CN113818488B

CN113818488B - Underwater circulating repairing operation device

Info

Publication number: CN113818488B
Application number: CN202111080448.5A
Authority: CN
Inventors: 郝松松; 王亚丽; 姜京伟; 王志峰; 陶一锐; 蔡洪乐
Original assignee: Shandong Future Robot Co ltd
Current assignee: Shandong Future Robot Co ltd
Priority date: 2021-09-15
Filing date: 2021-09-15
Publication date: 2023-04-07
Anticipated expiration: 2041-09-15
Also published as: CN113818488A

Abstract

The invention relates to the field of underwater operation equipment, in particular to an underwater circulation repairing operation device which comprises a support, wherein a water pressing bin, an operation water pump, a storage bin, a stirring barrel, a stirring motor and a grouting machine are arranged on the support, the water pressing bin comprises a water pressing bin air chamber and a water pressing bin water inlet chamber, the water pressing bin water inlet chamber is connected with the operation water pump, the storage bin comprises a storage bin air chamber and a raw material chamber, a storage hydraulic cylinder is fixedly connected with the storage bin, the upper end of the stirring barrel is provided with a stirring air inlet, at least two stirring exhaust ports and at least two stirring feed inlets, the stirring air inlet is connected with the water pressing bin air chamber, the stirring exhaust ports are connected with the storage bin air chamber, the stirring feed inlets are connected with the raw material chamber, the stirring discharge outlets are connected with the feed inlet of the grouting machine, a control system, a clean water replacement mechanism, an adsorption mechanism, a manipulator driving and moving mechanism and a damage repairing mechanism are arranged on the support, and a rack is fixedly arranged on the support.

Description

Underwater circulating repairing operation device

Technical Field

The invention relates to the field of underwater operation equipment, in particular to an underwater circulating repairing operation device.

Background

The underwater construction crack repairing robot is characterized by comprising a robot main body and a grouting mixing device, wherein the grouting mixing device is fixedly arranged on the robot main body, the robot main body comprises an electric bin, the grouting mixing device comprises a tray mechanism, a propelling mechanism, a mixing mechanism and an output mechanism, the propelling mechanism is arranged inside the tray mechanism and used for propelling grouting of different components into the mixing mechanism for mixing, and finally the mixed grouting is coated to the crack of the underwater construction through the output mechanism for repairing the underwater construction, the propelling mechanism comprises a grouting component storage bin, an electric push rod, a motor and a grouting component outlet, the grouting components of two components and different components are stored inside the grouting component storage bin, the electric push rod is connected with the storage bin, the grouting component is electrically connected with the electric push rod, and the grouting component is arranged at one end of the electric push rod and far away from the electric push rod; 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; output mechanism includes transmission pipe and output rifle, the one end of transmission pipe with mix exit linkage, the other end with the output rifle is connected, and the grout that mixes reachs behind the transmission pipe the output rifle, the output rifle is aimed at the grout crack or the crack position department that needs the restoration to the building under water, accomplishes the restoration operation, the robot main part includes sucking disc device, sucking disc device can be whole robot main part adsorbs on the wall of building, 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 fixed set up with on the sucking disc mount, the guide rail is fixed set up in the both sides of robot main part, the both ends of sucking disc mount all with guide rail swing joint, the not enough of above-mentioned patent: firstly, the grouting mixing device is disposable, the electric push rod cannot be used again after pushing out grouting, the use cost is high, and the robot repair work efficiency is low due to frequent replacement of the grouting mixing device; secondly, in the process that the grouting is output by an output gun, the overall mass of the robot main body can be gradually lightened, so that the center of gravity of the robot is unstable, the safety is poor, the repair operation of the robot is not facilitated, the robot needs to maintain self balance repeatedly, and the repair operation efficiency is greatly reduced; thirdly, the device can only repair some small damages or cracks, and can not repair large-area damages.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides an underwater circulating repair operation device which is reusable, low in use cost, good in stability, high in safety, capable of repairing large-area damage and high in operation efficiency.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the utility model provides an operation device is repaired in circulation under water, includes the support, its characterized in that: the support is provided with a pressurized water bin, an operation water pump, a storage bin and a grouting machine, the pressurized water bin is internally provided with an air-water partition plate, the pressurized water bin is divided into a pressurized water bin air chamber and a pressurized water bin water inlet chamber by the air-water partition plate, the air-water partition plate is connected with the inner wall of the pressurized water bin in a sealing and sliding manner, the pressurized water bin on one side of the pressurized water bin air chamber is provided with a pressurized water bin air outlet, the pressurized water bin on one side of the pressurized water bin water inlet chamber is provided with a pressurized water bin water inlet, the pressurized water bin water inlet is connected with an operation water pump water outlet through a water pipe, the operation water pump water inlet is connected with a water source, the operation water pump and the pressurized water bin are both fixed on the support so as to be beneficial to supplying water to the pressurized water bin through the operation water pump, on one hand, the weight of the pressurized water bin is increased, the support is kept balanced, on the other hand, the air-water partition plate is pushed to move to discharge the air in the pressurized water bin air chamber, the pressurized water bin is characterized in that a storage bin is arranged on one side of the pressurized water bin, the storage bin is fixed on a support, a storage hydraulic cylinder is arranged on the storage bin, a storage partition plate is arranged in the storage bin, the storage partition plate divides the storage bin into a storage bin air chamber and a raw material chamber, the outer wall of the storage partition plate is connected with the inner wall of the storage bin in a sealing and sliding manner, a storage air inlet is arranged on the storage bin on one side of the storage bin, a storage discharge port is arranged on the storage bin on one side of the raw material chamber, the storage hydraulic cylinder is fixedly connected with the storage bin, an extension rod of the storage hydraulic cylinder penetrates through the storage bin to enter the storage bin, the storage bin air chamber is fixedly connected with the storage partition plate, so that the raw material is pushed out of the raw material chamber by the storage hydraulic cylinder, the storage air inlet is connected with a pressurized water bin exhaust port through an air pipe, so that the gas in the pressurized water bin enters the storage bin, the raw material in the storage bin enters a grouting machine, and the pressure in the storage bin is balanced, the storage discharge gate is connected with the feed inlet of slip casting machine through the pipeline, the slip casting machine is fixed on the support to do benefit to and accomplish slip casting repair work through the slip casting machine.

