mating docking mechanism in the apparatus for detecting and repairing the leakage of an underwater concrete floor according to the present invention;
fig. 5 is a schematic view of a conventional expansion joint.
In the figure, 1-fuselage, 11-second camera, 2-walking unit, 21-crawler wheel, 22-propeller, 23-telescopic joint, 3-chassis integration, 31-frame, 32-telescopic boom, 33-second docking mechanism, 331-sleeve, 332-second sleeve rod, 34-mobile guiding mechanism, 341-longitudinal rail, 342-transverse rail, 343-boom chassis, 35-mounting platform, 351-first placing hole, 352-second placing hole, 36-first camera, 37-first docking mechanism, 371-first sleeve rod, 4-replaceable construction unit, 41-mating docking mechanism, 411-ring beam, 412-connecting rod, 42-construction mechanism, 5-waterstop, 6-pouring sealant and 7-fiberboard.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally put in use of products of the present invention, and are only for convenience of description and simplification of description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed in specific orientations, and be operated, and thus, should not be construed as limiting the present invention.
Referring to fig. 1 and 2, fig. 1 is a schematic structural view of the underwater concrete floor leakage detecting and repairing apparatus of the present invention, and fig. 2 is a side view of the underwater concrete floor leakage detecting and repairing apparatus of the present invention. An underwater concrete bottom plate leakage detection and repair device comprises a machine body 1, a walking unit 2, a chassis assembly 3, a power unit and a plurality of replaceable construction units 4, wherein the walking unit 2 is arranged on the machine body 1 and used for driving the machine body 1 to move in any direction in water; the chassis assembly 3 is arranged at the bottom of the machine body 1, and the power unit can be in transmission connection with the replaceable construction units 4 to respectively drive the replaceable construction units 4 to work so as to complete the operation process of detecting and repairing the leakage of the underwater concrete bottom plate.
Specifically, the chassis assembly 3 includes a frame 31, a retractable unit and a moving guide mechanism 34, the retractable unit is provided with a first camera 36, and the retractable unit is mounted on the moving guide mechanism 34; the movable guide mechanism 34 is arranged at the top end inside the frame 31 and is used for realizing the longitudinal and transverse displacement of the telescopic unit at the top end of the frame 31; a mounting platform 35 is arranged in the frame 31, and a plurality of placing units for placing a plurality of replaceable construction units 4 are arranged on the mounting platform 35; the power unit is in transmission connection with the telescopic unit; each replaceable construction unit 4 can be selectively connected to the telescopic unit to be in transmission connection with the power unit, so that the power unit can respectively drive the replaceable construction units 4 to work, and the leakage detection and repair of the underwater concrete bottom plate are completed. Frame 31 is frame rack construction, installs one deck mounting platform 35 in frame 31, can be used to place a plurality of replaceable construction unit 4 detachably on mounting platform 35 to fixed hanging is in frame 31, installs the material frame on the mounting platform 35, and the material frame has a plurality of storehouse check, and the storehouse check can be used for depositing construction materials such as waterstop, fibreboard, slip casting pipe, and the door of storehouse check passes through cabinet door bounce-back ware and installs on the storehouse check. The power unit can drive the telescopic unit to extend or contract, the telescopic unit can be stopped above the mounting platform 35 when the telescopic unit contracts, namely, the telescopic unit is positioned above the replaceable construction units 4, the movable guide mechanism 34 drives the telescopic unit to move, so that the telescopic unit can be moved above any replaceable construction unit 4, and the telescopic unit can be selectively connected with any replaceable construction unit 4 according to construction requirements. In one embodiment, the movement guide mechanism 34 includes two longitudinal rails 341 respectively disposed on two opposite sides of the frame 31, a transverse rail 342 having two ends slidably disposed on the two longitudinal rails 341, an arm base 343 slidably disposed on the transverse rail 342, and a driving mechanism for driving the transverse rail 342 and the arm base 343 to move. The longitudinal movement of the telescopic unit is realized by the movement of the transverse rail 342 on the two longitudinal rails 341, and the transverse movement of the telescopic unit is realized by the movement of the arm base plate 343 on the transverse rail 342. The first camera 36 can photograph the underwater environment where the replaceable construction unit 4 is located, monitor the replacement process and the underwater construction process of the replaceable construction unit 4, and ensure that the underwater construction is completed smoothly, and each replaceable construction unit 4 is replaced and placed on the installation platform 35.