The utility model provides an operation device is repaired in circulation under water, includes the support, its characterized in that: the support is provided with a pressurized water bin, an operation water pump, a storage bin, a stirring barrel, a stirring motor and a grouting machine, the pressurized water bin is internally provided with an air-water partition plate, the air-water partition plate divides the pressurized water bin into a pressurized water bin air chamber and a pressurized water bin water inlet chamber, the air-water partition plate is in sealing sliding connection with the inner wall of the pressurized water bin, the pressurized water bin on one side of the pressurized water bin air chamber is provided with a pressurized water bin air outlet, the pressurized water bin on one side of the pressurized water bin water inlet chamber is provided with a pressurized water bin water inlet, the pressurized water bin water inlet is connected with an operation water pump water outlet through a water pipe, the operation water pump water inlet is connected with a water source, the operation water pump and the pressurized water bin are both fixed on the support so as to be beneficial to supplying water to the pressurized water bin through the operation water pump, on one hand, the weight of the pressurized water bin is increased, the support is kept balanced, on the other hand, the air-water partition plate is pushed to move to the pressurized water bin air chamber to discharge the gas in the pressurized water bin, the device is characterized in that one side of the pressurized water bin is provided with at least two storage bins, the storage bins are fixed on the support, the storage bins are provided with a storage hydraulic cylinder, a storage partition plate is arranged in each storage bin, the storage partition plate divides each storage bin into a storage bin air chamber and a raw material chamber, the outer wall of each storage partition plate is in sliding connection with the inner wall of each storage bin in a sealing manner, the storage bin on one side of each storage bin air chamber is provided with a storage air inlet, the storage bin on one side of each raw material chamber is provided with a storage discharge outlet, the storage hydraulic cylinder is fixedly connected with the storage bins, an extension rod of each storage hydraulic cylinder penetrates through each storage bin to enter each storage bin air chamber and be fixedly connected with each storage partition plate so as to be beneficial to pushing the storage partition plates to push the raw materials out of the raw material chambers through the storage hydraulic cylinders, the stirring barrel is fixed on the support, and the upper end of the stirring barrel is provided with a stirring air inlet, at least two stirring air outlets and at least two stirring air outlets, the agitator lower extreme is equipped with the stirring discharge gate, be equipped with the stirring subassembly in the agitator, the stirring subassembly is driven by agitator motor, agitator motor fixes on the agitator or on the support, the stirring air inlet is connected with the pressurized-water storehouse gas vent through the trachea to do benefit to the gas entering agitator in the pressurized-water storehouse, make the interior gas pressure of agitator be the malleation, promote the thick liquids entering grouting machine in the agitator, the stirring gas vent is connected with the storage air inlet through the trachea, in order to do benefit to the interior gas entering storage silo of agitator, make the air pressure balance in agitator, each storage silo, prevent the suck-back phenomenon, the stirring feed inlet is connected with the storage discharge gate through the pipeline, in order to do benefit to the interior raw materials of storage silo and promote the entering agitator through storage hydraulic cylinder, the stirring discharge gate is connected with the feed inlet of slip casting machine through the pipeline, the slip casting machine is fixed on the support, in order to do benefit to accomplish slip casting repair work through the slip casting machine.

According to the invention, the material storage detection displacement sensor is arranged on the material storage hydraulic cylinder and is fixedly connected with the material storage hydraulic cylinder, so that the moving distance of the material storage partition plate can be known conveniently through the material storage detection displacement sensor, the pushed volume of the raw materials can be obtained, and the pushed amount of the raw materials can be conveniently determined according to the formula.

The water pressing bin is provided with the stay wire sensor, the stay wire sensor is fixedly connected with the water pressing bin, and a stay wire of the stay wire sensor penetrates through the water pressing bin, enters the air chamber of the water pressing bin and is fixedly connected with the air-water separation plate, so that the moving distance of the air-water separation plate can be known through the stay wire sensor, and the volume of air discharged by the water pressing bin can be known.

The support plates are arranged in the pressurized water bin at intervals and penetrate through the pressurized water bin air chamber and the pressurized water bin water inlet chamber, two ends of each support plate are fixedly connected with the inner wall of the pressurized water bin, the support plates are perpendicular to the air-water separation plates, and the air-water separation plates penetrate through the support plates and are in sealed sliding connection with the support plates, so that the air-water separation plates are supported and guided through the support plates.

The stirring assembly comprises a stirring rod and a stirring shaft, wherein at least one stirring rod is arranged at the part of the stirring shaft arranged in the stirring barrel, the stirring shaft is driven by a stirring motor, and the stirring rod is fixedly connected with the stirring shaft so as to drive the stirring shaft to rotate by the stirring motor and drive the stirring rod to stir the raw materials entering the stirring barrel.

The discharge port of the grouting machine is provided with the hose and the grouting head, and the discharge port of the grouting machine is fixedly connected with the grouting head through the hose so as to be beneficial to smearing the slurry in the grouting machine to a position to be repaired through the grouting head.

The clean water replacement mechanism is arranged on the support and comprises a flow guide cover, a clean water replacement motor and a propeller, a working cavity is arranged in the middle of the support, the support is in a fence shape, the water pressing bin, the operation water pump, the storage bin, the stirring barrel and the grouting machine are respectively arranged in the working cavity of the support, a support water inlet is formed in the upper end of the support, an operation opening is formed in the lower end of the support, at least one support water outlet is formed in the side wall of the support, at least one flow guide cover is arranged in the working cavity of the support and fixedly connected with the support, one end face of the flow guide cover is open and faces the support water outlet, the other end of the flow guide cover is in a grid shape, the clean water replacement motor and the propeller are arranged in the flow guide cover, the clean water replacement motor is fixedly connected with the flow guide cover, the propeller is fixed on an output shaft of the clean water replacement motor, the propeller faces the support water outlet so that the clean water replacement motor is started, the clean water replacement motor drives the propeller to rotate, negative pressure is formed in the flow guide cover and the support, external water flows into the support through the support, and muddy water in the support is discharged through the support water outlet.

The suction device is characterized in that the lower end of the support is provided with an adsorption mechanism, the adsorption mechanism comprises an adsorption sucker, a sucker hydraulic cylinder and an adsorption driver, the adsorption suckers are arranged on the front side and the rear side of the lower end of the support at intervals, the upper end of the adsorption sucker is provided with the sucker hydraulic cylinder, the adsorption sucker is provided with a water pumping port, the water pumping port is connected with the adsorption driver through a water pipe, the upper end of the sucker hydraulic cylinder is fixedly connected with the support, the lower end of the sucker hydraulic cylinder is fixedly connected with the adsorption sucker, the sucker hydraulic cylinder and the adsorption driver are respectively fixed on the support, so that when the suction device is used, the sucker hydraulic cylinder drives the adsorption sucker to fall to be attached to an operation surface, the adsorption driver is started to pump out water in the sucker through the water pumping port, negative pressure is formed in the sucker, and the operation surface is adsorbed.

The manipulator driving and moving mechanism is arranged in the support working cavity and comprises a transverse driving mechanism and a longitudinal driving mechanism, the transverse driving mechanism is arranged in the support and connected with the support, the longitudinal driving mechanism is connected with the transverse driving mechanism, and manipulators are arranged on the longitudinal driving mechanism at intervals so as to facilitate the transverse movement and the longitudinal movement of the manipulators in the support through the transverse driving mechanism and the longitudinal driving mechanism.

The transverse driving mechanism of the invention comprises a front transverse supporting frame, a rear transverse supporting frame, a transverse moving frame, a transverse mounting frame, a transverse gear, a transverse roller, a transverse gear shaft, a transverse driving hydraulic motor and a transverse guiding shaft, a front transverse support frame and a rear transverse support frame are arranged in the working cavity of the support at intervals in the front and the rear direction, the front transverse support frame and the rear transverse support frame are respectively fixedly connected with the support, the upper end surface of the front transverse supporting frame and the upper end surface of the rear transverse supporting frame are respectively fixedly provided with a transverse rack, the lateral sides of the front transverse supporting frame and the rear transverse supporting frame are respectively provided with a transverse slideway, at least one transverse moving frame is arranged between the front transverse supporting frame and the rear transverse supporting frame, two ends of the transverse moving frame are respectively provided with a transverse mounting frame, the left side or the right side of the transverse moving frame is provided with a transverse gear shaft, the transverse mounting rack is fixedly connected with the transverse moving rack, transverse gears and transverse rollers are arranged in the transverse mounting rack at intervals, the transverse mounting rack is embedded on the front transverse support frame or the rear transverse support frame, the transverse gear is meshed with the transverse rack, the transverse roller is matched and connected with the transverse slideway in a rolling way, the transverse gear is fixed on a transverse gear shaft, the front end and the rear end of the transverse gear shaft are fixedly connected with a transverse mounting rack through bearings, the front end or the rear end of the transverse gear shaft passes through the transverse mounting rack and is driven by a transverse driving hydraulic motor which is fixed on the transverse mounting rack, the transverse roller is arranged on a transverse moving guide shaft which is fixedly connected with a transverse mounting rack, so as to be favorable to driving the transverse gear to rotate through the transverse driving hydraulic motor, and realize that the transverse moving frame moves along the left and right movement of the front transverse supporting frame and the rear transverse supporting frame.

According to the invention, the end of the transverse moving guide shaft, which faces the transverse slide way, is provided with the top bead, one end of the top bead is abutted against the transverse slide way, and the other end of the top bead is fixedly connected with the transverse moving guide shaft, so that the top bead can be used for jacking the slide way, and the shaking in the moving process can be reduced.

The longitudinal driving mechanism comprises a longitudinal mounting frame, a longitudinal guide wheel, a longitudinal gear and a longitudinal driving hydraulic motor, wherein a longitudinal rack is fixedly arranged on the lower end face of a transverse moving frame, at least one longitudinal mounting frame is arranged on the transverse moving frame, the longitudinal guide wheel is mounted at the upper end of the longitudinal mounting frame, a longitudinal gear is arranged at the lower end of the longitudinal mounting frame, the longitudinal mounting frame is embedded on the transverse moving frame, the longitudinal guide wheel is matched and in rolling connection with the upper end face of the transverse moving frame, the longitudinal gear is meshed with the longitudinal rack, the longitudinal gear is fixed on an output shaft of the longitudinal driving hydraulic motor, the longitudinal driving hydraulic motor is fixed on the longitudinal mounting frame, and a manipulator is fixedly connected with the longitudinal mounting frame so as to be favorable for driving the longitudinal gear to rotate through the longitudinal driving hydraulic motor, and the longitudinal mounting frame drives the manipulator to move back and forth along the transverse moving frame under the gear-rack meshing and guiding action of the longitudinal guide wheel.

Wear-resistant guide plates are fixedly arranged on the left side and the right side of the inner wall of the longitudinal mounting frame, and the longitudinal mounting frame is clamped on the transverse moving frame through the wear-resistant guide plates, so that the guide of the wear-resistant guide plates is facilitated, and the friction loss between the longitudinal mounting frame and the transverse moving frame in the moving process of the longitudinal mounting frame is reduced.

According to the invention, the rotary swing mechanism is arranged between the manipulator and the longitudinal mounting frame, the rotary swing mechanism comprises a swing cylinder, at least one swing cylinder is arranged on the manipulator, and the manipulator is connected with the longitudinal mounting frame through the swing cylinder, so that the rotation and the swing of the manipulator can be realized through the swing cylinder, the flexibility of the manipulator is improved, and the underwater repair operation can be better completed.

The telescopic mechanism is arranged on the mechanical arm and comprises a telescopic oil cylinder and a rotary swing arm, the telescopic oil cylinder is arranged at the upper end of the mechanical arm, the rotary swing arm is arranged at the upper end of the telescopic oil cylinder, the upper end of the rotary swing arm is connected with the swing cylinder, and the lower end of the rotary swing arm is connected with the mechanical arm through the telescopic oil cylinder, so that the lifting of the mechanical arm is realized through the telescopic oil cylinder, and objects can be conveniently grabbed or the underwater operation tool can be conveniently butted.

The tool table is arranged in the working cavity of the support, the tool table is fixedly connected with the support, underwater operation tools are arranged on the tool table at intervals, and the underwater operation tools are connected with the tool table, so that the underwater operation tools can be grabbed by a manipulator to perform underwater operation.

The positioning sleeves are arranged on the tool table at intervals and fixed on the tool table, and the underwater operation tool and the positioning sleeves are fixed in an extruding mode, so that the underwater operation tool can be positioned through the positioning sleeves and is convenient to take and place.

The lower end of the mechanical arm is provided with an underwater repairing operation tool which is a mechanical clamp or an underwater operation tool, so that an object or a tool can be clamped by the mechanical clamping jaw, and underwater repairing operation can be completed by the underwater operation tool.

The butt joint mechanism is arranged between the mechanical arm of the mechanical arm and the underwater operation tool, so that the mechanical arm and the underwater operation tool can be connected through the butt joint mechanism.

The docking mechanism comprises an upper docking seat, a jaw assembly and a lower docking seat, wherein the upper docking seat is arranged on a mechanical arm of at least one mechanical arm, the upper end of the upper docking seat is fixedly connected with the mechanical arm, at least two jaw assemblies are arranged on the upper docking seat, each jaw assembly comprises a jaw oil cylinder and a jaw, the upper end of each jaw oil cylinder is hinged with the upper docking seat, the lower end of each jaw oil cylinder is hinged with the upper docking seat, the upper part of each jaw is hinged with the upper docking seat, the underwater operation tool is provided with the lower docking seat, the lower docking seat is fixedly connected with the underwater operation tool, at least two docking notches are arranged on the lower docking seat, the docking notches are matched with the jaws, and when the upper docking seat is docked with the lower docking seat, the jaw oil cylinders retract so that the jaws clamp the docking notches to realize the fixed connection of the mechanical arm and the underwater operation tool, the rapid docking of the mechanical arm and the underwater operation tool can be realized through the jaw and the docking notches.

The hydraulic fluid port butt joint mechanism is arranged between the manipulator and the underwater operation tool and comprises an oil pipe, an oil source and a sealing ring, an upper hydraulic fluid port is arranged on the upper butt joint seat and connected with the oil source through the oil pipe, a lower hydraulic fluid port is arranged on the lower butt joint seat and provided with the sealing ring, the lower hydraulic fluid port is connected with the underwater operation tool through the oil pipe, and when the upper butt joint seat is in butt joint with the lower butt joint seat, the upper hydraulic fluid port is in sealing connection with the lower hydraulic fluid port through the sealing ring, so that the hydraulic fluid port butt joint mechanism can provide the oil source for the underwater operation tool.

The upper oil port is fixedly inserted with the lower oil port through the taper, so that the connection is convenient and tight, and meanwhile, the sealing ring is convenient to install.