Referring to fig. 3 and 4 in combination, fig. 3 is a schematic view illustrating a connection between a first docking mechanism and a mating docking mechanism in the apparatus for detecting and repairing leakage of an underwater concrete floor according to the present invention, and fig. 4 is a schematic view illustrating a connection between a second docking mechanism and a mating docking mechanism in the apparatus for detecting and repairing leakage of an underwater concrete floor according to the present invention. When the construction unit 4 is connected to the extendable unit, the extendable unit extends to extend the construction unit 4 to the outside of the frame 31, and when the construction unit 4 is connected to the extendable unit, the power unit is driven to be conducted to the construction unit 4 through the extendable unit, so that the power unit can drive the construction unit 4 to perform work. With this along with the propulsion of different construction stages, constantly change different replaceable construction unit 4, each replaceable construction unit 4 is stably mutually supported the construction to at the in-process of concrete bottom plate seepage detection under water and repair, each replaceable construction unit 4 mutually supports, accomplishes continuous concrete bottom plate seepage detection under water and repair work progress, improves the efficiency of construction, thereby need not diver's underwater construction. Meanwhile, the movable guide mechanism 34 can drive the telescopic unit to move transversely and longitudinally within the range of the machine body 1, so as to drive the replaceable construction unit 4 to move transversely and longitudinally within the range of the machine body 1, thereby realizing the precise positioning of a construction operation point without frequently driving the walking unit 2 to adjust the position of the invention. In one embodiment, the placing unit includes a placing hole opened in the mounting platform 35 and a first butting mechanism 37 disposed in the placing hole; the telescopic unit comprises a telescopic support arm 32 and a second butt joint mechanism 33, the top end of the telescopic support arm 32 is arranged on the moving guide mechanism 34 and is in transmission connection with the power unit, and the second butt joint mechanism 33 is sleeved outside the bottom end of the telescopic support arm 32; the replaceable construction unit 4 comprises a matching docking mechanism 41 and a construction mechanism 42, the matching docking mechanism 41 is sleeved outside the construction mechanism 42, the matching docking mechanism 41 is suitable for being docked with the first docking mechanism 37 so that the construction mechanism 42 is placed in the placing hole, and the matching docking mechanism 41 is suitable for being docked with the second docking mechanism 33 so that the construction mechanism 42 is in transmission connection with the telescopic support arm 32, so that the power unit can drive the construction mechanism 42. That is, the mating and docking mechanism 41 may be mated with the first and second docking mechanisms 37 and 33, and when the mating and docking mechanism 41 is mated with the first docking mechanism 37, the construction mechanism 42 is fixed in the placement hole, so that the construction mechanism 42 is stored on the mounting platform 35; when the mating interface 41 is mated with the second interface 33, the construction mechanism 42 is coupled to the extendable arm 32, such that the construction mechanism 42 is drivingly coupled to the power unit to provide operating power to the construction mechanism 42. That is to say, be equipped with the drive line in the scalable support arm 32, the drive line in power unit and the scalable support arm 32 is connected, and when construction mechanism 42 was connected with scalable support arm 32, the power unit passed through the drive line and is connected with construction mechanism 42 transmission to power unit can drive construction mechanism 42, and construction mechanism 42 can adopt current connected mode with the connected mode of scalable support arm 32, only need guarantee both the leakproofness of connecting, avoid water infiltration can. In one embodiment, the bottom end of the extendable arm 32 is provided with a rotation mechanism that allows the work mechanism 42 to rotate in either direction.