The quick positioning mechanism is arranged between the upper butt joint seat and the lower butt joint seat and comprises a positioning block and a positioning notch, the upper butt joint seat is provided with a guide groove with a downward opening, the inner wall of the guide groove is at least provided with one inward protruding positioning block, the positioning block is fixedly connected with the upper butt joint seat, the lower butt joint seat is at least provided with one positioning notch, the positioning notch is matched with the positioning block, when the upper butt joint seat is in butt joint with the lower butt joint seat, the lower connecting seat is embedded into the guide groove, and the positioning block is embedded into the positioning notch to realize quick positioning of the upper butt joint seat and the lower butt joint seat, so that accurate positioning is realized through the positioning block and the positioning notch, the time is saved, the butt joint dislocation of an oil port during butt joint is prevented, meanwhile, the impact of torque generated after butt joint on a clamping jaw and the butt joint oil port is reduced, and the clamping jaw and the butt joint oil port are protected.

According to the invention, the storage bin is arranged in the working cavity of the support, the lower end of the storage bin is fixedly connected with the support, the grouting nozzle slots and/or the expansion screw slots are arranged on the storage bin at intervals, and the grouting nozzles and/or the expansion screws are respectively inserted and fixed with the storage bin, so that the grouting nozzles and the expansion screws are limited and fixed through the grouting nozzle slots and the expansion screw slots.

According to the invention, the storage bin is provided with the water gun slot, the water gun is arranged on the storage bin and is connected with the storage bin through the water gun slot, and the water inlet of the water gun is connected with the water outlet of the operation water pump, so that the operation water pump can provide high-pressure water for the water gun to clean the damaged or cracked part.

The invention is characterized in that a damage repairing mechanism is arranged in a support working cavity, the damage repairing mechanism comprises a cover plate cabin, a cover plate, an aluminum pressing strip, a cover plate sucker and a floating tool, the cover plate cabin is arranged in the support working cavity, the lower end of the cover plate cabin is fixedly connected with a support, at least two cover plate guide posts are arranged on each of the left side and the right side of the cover plate cabin, the lower ends of the cover plate guide posts are fixedly connected with the cover plate cabin, the upper end of the cover plate cabin is provided with a cover plate suction port, the front side or the rear side of the cover plate cabin is provided with a cover plate outlet, the left side and the right side of the cover plate are respectively provided with a cover plate guide post perforation, the periphery of the cover plate is fixedly provided with the aluminum pressing strip, bosses are arranged on the aluminum pressing strips on the left side and the right side of the cover plate at intervals, boss guide post perforation is arranged on the bosses, the cover plate is arranged in the cover plate cabin, the cover plate guide posts sequentially penetrate through the cover plate guide post perforation and the boss guide post perforation to fix the cover plate in the cover plate cabin, a cover plate sucking disc and a floating tool are arranged on one side of the cover plate cabin, a sucking disc handle is fixedly arranged at the upper end of the cover plate sucking disc, a guide rod is fixedly arranged at the lower end of the cover plate sucking disc, a cover plate sucking disc water pumping port is arranged on the cover plate sucking disc, a sucking disc seat is arranged on the support, the sucking disc water pumping port is connected with an adsorption driver through a water pipe, the lower end of the sucking disc seat is fixedly connected with the support, a containing groove is formed in the sucking disc seat, a limiting socket is arranged at the upper end of the sucking disc seat, the cover plate sucking disc is arranged in the containing groove of the sucking disc seat, the guide rod is inserted into the limiting socket, the guide rod is embedded into the limiting socket to limit and fixedly connect the cover plate sucking disc with the sucking disc seat after the cover plate sucking disc rotates, the floating handle is fixedly arranged at the upper end of the floating tool, at least two limiting notches are formed in the periphery of a floating plate of the floating tool, and a floating positioning seat is fixedly arranged in the support, the troweling positioning seat is provided with a troweling tool groove, the upper end face of the troweling tool groove is at least provided with two limiting blocks radially inwards, the limiting blocks are fixedly connected with the troweling positioning seat, limiting notches are matched with the limiting blocks, the troweling tool is inserted into the troweling tool groove, the troweling tool is fixed in the troweling tool groove in a limiting mode through the limiting blocks after rotating, so that a sucker handle is clamped through a mechanical arm to rotate, then the cover plate sucker is taken out, then the cover plate sucker is placed above the cover plate cabin, an adsorption driver is driven to enable the cover plate sucker to adsorb the cover plate, the mechanical arm is lifted upwards to pull the cover plate out of a cover plate guide column, then the cover plate is taken out from a cover plate outlet in a translation mode, the cover plate is placed on a damaged operation face, the troweling tool is clamped through the mechanical arm to rotate and taken out, then the cover plate is pressed through the troweling tool, the lower end face of the cover plate is coated with glue in advance, no glue is coated around the boss, adhesion of the cover plate is prevented, and the cover plate is adhered to the damaged face after the troweling tool is pressed down.

The lower end of the support is fixedly provided with the recovery bin, so that parts or sundries can be stored through the recovery bin.

The support is internally provided with a drag chain mechanism, the drag chain mechanism comprises a drag chain and a drag chain frame, at least one drag chain is arranged in the support, the drag chain is arranged on the drag chain frame, one end of the drag chain is fixedly connected with the inner wall of the support, the other end of the drag chain is fixedly connected with the transverse mounting frame, and the drag chain frame is fixedly connected with the support, so that connecting cables of a manipulator driving moving mechanism, a manipulator and the like are arranged in the drag chain, and the cable protection function is realized.

The illuminating lamp and the camera are fixedly arranged in the support and/or on the mechanical arm of the manipulator, so that underwater operation can be conveniently illuminated through the illuminating lamp, the camera is used for shooting operation conditions, and workers can conveniently know work in time.

An electric cabin is fixedly arranged in the support, a support control system is arranged in the electric cabin, and the operation water pump, the storage hydraulic cylinder, the stirring motor, the grouting machine, the storage detection displacement sensor, the pull wire sensor, the manipulator, the clean water replacement motor, the sucker hydraulic cylinder, the adsorption driver, the transverse driving hydraulic motor, the longitudinal driving hydraulic motor, the swing cylinder, the jaw oil cylinder, the illuminating lamp and the camera are respectively connected with the support control system, so that the manipulator operation can be controlled through the support control system.

According to the invention, the upper end of the support is provided with the rack, the rack is provided with the rack control system and the propeller, the rack is fixedly connected with the support, the rack control system is connected with the support control system, so that the support is driven by the propeller to move to an operation area, and the manipulator is controlled to perform underwater repair operation by the rack control system.

Due to the adoption of the structure, the invention has the advantages of reusability, low use cost, good stability, high safety, capability of repairing large-area damage, high operation efficiency and the like.

Drawings

FIG. 1 is a schematic diagram of the present invention.

Fig. 2 is a schematic view of the present invention with the stand removed.

Fig. 3 is a top view of fig. 2 of the present invention.

Fig. 4 is a left side view of fig. 2 of the present invention.

Fig. 5 is an enlarged schematic view of the pressurized water tank of the present invention.

Fig. 6 is a sectional view of the pressurized water cartridge according to the present invention.

Figure 7 is an enlarged schematic view of the storage bin of the present invention.

Figure 8 is a cross-sectional view of the storage silo of the present invention.

FIG. 9 is an enlarged view of the mixing tank of the present invention.

Fig. 10 is a top view of fig. 9 of the present invention.

Fig. 11 is a sectional view of the agitation vat in the present invention.

Fig. 12 is an enlarged schematic view of the slip casting machine of the present invention.