Further, in an embodiment, the placing hole includes a first placing hole 351 and a second placing hole 352 located below the first placing hole 351 and communicated with the first placing hole 351, the diameter of the first placing hole 351 is larger than the diameter of the second placing hole 352, a plurality of first sliding grooves are uniformly opened on the inner wall of the first placing hole 351 along the circumferential direction thereof, the groove length direction of each first sliding groove is consistent with the radial direction of the first placing hole 351, the first butting mechanism 37 includes a first driving mechanism and a plurality of first sleeve rods 371, the plurality of first sleeve rods 371 are in one-to-one correspondence with the plurality of first sliding grooves, and each first sleeve rod 371 is slidably disposed in the corresponding first sliding groove; the second docking mechanism 33 includes a sleeve 331, a second driving mechanism and a plurality of second sleeve rods 332, the sleeve 331 is sleeved outside the bottom end of the telescopic support arm 32, and the outer wall of the sleeve 331 is uniformly provided with a plurality of second sliding grooves along the circumferential direction thereof, the length direction of each second sliding groove is consistent with the radial direction of the sleeve 331, the plurality of second sleeve rods 332 are in one-to-one correspondence with the plurality of second sliding grooves, and each second sleeve rod 332 is slidably arranged in the corresponding second sliding groove; the matched butting mechanism 41 comprises a ring beam 411 and a plurality of connecting rods 412, the ring beam 411 is sleeved outside the construction mechanism 42, the diameter of the ring beam 411 is smaller than that of the first placing hole 351 and larger than that of the second placing hole 352 and the sleeve 331, and the connecting rods 412 penetrate through the side wall of the ring beam 411 and are uniformly arranged along the circumferential direction of the ring beam 411; the connecting rods 412 correspond to the first sleeve rods 371 one by one, and the first driving mechanism is used for driving each first sleeve rod 371 to slide along the corresponding first sliding groove, so that each first sleeve rod 371 is abutted to or separated from the ring beam 411, and one end of each connecting rod 412 is inserted into or separated from the corresponding first sleeve rod 371; the plurality of connecting rods 412 and the plurality of second sleeve rods 332 are in one-to-one correspondence, and the second driving mechanism is configured to drive each second sleeve rod 332 to slide along the corresponding second sliding slot, so that each second sleeve rod 332 is abutted to or separated from the ring beam 411, and thus one end of each connecting rod 412 is inserted into or separated from the corresponding second sleeve rod 332. When storing the replaceable construction in the placing unit, the ring beam 411 is placed in the first placing hole 351, since the diameter of the ring beam 411 is larger than that of the second placing hole 352, at this time, the ring beam 411 is located above the second placing hole 352, the construction mechanism 42 is suspended in the second placing hole 352, the plurality of connecting rods 412 on the ring beam 411 are respectively corresponded to the positions of the plurality of first sleeve rods 371, both ends of the connecting rods 412 respectively protrude out of the ring beam 411, then the first sleeve rods 371 are driven to slide in the direction of the ring beam 411, so that the first sleeve rods 371 abut against the ring beam 411, and the connecting rods 412 are inserted into the corresponding first sleeve rods 371, and the ring beam 411 is fixed in the first placing hole 351 through cooperation of the connecting rods 412 and the first sleeve rods 371, thereby fixedly placing the replaceable construction unit 4 in the placing unit. When the telescopic unit needs to be connected with the replaceable construction unit 4, the telescopic arm 32 is contracted to enable the bottom end to be positioned above the mounting platform 35, the telescopic arm 32 is moved to the corresponding replaceable construction unit 4 through the moving guide mechanism 34, the telescopic arm 32 is extended to enable the sleeve 331 to extend into the ring beam 411, the plurality of second sleeve rods 332 respectively correspond to the positions of the plurality of connecting rods 412, then the second sleeve rods 332 are driven to slide towards the ring beam 411, the second sleeve rods 332 are enabled to abut against the ring beam 411, the connecting rods 412 are enabled to be inserted into the corresponding second sleeve rods 332, the ring beam 411 is fixed on the sleeve through the matching of the connecting rods 412 and the second sleeve rods 332, so that the replaceable construction unit 4 is fixed on the telescopic unit, then the first sleeve rods 371 are driven to slide towards the direction far away from the ring beam 411, and the first sleeve rods are enabled to be separated from the ring beam 411, and the first sleeve rod 371 is separated from the corresponding connecting rod 412, at which time the telescopic unit can take the replaceable construction unit 4 out of the placing unit.
In an embodiment, the second docking mechanism 33 is rotatably disposed outside the bottom end of the retractable arm 32, and the first camera 36 and the first lighting device are disposed on the second docking mechanism 33. The device is convenient for adjusting the position of the second docking mechanism 33 and illuminating the shooting range of the first camera 36 through the first lighting device, so that the replacement process and the underwater construction process of the replaceable construction unit 4 can be monitored more clearly.
Further, the construction mechanism 42 is any one of a cleaning end head, a hydraulic cutting machine, a hydraulic drill, a grouting pipe, a pouring sealant gun head, a sound wave detector, a laser range finder and a clamping manipulator, and the cleaning end head comprises a cleaning brush and spray heads arranged on two sides of the cleaning brush. Sensors for collecting working data of the construction mechanisms 42 are integrated on the construction mechanisms, for example, pressure sensors are arranged on a cleaning end head, a grouting pipe and a pouring sealant gun head, and deflection angle sensors are arranged on a hydraulic cutting machine and a hydraulic drill. The power unit provides working power for the construction mechanism 42, and comprises an oil cylinder, a pressure pump, a power supply device, a grouting material storage tank, a pouring sealant storage tank and a washing water storage tank according to the type of the construction mechanism 42. Be equipped with hydraulic pressure oil pipe in scalable support arm 32, wash pipe, first conveyer pipe, second conveyer pipe and electric wire, the hydro-cylinder is connected with hydraulic pressure oil pipe, power supply unit and connection of electric lines, the quantity of force pump is three, be first force pump respectively, second force pump and third force pump, first force pump respectively with sparge water storage jar and wash pipe connection, the second force pump respectively with grouting material storage jar and first duct connection, the third force pump respectively with potting compound storage jar and second duct connection. When the cleaning end is connected to the telescopic support arm 32, the nozzle is connected with the flushing water pipe, the first pressure pump has two modes of forward rotation and reverse rotation, and the forward rotation of the first pressure pump can spray water in the flushing water storage tank to a concrete dirt part from the nozzle; the first pressure pump is reversed, external muddy water can be sucked into the washing water storage tank, and therefore impurities such as water organisms and sludge on the surface layer of the structure can be removed through the cleaning end head before visual observation is carried out; when the hydraulic cutting machine is connected to the telescopic support arm 32, the hydraulic cutting machine is connected with the hydraulic oil pipe, the oil cylinder provides power for the hydraulic cutting machine through the hydraulic oil pipe, and loose concrete defect parts can be cut efficiently underwater through the hydraulic cutting machine; when the hydraulic drill is connected to the telescopic support arm 32, the hydraulic drill is connected with the hydraulic oil pipe, the oil cylinder provides power for the hydraulic drill through the hydraulic oil pipe, and the hydraulic drill can be used for efficiently drilling a concrete bottom plate underwater, chiseling the surface and other construction operations; when the grouting pipe is connected to the telescopic support arm 32, the grouting pipe is connected with the first conveying pipe, the second pressure pump is started, and slurry in the grouting material storage tank is injected into the expansion joint through the grouting pipe; when the pouring sealant gun head is connected to the telescopic support arm 32, the pouring sealant gun head is connected with the second conveying pipe, the third pressure pump is started, and pouring sealant in the pouring sealant storage tank is injected to the surface of the expansion joint through the pouring sealant gun head; when the sound wave detector is connected with the telescopic support arm 32, the sound wave detector is connected with the electric wire, and the sound wave detector can carry out all-dimensional scanning on concrete in a certain area; when the laser range finder is connected with the telescopic support arm 32, the laser range finder is connected with an electric wire, and can measure the height difference of the staggered platform of the concrete bottom plate and the relative distance between the part to be repaired and other structures; when the clamping manipulator is connected to the telescopic support arm 32, the clamping manipulator is connected with the hydraulic oil pipe, the oil cylinder provides power for the clamping manipulator through the hydraulic oil pipe, and accessories such as a fiber board, a water stop needle head, a grouting pipe, an expansion bolt, a nut and the like can be clamped by the clamping manipulator and plugged, beaten or screwed into a part to be assembled.