Fig. 13 is a schematic view of the structure of the present invention mounted to the lower end of the frame when in use.

Fig. 14 is an enlarged schematic view of the pod of the present invention.

FIG. 15 is a cross-sectional view of the pod of the present invention.

Fig. 16 is an enlarged schematic view of the robot driving and moving mechanism in the present invention.

Fig. 17 is a right side view of fig. 16 of the present invention.

FIG. 18 is an enlarged view taken at A in FIG. 17 according to the present invention.

Fig. 19 is an enlarged schematic view of the longitudinal mount of the present invention.

Fig. 20 is a schematic view of a robot in the present invention.

Fig. 21 is another schematic view of the robot hand of the present invention.

Fig. 22 is a schematic illustration of the release of the pawl from the docking mechanism of fig. 21 in accordance with the present invention.

Fig. 23 is a schematic view of the upper docking cradle of the present invention.

Fig. 24 is a cross-sectional view of an upper docking pod of the present invention.

FIG. 25 is a schematic view of the lower docking pod of the present invention.

FIG. 26 is a top view of FIG. 25 in accordance with the present invention.

Fig. 27 is an enlarged schematic view of the attachment of the tool station and the underwater work tool in the present invention.

Fig. 28 is an enlarged schematic view of the tool table of the present invention.

Fig. 29 is a side view of fig. 28 in the present invention.

FIG. 30 is a schematic view of the structure of the cover plate compartment and the storage compartment of the present invention.

Figure 31 is a cross-sectional view of the cover flap compartment of the present invention.

FIG. 32 is an enlarged view of the cover plate of the present invention.

FIG. 33 is an enlarged schematic view of the cartridge of FIG. 30 according to the present invention.

Fig. 34 is an enlarged schematic view of the troweling tool of the present invention.

FIG. 35 is an enlarged schematic view of the cover plate suction cup of the present invention.

Fig. 36 is a cross-sectional view of fig. 35 in accordance with the present invention.

Reference numerals: a support 1, a pressurized water bin 2, an operation water pump 3, a storage bin 4, a grouting machine 5, an air-water separation plate 6, a pressurized water bin air chamber 7, a pressurized water bin water inlet chamber 8, a pressurized water bin exhaust port 9, a pressurized water bin water inlet 10, a storage hydraulic cylinder 11, a storage partition plate 12, a storage bin air chamber 13, a raw material chamber 14, a storage air inlet 15, a storage material outlet 16, a stay wire sensor 18, a stirring barrel 19, a stirring air inlet 20, a stirring exhaust port 21, a stirring feed port 22, a stirring discharge port 23, a stirring assembly 24, a stirring motor 25, a support plate 26, a stirring rod 27, a stirring shaft 28, a rack 29, a manipulator 30, an adsorption mechanism 31, a clean water replacement mechanism 32, a flow guide cover 33, a clean water replacement motor 34, a propeller 35, a support water inlet 36, an operation port 37, a support water outlet 38, an adsorption suction cup 39, a suction cup hydraulic cylinder 40, an adsorption driver 41 and a manipulator driving and moving mechanism 42, a transverse driving mechanism 43, a longitudinal driving mechanism 44, a front transverse supporting frame 45, a rear transverse supporting frame 46, a transverse moving frame 47, a transverse mounting frame 48, a transverse gear 49, a transverse roller 50, a transverse driving hydraulic motor 51, a transverse guiding shaft 52, a transverse rack 53, a transverse slideway 54, a top ball 55, a longitudinal mounting frame 56, a longitudinal guiding wheel 57, a longitudinal gear 58, a longitudinal driving hydraulic motor 59, a longitudinal rack 60, a wear-resistant guiding plate 61, a rotary swinging mechanism 62, a swinging cylinder 63, a mechanical arm 64, a tool table 65, an underwater operation tool 66, a positioning sleeve 67, a docking mechanism 68, an upper docking seat 69, a lower docking seat 70, a jaw oil cylinder 71, a jaw 72, a docking gap 73, an oil port docking mechanism 74, a sealing ring 75, an upper oil port 76, a lower oil port 77, a telescopic mechanism 78, a positioning block 79, a positioning gap 80, a guiding groove 81 and a storage 82, the device comprises a grouting nozzle 83, an expansion screw 84, a water gun 85, a damage repairing mechanism 86, a cover plate cabin 87, a cover plate 88, an aluminum pressing strip 89, a cover plate sucker 90, a floating tool 91, a cover plate guide column 92, a cover plate suction port 93, a cover plate outlet 94, a boss 95, a sucker handle 96, a guide rod 97, a sucker seat 98, a limiting socket 99, a floating handle 100, a limiting notch 101, a floating positioning seat 102, a limiting block 103, a recovery bin 104, a drag chain mechanism 105, a drag chain 106 and a drag chain frame 107. A telescopic oil cylinder 108, a rotary swing arm 109, a mechanical clamping jaw 110 and an electric cabin 111.

Detailed Description

The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings.

The utility model provides an operation device is repaired in circulation under water, includes support 1, its characterized in that: be equipped with pressurized-water silo 2, operation water pump 3, storage silo 4 and slip casting machine 5 on support 1, be equipped with air water division board 6 in the pressurized-water silo 2, air water division board 6 falls into pressurized-water silo air chamber 7 and pressurized-water silo intake chamber 8 with pressurized-water silo 2, air water division board 6 and pressurized-water silo 2 inner wall sealing sliding connection, be equipped with pressurized-water silo gas vent 9 on the pressurized-water silo 2 of pressurized-water silo air chamber 7 one side, be equipped with pressurized-water silo water inlet 10 on the pressurized-water silo 2 of pressurized-water silo intake chamber 8 one side, pressurized-water silo water inlet 10 is connected with operation water pump 3 delivery port through the water pipe, the water inlet and the water source of operation water pump 3 are connected, operation water pump 3 and pressurized-water silo 2 are all fixed on support 1 to do benefit to supply water for pressurized-water silo through the operation water pump, on the one hand increase the weight of pressurized-water silo, maintain support balance, on the other hand promote the air water chamber to move, discharge the pressurized-water air chamber, discharge the gas in the pressurized-water silo air chamber is discharged, pressurized-water silo 2 one side is equipped with storage silo 4, storage silo 4 is equipped with storage silo 4, storage tank 4 is connected with storage cylinder 12, storage cylinder 12 is connected with the fixed air inlet of storage silo 4, the fixed pneumatic cylinder is connected with the pneumatic cylinder of storage chamber 13 on the pneumatic cylinder 12, the pneumatic cylinder is connected with the pneumatic cylinder on the pneumatic cylinder 12 of pneumatic cylinder 12 on the pneumatic cylinder 12 is connected with the pneumatic cylinder of pneumatic cylinder 12, get into the storage silo with the gas that does benefit to in the pressurized-water storehouse for raw materials get into the slip casting machine in the storage silo, the pressure in the balanced storage silo simultaneously, storage discharge gate 16 is connected with the feed inlet of slip casting machine 5 through the pipeline, slip casting machine 5 is fixed on support 1, in order to do benefit to and accomplish slip casting repair work through the slip casting machine.