In order to obtain the image of the surrounding environment in the underwater swimming and walking process of the invention. In one embodiment, the front end and the rear end of the body 1 are provided with a second camera 11 and a second lighting device which can rotate 360 degrees.
In one embodiment, the present invention further includes a control integration system for controlling the operation of the present invention, such as the control integration system being communicatively coupled to the telescoping unit, which is communicatively coupled to the replaceable construction unit 4 to which it is coupled. The operation of the replaceable construction unit 4 is controlled by the control integration system. The control integration system controls power transmission between the power unit and the replaceable construction unit 4 to control the replaceable construction unit 4 to be turned on or off. The control integrated system provides an accurate visual construction operation window, and the control integrated system can include controller, control panel and display screen, and control panel is last to be equipped with operating handle and a plurality of instruction button, and the display screen is used for showing the first picture of camera and the second camera real time monitoring under water, shows the data of gyroscope simultaneously.
The walking unit 2 is used for driving the machine body 1 to move in any direction in water. In one embodiment, the walking unit 2 includes a plurality of pairs of track wheels 21 symmetrically disposed at the bottom of the frame 31 and a plurality of propellers 22 disposed on the body 1, wherein the propellers 22 can realize the advancing, retreating, turning, floating and submerging of the body 1. The crawler wheels 21 are used for walking on a concrete bottom plate, the plurality of propellers 22 are paired pairwise, two propellers 22 in each pair are respectively arranged on two sides of the machine body 1 and are divided into two types according to the orientation of the propellers 22, one type is horizontal orientation, the other type is vertical orientation, the forward movement, the backward movement, the turning, the upward floating, the downward submerging and other actions of the machine body 1 are realized by controlling the power of different propellers 22, and the machine body 1 is moved towards any direction in water. In one embodiment, the track wheel 21 is provided with a telescopic joint 23, the top end of the telescopic joint 23 is connected with the frame 31, the track wheel 21 can rotate around a shaft, and the machine body 1 is provided with a plurality of gyroscopes. Because the concrete bottom plates on the two sides of the expansion joint are likely to have slab staggering conditions, the crawler wheels 21 are provided with the telescopic joints 23, the length of the telescopic joints 23 is adjusted according to the slab staggering conditions of the concrete bottom plates on the two sides of the expansion joint, and the invention is ensured to stably walk along the slab staggering expansion joints with different elevations. The machine body 1 is provided with a plurality of gyroscopes, so that the underwater stability of the equipment can be monitored, and when the deviation of data detected by each gyroscope exceeds a certain value, the telescopic joints 23 are correspondingly adjusted, so that the device is always in a balanced and stable state in the construction process.
The working process of the invention is as follows:
(1) visual observation
At the initial stage of leakage, the device is put into water, visual observation is carried out on a gravity observation part, if the observation part is blocked by surface layer aquatic organisms, sludge and the like, the cleaning end head can be connected to the telescopic support arm 32, the surface layer aquatic organisms and the sludge are cleaned through the spray head and the cleaning brush, and a neat and observable base surface is realized. Then, the laser distance measuring instrument is connected to the telescopic support arm 32, and the conditions of slab staggering and distortion at the bottom plate at the expansion joint are directly measured through the laser distance measuring instrument, so that the length and the width of the crack at the expansion joint are obtained.
(2) Nondestructive testing
For the area needing the nondestructive detection of the deep crack, the sound wave detector is connected to the telescopic support arm 32, the sound wave detector is started to conduct the two-dimensional scanning of the cross section of the concrete in the area according to a certain sampling interval, the two-dimensional data of each cross section are collected and then synthesized into a three-dimensional image map of the area, and the condition of the internal defects of the concrete can be visually known. In the scanning process, the coordinate information of each signal is synchronously recorded, so that the position of the concrete defect can be found out quickly when the subsequent leakage repair is carried out conveniently.