The storage bin can be repeatedly used, raw materials are loaded into the storage bin before the storage bin is used, after the storage bin is used, the raw materials can be continuously put into the storage bin after the materials of the storage bin are discharged through the grouting machine, the raw materials can be put into the raw material chamber by disassembling the storage partition plate and the storage bin, or the raw materials can be injected into the raw material chamber by arranging the feed inlet in the raw material chamber and can be selected according to needs, the storage bin can be repeatedly used, the use cost is low, the repairing operation efficiency is improved, in addition, the support can be kept balanced underwater by injecting water into the pressurized-water bin during discharging, meanwhile, the pressurized-water bin exhausts the storage bin, the air pressure balance of the storage bin can be kept, and the raw materials are promoted to be discharged out of the storage bin.

The utility model provides an operation device is repaired in circulation under water, includes support 1, its characterized in that: the support 1 is provided with a pressurized-water bin 2, an operation water pump 3, a storage bin 4, a stirring barrel 19, a stirring motor 25 and a grouting machine 5, the pressurized-water bin 2 is internally provided with an air-water partition plate 6, the pressurized-water bin 2 is divided into a pressurized-water bin air chamber 7 and a pressurized-water bin water inlet chamber 8 by the air-water partition plate 6, the air-water partition plate 6 is in sealing sliding connection with the inner wall of the pressurized-water bin 2, the pressurized-water bin 2 at one side of the pressurized-water bin air chamber 7 is provided with a pressurized-water bin air outlet 9, the pressurized-water bin 2 at one side of the pressurized-water bin water inlet chamber 8 is provided with a pressurized-water bin water inlet 10, the pressurized-water bin water inlet 10 is connected with an operation water pump 3 water outlet through a water pipe, the operation water pump 3 water inlet is connected with a water source, the operation water pump 3 and the pressurized-water bin 2 are both fixed on the support 1 so as to be beneficial to supply water for the pressurized-water bin through the operation water pump, on one hand, the weight of the pressurized-water bin is increased, and the support is kept balanced, on the other hand, the air-water separation plate is pushed to move towards the air chamber of the pressurized-water bin, the gas in the air chamber of the pressurized-water bin is discharged, the storage bin 4 is arranged on one side of the pressurized-water bin 2, at least two storage bins 4 are arranged on each storage bin 4, the storage bin 4 is fixed on the support 1, the storage hydraulic cylinder 11 is arranged on each storage bin 4, the storage partition plate 12 is arranged in each storage bin 4, the storage bin 4 is divided into the storage bin air chamber 13 and the raw material chamber 14 by the storage partition plate 12, the outer wall of each storage partition plate 12 is in sealed sliding connection with the inner wall of each storage bin 4, the storage bin 4 on one side of the storage bin air chamber 13 is provided with the storage air inlet 15, the storage bin 4 on one side of the raw material chamber 14 is provided with the storage discharge port 16, the storage hydraulic cylinder 11 is fixedly connected with the storage bins 4, the extension rod of the storage hydraulic cylinder 11 penetrates through the storage bin 4 to enter the storage bin air chamber 13 and the storage partition plate 12 to be fixedly connected with the storage hydraulic cylinder so as to facilitate pushing the partition plate to push the raw material out the raw material chamber through the storage hydraulic cylinder, agitator 19 is fixed on support 1, 19 upper ends of agitator are equipped with stirring air inlet 20, two at least stirring gas vents 21 and two at least stirring feed inlets 22, 19 lower extremes of agitator are equipped with stirring discharge gate 23, be equipped with stirring subassembly 24 in the agitator 19, stirring subassembly 24 is driven by agitator motor 25, agitator motor 25 fixes on agitator 19 or support 1, stirring air inlet 20 is connected with pressurized-water storehouse gas vent 9 through the trachea to gas in the pressurized-water storehouse gets into the agitator, makes the internal pressure of agitator be the malleation, promotes the thick liquids in the agitator and gets into the slip casting machine, stirring gas vent 21 is connected with storage air inlet 15 through the trachea, in order to do benefit to the internal air of agitator and get into the storage silo, makes agitator, each storage silo atmospheric pressure balanced, prevents the suck-back phenomenon, stirring discharge gate 22 is connected with storage discharge gate 16 through the pipeline to do benefit to the raw materials in the storage silo in the material promotes through the storage pneumatic cylinder and gets into the agitator, stirring discharge gate 23 is connected with the feed inlet of slip casting machine 5 through the pipeline, slip casting machine 5 is fixed on support 1 to do benefit to the slip casting operation.

According to the invention, the material storage hydraulic cylinder 11 is provided with the material storage detection displacement sensor which is fixedly connected with the material storage hydraulic cylinder 11, so that the moving distance of the material storage partition plate can be known conveniently through the material storage detection displacement sensor, the pushed volume of the raw materials can be obtained, and the pushed quantity of the raw materials can be conveniently determined according to the formula.

According to the invention, the water pressing bin 2 is provided with the stay wire sensor 18, the stay wire sensor 18 is fixedly connected with the water pressing bin 2, and a stay wire of the stay wire sensor 18 penetrates through the water pressing bin 2 to enter the water pressing bin air chamber 7 to be fixedly connected with the air-water separation plate 6, so that the moving distance of the air-water separation plate can be known through the stay wire sensor, and the volume of air discharged from the water pressing bin can be known.

The support plates 26 are arranged in the pressurized water bin 2 at intervals, the support plates 26 penetrate through the pressurized water bin air chamber 7 and the pressurized water bin water inlet chamber 8, two ends of each support plate 26 are fixedly connected with the inner wall of the pressurized water bin 2, the support plates 26 are perpendicular to the air-water separation plate 6, and the air-water separation plate 6 penetrates through the support plates 26 and is in sealed sliding connection with the support plates 26, so that the air-water separation plate is supported and guided through the support plates.

The stirring assembly 24 comprises a stirring rod 27 and a stirring shaft 28, wherein at least one stirring rod 27 is arranged on the part of the stirring shaft 28, which is arranged in the stirring barrel 19, the stirring shaft 28 is driven by a stirring motor 25, and the stirring rod 27 is fixedly connected with the stirring shaft 28, so that the stirring shaft is driven by the stirring motor to rotate, and the stirring rod is driven to stir the raw materials entering the stirring barrel.

The discharge port of the grouting machine 5 is provided with a hose and a grouting head, and the discharge port of the grouting machine 5 is fixedly connected with the grouting head through the hose so as to be beneficial to smearing slurry in the grouting machine to a position to be repaired through the grouting head.

The clean water replacement mechanism 32 is arranged on a support 1, the clean water replacement mechanism 32 comprises a flow guide cover 33, a clean water replacement motor 34 and a propeller 35, a working cavity is arranged in the middle of the support 1, the support 1 is in a surrounding shape, a water pressing bin 2, a working water pump 3, a storage bin 4, a stirring barrel 19 and a grouting machine 5 are respectively arranged in the working cavity of the support 1, a support water inlet 36 is arranged at the upper end of the support 1, a working port 37 is arranged at the lower end of the support 1, at least one support water outlet 38 is arranged on the side wall of the support 1, at least one flow guide cover 33 is arranged in the working cavity of the support 1, the flow guide cover 33 is fixedly connected with the support 1, one end face of the flow guide cover 33 is open and faces the support water outlet 38, the other end face of the flow guide cover 33 is in a grid shape, the clean water replacement motor 34 and the propeller 35 are arranged in the flow guide cover 33, the clean water replacement motor 34 is fixedly connected with the flow guide cover 33, the propeller 35 is fixed on an output shaft of the clean water replacement motor 34, the propeller 35 faces the support water outlet 38, so that the clean water replacement motor is started to drive the clean water replacement motor to rotate, negative pressure is formed in the flow guide cover and the support, the propeller is formed in the support, the outer portion of the support, and water flows out through the water inlet of the support.