(3) Expansion joint leakage repair
The seepage of expansion joint department is mainly because the concrete bottom plate of expansion joint both sides takes place the wrong platform, draws to leave, leads to in burying the waterstop and tears, perhaps concrete construction pouring process stops hosepipe itself to take place the distortion, buries the off normal underground, the waterstop in the expansion joint can't exert the prevention of seepage function, seepage repair work under water mainly has: chiseling defective concrete, installing a new water stop, installing a fiber board in the expansion joint, injecting pouring sealant on the surface of the expansion joint, supporting a formwork underwater, grouting underwater or pouring fine aggregate concrete to fill up the staggered platform positions.
Through connect hydraulic pressure cutting machine on scalable support arm 32, chisel out and cut expansion joint peripheral concrete through hydraulic pressure cutting machine, scalable support arm 32 is connected afterwards and is cleaned the end, clears up the base face through cleaning the end, then scalable support arm 32 is connected and is got the manipulator, picks up the waterstop of leaving in on frame 31 platform through getting the manipulator, and the installation is fixed to simulating the mounted position, and accomplishes the installation of fibreboard in the expansion joint through getting the manipulator. After the template is lifted to a position to be repaired in water by the crane on land, the expansion bolt is driven into the concrete below the bolt rod hole of the template by the clamping manipulator, and the nut is screwed up to fix the template. The grouting pipe is replaced on the telescopic support arm 32, grouting or fine stone concrete pouring can be carried out on the template through the grouting pipe, after the template removing condition is achieved, the clamping mechanical arm is replaced on the telescopic support arm 32, the nut is removed, then the hydraulic cutting machine is replaced on the telescopic support arm 32, the protruding part of the screw is cut off through the hydraulic cutting machine, and the underwater template is lifted up through the onshore crane. And replacing the pouring sealant gun head on the telescopic support arm 32, and pouring the pouring sealant into the surface layer of the expansion joint through the pouring sealant gun head to finish the repair work of the underwater expansion joint.
(4) Repair of cracks in a base plate
When the concrete bottom plate has phenomena of void, distortion deformation and the like or has concrete defects due to poor construction quality control, the concrete is further developed after being loaded, and the bottom plate can have a large number of serious cracks. The crack repairing method generally comprises the steps of drilling holes at two sides of a crack, penetrating the crack from the outer side of the crack to the inner side of the crack in the direction, inserting a grouting nozzle slightly smaller than the aperture, and performing pressure grouting on the crack. The sound wave detector can be used for carrying out nondestructive detection on the crack, and the repair personnel can determine key parameters such as the position, the size, the hole depth, the hole drilling angle and the like of the drill hole according to the serious condition of the crack. And in the repairing stage, the position of the crack to be repaired can be quickly found out according to the coordinate information recorded in the prior art and the underwater camera. Then connect the hydraulic pressure on scalable support arm 32 and bore a hole under water through the hydraulic pressure drilling, then trade the slip casting pipe on scalable support arm 32, squeeze into the grout mouth automatically and pour into the thick liquid, slip casting time, parameter information such as pressure and the crack on thick liquid spill over the condition all can show on land operation screen, be convenient for can better slip casting control. After the slurry is solidified, the sound wave detector is replaced on the telescopic support arm 32, the original defect part can be subjected to nondestructive detection again through the sound wave detector, the repairing effect of the concrete defect is obtained, and the checking and accepting work of underwater concrete crack repairing is completed.
Compared with the prior art, the invention has the beneficial effects that: the construction system is provided with a plurality of replaceable construction units 4, meets the underwater construction requirements of different types, and can realize the functions of underwater leakage detection, underwater leakage repair, inspection and acceptance after repair and the like; the power unit and the plurality of replaceable construction units 4 are detachably configured with each other so as to be stored and used independently, and the replaceable construction units 4 are in butt joint with the telescopic units and form power transmission with the power unit, so that the power unit provides construction driving force for the replaceable construction units 4, and the replaceable construction units 4 are stably matched with each other for construction, so that the replaceable construction units 4 are matched with each other in the process of detecting and repairing the leakage of the underwater concrete bottom plate, the continuous leakage detection and repairing construction process of the underwater concrete bottom plate is completed, the construction efficiency is improved, and the underwater construction of a diver is not needed; the replaceable construction units 4 are arranged on the mounting platform 35, and the telescopic units can be longitudinally and transversely displaced on the rack 31 under the driving of the movable guide mechanism 34, so that the telescopic units can be moved to the corresponding replaceable construction units 4, and different replaceable construction units 4 can be conveniently connected; meanwhile, the walking unit 2 is arranged on the machine body 1, so that the machine body 1 can move in any direction under water.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any simple modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention will still fall within the scope of the technical solution of the present invention without departing from the content of the technical solution of the present invention.
Claims (10)
1. The underwater concrete bottom plate leakage detection and repair equipment is characterized by comprising a machine body, a walking unit, a chassis assembly, a power unit and a plurality of replaceable construction units, wherein the walking unit is arranged on the machine body and is used for driving the machine body to move in any direction in water;
the chassis assembly comprises a rack, a telescopic unit and a movable guide mechanism, wherein the telescopic unit is provided with a first camera and is arranged on the movable guide mechanism;
the movable guide mechanism is arranged at the top end in the rack and is used for realizing the longitudinal and transverse displacement of the telescopic unit at the top end of the rack;
the frame is internally provided with an installation platform, and the installation platform is provided with a plurality of placing units for placing a plurality of replaceable construction units;
the power unit is in transmission connection with the telescopic unit;
each replaceable construction unit can be selectively connected with the telescopic unit to be in transmission connection with the power unit, so that the power unit can respectively drive the replaceable construction units to work, and the operation process of detecting and repairing the leakage of the underwater concrete bottom plate is completed.
2. The underwater concrete floor leakage detecting and repairing device according to claim 1, wherein the placing unit includes a placing hole opened in the mounting platform and a first docking mechanism disposed in the placing hole;
the telescopic unit comprises a telescopic support arm and a second butt joint mechanism, the top end of the telescopic support arm is arranged on the moving guide mechanism and is in transmission connection with the power unit, and the second butt joint mechanism is sleeved outside the bottom end of the telescopic support arm;
the replaceable construction unit comprises a matching butt joint mechanism and a construction mechanism, the matching butt joint mechanism is sleeved on the outer side of the construction mechanism and is suitable for butt joint with the first butt joint mechanism so that the construction mechanism is placed in the placing hole, and the matching butt joint mechanism is suitable for butt joint with the second butt joint mechanism so that the construction mechanism is in transmission connection with the telescopic support arm, and therefore the power unit can drive the construction mechanism.
3. The underwater concrete floor leakage detecting and repairing device according to claim 2, wherein the placement hole includes a first placement hole and a second placement hole located below the first placement hole and communicated with the first placement hole, the diameter of the first placement hole is larger than that of the second placement hole, a plurality of first sliding grooves are uniformly formed in the inner wall of the first placement hole along the circumferential direction of the first placement hole, the groove length direction of each first sliding groove is consistent with the radial direction of the first placement hole, the first docking mechanism includes a first driving mechanism and a plurality of first sleeve rods, the plurality of first sleeve rods are in one-to-one correspondence with the plurality of first sliding grooves, and each first sleeve rod is slidably disposed in the corresponding first sliding groove;
the second butting mechanism comprises a sleeve, a second driving mechanism and a plurality of second sleeve rods, the sleeve is sleeved on the outer side of the bottom end of the telescopic support arm, a plurality of second sliding grooves are uniformly formed in the outer wall of the sleeve along the circumferential direction of the sleeve, the groove length direction of each second sliding groove is consistent with the radial direction of the sleeve, the plurality of second sleeve rods are in one-to-one correspondence with the plurality of second sliding grooves, and each second sleeve rod is arranged in the corresponding second sliding groove in a sliding manner;
the matched butt joint mechanism comprises a ring beam and a plurality of connecting rods, the ring beam is sleeved on the outer side of the construction mechanism, the diameter of the ring beam is smaller than that of the first placing hole and larger than that of the second placing hole and that of the sleeve, and the connecting rods penetrate through the side wall of the ring beam and are uniformly arranged along the circumferential direction of the ring beam;
the connecting rods and the first sleeve rods are in one-to-one correspondence, and the first driving mechanism is used for driving each first sleeve rod to slide along the corresponding first sliding groove, so that each first sleeve rod is abutted to or separated from the ring beam, and one end of each connecting rod is inserted into or separated from the corresponding first sleeve rod;
the connecting rods and the second sleeve rods are in one-to-one correspondence, and the second driving mechanism is used for driving each second sleeve rod to slide along the corresponding second sliding groove, so that each second sleeve rod is abutted to or separated from the ring beam, and one end of each connecting rod is inserted into or separated from the corresponding second sleeve rod.