According to the invention, the lower end of a support 1 is provided with an adsorption mechanism 31, the adsorption mechanism 31 comprises an adsorption sucker 39, a sucker hydraulic cylinder 40 and an adsorption driver 41, the front side and the rear side of the lower end of the support 1 are provided with the adsorption sucker 39 at intervals, the upper end of the adsorption sucker 39 is provided with the sucker hydraulic cylinder 40, the adsorption sucker 39 is provided with a water pumping port, the water pumping port is connected with the adsorption driver 41 through a water pipe, the upper end of the sucker hydraulic cylinder 40 is fixedly connected with the support 1, the lower end of the sucker hydraulic cylinder 40 is fixedly connected with the adsorption sucker 39, and the sucker hydraulic cylinder 40 and the adsorption driver 41 are respectively fixed on the support 1, so that when the adsorption device is used, the sucker hydraulic cylinder drives the adsorption sucker to fall and tightly adhere to an operation surface, the adsorption driver is started to evacuate water in the sucker through the water pumping port, and negative pressure is formed in the sucker to adsorb the operation surface.

According to the invention, a manipulator driving and moving mechanism 42 is arranged in the working cavity of the support 1, the manipulator driving and moving mechanism 42 comprises a transverse driving mechanism 43 and a longitudinal driving mechanism 44, the transverse driving mechanism 43 is arranged in the support 1 and connected with the support 1, the longitudinal driving mechanism 44 is connected with the transverse driving mechanism 43, and the longitudinal driving mechanism 44 is provided with the manipulators 30 at intervals, so that the transverse driving mechanism and the longitudinal driving mechanism are favorable for realizing the transverse movement and the longitudinal movement of the manipulators in the support.

The transverse driving mechanism 43 of the invention comprises a front transverse supporting frame 45, a rear transverse supporting frame 46, a transverse moving frame 47, a transverse mounting frame 48, a transverse gear 49, a transverse roller 50, a transverse gear shaft, a transverse driving hydraulic motor 51 and a transverse guiding shaft 52, wherein the front transverse supporting frame 45 and the rear transverse supporting frame 46 are arranged in a working cavity of the support 1 at intervals from front to back, the front transverse supporting frame 45 and the rear transverse supporting frame 46 are respectively and fixedly connected with the support 1, a transverse rack 53 is respectively and fixedly arranged on the upper end surface of the front transverse supporting frame 45 and the upper end surface of the rear transverse supporting frame 46, a transverse slideway 54 is respectively arranged on the side surface of the front transverse supporting frame 45 and the side surface of the rear transverse supporting frame 46, at least one transverse moving frame 47 is arranged between the front transverse supporting frame 45 and the rear transverse supporting frame 46, the transverse moving frame 47 is respectively provided with the transverse mounting frame 48 at two ends, a transverse gear shaft is arranged on the left side or right side of the transverse moving frame 47, the transverse mounting frame 48 is fixedly connected with the transverse moving frame 47, the transverse gear 49 and the transverse roller 50 are embedded in the transverse supporting frame 48, the transverse gear shaft 48 is fixedly connected with the transverse driving hydraulic motor 51, the transverse driving hydraulic motor 52 is fixedly connected with the transverse driving rack 52, the transverse driving hydraulic motor 52, the transverse driving frame 48, the transverse supporting frame 48 is fixedly connected with the transverse driving frame 48, the transverse supporting frame 48, the transverse driving frame 48, the transverse roller 52, the transverse driving frame 48 is fixedly connected with the transverse driving shaft 52, the transverse driving frame 52, the transverse gear is driven to rotate by the transverse driving hydraulic motor, and the transverse moving frame moves left and right along the front transverse supporting frame and the rear transverse supporting frame.

According to the invention, one end of the transverse moving guide shaft 52, which faces the transverse slide way 54, is provided with the top bead 55, one end of the top bead 55 is abutted against the transverse slide way 54, and the other end of the top bead is fixedly connected with the transverse moving guide shaft 52, so that the top bead can be used for jacking against the slide way, and the shaking in the moving process can be reduced.

The longitudinal driving mechanism 44 comprises a longitudinal mounting frame 56, a longitudinal guide wheel 57, a longitudinal gear 58 and a longitudinal driving hydraulic motor 59, wherein a longitudinal rack 60 is fixedly arranged on the lower end face of the transverse moving frame 47, at least one longitudinal mounting frame 56 is arranged on the transverse moving frame 47, the longitudinal guide wheel 57 is arranged at the upper end of the longitudinal mounting frame 56, the longitudinal gear 58 is arranged at the lower end of the longitudinal mounting frame 56, the longitudinal mounting frame 56 is embedded on the transverse moving frame 47, the longitudinal guide wheel 57 is matched and in rolling connection with the upper end face of the transverse moving frame 47, the longitudinal gear 58 is meshed with the longitudinal rack 60, the longitudinal gear 58 is fixed on an output shaft of the longitudinal driving hydraulic motor 59, the longitudinal driving hydraulic motor 59 is fixed on the longitudinal mounting frame 56, and the manipulator 30 is fixedly connected with the longitudinal mounting frame 56 so as to be beneficial to drive the longitudinal gear to rotate through the longitudinal driving hydraulic motor, and longitudinally drives the manipulator to move back and forth along the transverse moving frame under the guiding action of the gear rack and the longitudinal guide wheel.

Wear-resistant guide plates 61 are fixedly arranged on the left side and the right side of the inner wall of the longitudinal mounting frame 56, and the longitudinal mounting frame 56 is clamped on the transverse moving frame 47 through the wear-resistant guide plates 61, so that the guide of the wear-resistant guide plates is facilitated, and the friction loss between the longitudinal mounting frame and the transverse moving frame in the moving process of the longitudinal mounting frame is reduced.

According to the invention, a rotary swing mechanism 62 is arranged between the manipulator 30 and the longitudinal mounting rack 56, the rotary swing mechanism 62 comprises a swing cylinder 63, at least one swing cylinder 63 is arranged on a mechanical arm 64, and the mechanical arm 64 is connected with the longitudinal mounting rack 56 through the swing cylinder 63, so that the rotation and the swing of the manipulator can be realized through the swing cylinder, the flexibility of the manipulator is improved, and the underwater repairing operation can be better completed.

According to the invention, the mechanical arm 64 is provided with the telescopic mechanism 78, the telescopic mechanism 78 comprises a telescopic oil cylinder 108 and a rotary swing arm 109, the upper end of the mechanical arm 64 is provided with the telescopic oil cylinder 108, the upper end of the telescopic oil cylinder 108 is provided with the rotary swing arm 109, the upper end of the rotary swing arm 109 is connected with the swing cylinder 63, and the lower end of the rotary swing arm 109 is connected with the mechanical arm 64 through the telescopic oil cylinder (108), so that the lifting of the mechanical arm can be realized through the telescopic oil cylinder, and the object can be conveniently grabbed or the underwater operation tool can be conveniently butted.