4. The underwater concrete floor leakage detecting and repairing device as claimed in claim 2, wherein the second docking mechanism is rotatably disposed at the outer side of the bottom end of the telescopic arm, and the first camera is provided with a first lighting device.
5. The underwater concrete bottom plate leakage detection and repair device according to claim 2, wherein the construction mechanism is any one of a cleaning end head, a hydraulic cutting machine, a hydraulic drill, a grouting pipe, a pouring sealant gun head, a sound wave detector, a laser range finder and a clamping manipulator.
6. The underwater concrete floor leakage detecting and repairing device according to claim 1, wherein a second camera and a second lighting device capable of rotating 360 degrees are arranged at both the front end and the rear end of the body.
7. The underwater concrete floor leak detection and repair apparatus of claim 1, further comprising a control integration system communicatively coupled to the telescoping unit communicatively coupled to the replaceable construction unit to which the telescoping unit is coupled.
8. The underwater concrete floor leakage detecting and repairing apparatus according to claim 1, wherein the movement guide mechanism includes two longitudinal rails respectively disposed on opposite sides of the frame, a transverse rail having both ends respectively slidably disposed on the two longitudinal rails, an arm base slidably disposed on the transverse rail, and a driving mechanism for driving the transverse rail and the arm base to move.
9. The underwater concrete floor leakage detecting and repairing apparatus as claimed in claim 1, wherein the traveling unit includes a plurality of pairs of crawler wheels symmetrically disposed at a bottom of the frame and a plurality of propellers disposed on the body, the propellers being capable of advancing, retreating, turning, floating up and submerging the body.
10. The underwater concrete floor leakage detecting and repairing device according to claim 9, wherein a telescopic joint is provided on the crawler wheel, a top end of the telescopic joint is connected with the frame, the crawler wheel is capable of rotating around a shaft, and a plurality of gyroscopes are provided on the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110480039.8A CN113186999A (en) | 2021-04-30 | 2021-04-30 | Underwater concrete bottom plate leakage detection and repair equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110480039.8A CN113186999A (en) | 2021-04-30 | 2021-04-30 | Underwater concrete bottom plate leakage detection and repair equipment |
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| CN113186999A true CN113186999A (en) | 2021-07-30 |
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| CN202110480039.8A Pending CN113186999A (en) | 2021-04-30 | 2021-04-30 | Underwater concrete bottom plate leakage detection and repair equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115060238A (en) * | 2022-05-18 | 2022-09-16 | 深圳荔石创新科技有限公司 | Relative pose measurement method and device for underwater component |
| CN115387343A (en) * | 2022-09-07 | 2022-11-25 | 中化学生态水利建设有限公司 | Underwater concrete crack repairing device and construction method |
-
2021
- 2021-04-30 CN CN202110480039.8A patent/CN113186999A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115060238A (en) * | 2022-05-18 | 2022-09-16 | 深圳荔石创新科技有限公司 | Relative pose measurement method and device for underwater component |
| CN115060238B (en) * | 2022-05-18 | 2023-11-10 | 深圳荔石创新科技有限公司 | Method and device for measuring relative pose of underwater component |
| CN115387343A (en) * | 2022-09-07 | 2022-11-25 | 中化学生态水利建设有限公司 | Underwater concrete crack repairing device and construction method |
| CN115387343B (en) * | 2022-09-07 | 2024-03-29 | 中化学生态水利建设有限公司 | Underwater concrete crack repairing device and construction method |
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