A tool table 65 is arranged in a working cavity of the support 1, the tool table 65 is fixedly connected with the support 1, underwater operation tools 66 are arranged on the tool table 65 at intervals, and the underwater operation tools 66 are connected with the tool table 65, so that the underwater operation tools can be grabbed by a manipulator to perform underwater operation.

According to the invention, the positioning sleeves 67 are arranged on the tool table 65 at intervals, the positioning sleeves 67 are fixed on the tool table 65, and the underwater operation tool 66 and the positioning sleeves 67 are extruded and fixed, so that the underwater operation tool can be positioned through the positioning sleeves, and the underwater operation tool is convenient to take and place.

The lower end of the mechanical arm 64 is provided with an underwater repairing tool which is a mechanical clamping jaw 110 or an underwater tool 66, so that an object or a tool can be clamped by the mechanical clamping jaw, and the underwater repairing operation can be completed by the underwater tool.

The docking mechanism 68 is provided between the robot arm 64 and the underwater work tool 66 of the robot 30 of the present invention, so as to facilitate the connection between the robot and the underwater work tool through the docking mechanism.

The docking mechanism 68 comprises an upper docking seat 69, a jaw assembly and a lower docking seat 70, wherein the upper docking seat 69 is arranged on the mechanical arm 64 of at least one manipulator 30, the upper end of the upper docking seat 69 is fixedly connected with the mechanical arm 64, at least two jaw assemblies are arranged on the upper docking seat 69, each jaw assembly comprises a jaw oil cylinder 71 and a jaw 72, the upper end of the jaw oil cylinder 71 is hinged with the upper docking seat 69, the lower end of the jaw oil cylinder 71 is hinged with the upper end of the jaw 72, the upper part of the jaw 72 is hinged with the upper docking seat 69, the underwater working tool 66 is provided with the lower docking seat 70, the lower docking seat 70 is fixedly connected with the underwater working tool 66, the lower docking seat 70 is provided with at least two docking notches 73, the docking notches 73 are matched with the jaw 72, when the upper docking seat 69 is docked with the lower docking seat 70, the jaw oil cylinder 71 retracts, the jaw 72 clamps the docking notches 73 to fixedly connect the mechanical arm 64 with the underwater working tool 66, and the mechanical arm can be conveniently docked with the underwater working tool by the jaws and the docking notches, and the rapid docking of the mechanical arm and the underwater working tool can be conveniently realized by the jaws and the docking notches, and the high automation degree can be realized.

An oil port docking mechanism 74 is arranged between the manipulator 30 and the underwater operation tool 66, the oil port docking mechanism 74 comprises an oil pipe, an oil source and a sealing ring 75, an upper oil port 76 is arranged on an upper docking seat 69, the upper oil port 76 is connected with the oil source through the oil pipe, a lower oil port 77 is arranged on a lower docking seat 70, the sealing ring 75 is arranged on the lower oil port 77, the lower oil port 77 is connected with the underwater operation tool 66 through the oil pipe, and when the upper docking seat 69 is docked with the lower docking seat 70, the upper oil port 76 is hermetically connected with the lower oil port 77 through the sealing ring 75, so that the oil source can be provided for the underwater operation tool through the oil port docking mechanism.

The upper oil port 76 is fixedly inserted with the lower oil port 77 through taper, so that the connection is convenient and tight, and a sealing ring is convenient to install.

According to the invention, a quick positioning mechanism is arranged between the upper butt joint seat 69 and the lower butt joint seat 70, the quick positioning mechanism comprises a positioning block 79 and a positioning notch 80, the upper butt joint seat 69 is provided with a guide groove 81 with a downward opening, the inner wall of the guide groove 81 is at least provided with one positioning block 79 protruding inwards, the positioning block 79 is fixedly connected with the upper butt joint seat 69, the lower butt joint seat 70 is at least provided with one positioning notch 80, the positioning notch 80 is matched with the positioning block 79, when the upper butt joint seat 69 is in butt joint with the lower butt joint seat 70, the lower connecting seat 70 is embedded into the guide groove 81, the positioning block 79 is embedded into the positioning notch 80 to realize quick positioning of the upper butt joint seat 69 and the lower butt joint seat 70, so that accurate positioning is realized through the positioning block and the positioning notch, time is saved, the butt joint oil port dislocation during butt joint is prevented, meanwhile, the impact of torque generated after butt joint on a clamping jaw and a butt joint oil port is reduced, and the clamping jaw and the butt joint oil port are protected.

According to the invention, the storage bin 82 is arranged in the working cavity of the support 1, the lower end of the storage bin 82 is fixedly connected with the support 1, the storage bin 82 is provided with grouting nozzle slots and/or expansion screw slots at intervals, and the grouting nozzle 83 and/or the expansion screw 84 are respectively fixedly inserted into the storage bin 82 so as to limit and fix the grouting nozzle and the expansion screw through the grouting nozzle slots and the expansion screw slots.

According to the invention, the storage bin 82 is provided with the water gun slot, the storage bin 82 is provided with the water gun 85, the water gun 85 is connected with the storage bin 82 through the water gun slot, and the water inlet of the water gun 85 is connected with the water outlet of the operation water pump 3, so that the operation water pump can provide high-pressure water for the water gun to clean the damaged or cracked part.

The invention is characterized in that a damage repairing mechanism 86 is arranged in a working cavity of a support 1, the damage repairing mechanism 86 comprises a cover plate cabin 87, a cover plate 88, an aluminum pressing strip 89, a cover plate sucker 90 and a floating tool 91, the working cavity of the support 1 is internally provided with the cover plate cabin 87, the lower end of the cover plate cabin 87 is fixedly connected with the support 1, each of the left side and the right side of the cover plate cabin 87 is provided with at least two cover plate guide posts 92, the lower ends of the cover plate guide posts 92 are fixedly connected with the cover plate cabin 87, the upper end of the cover plate cabin 87 is provided with a cover plate 93, the front side or the rear side of the cover plate cabin 87 is provided with a cover plate outlet 94, the left side and the right side of the cover plate 88 are respectively provided with cover plate guide post through holes, the periphery of the cover plate 88 is fixedly provided with the aluminum pressing strips 89, the aluminum pressing strips 89 positioned at the left side and the right side of the cover plate 88 are provided with bosses 95 at intervals, the boss guide post through holes are arranged on the boss 95, the cover plate 88 is arranged in the cover plate cabin 87, the cover plate guide post 92 sequentially penetrates through the cover plate guide post perforation and the boss guide post perforation to limit and fix the cover plate 88 in the cover plate cabin 87, one side of the cover plate cabin 87 is provided with a cover plate sucker 90 and a troweling tool 91, the upper end of the cover plate sucker 90 is fixedly provided with a sucker handle 96, the lower end of the cover plate sucker 90 is fixedly provided with a guide rod 97, the cover plate sucker 90 is provided with a cover plate sucker water pumping port, the support 1 is provided with a sucker seat 98, the sucker water pumping port is connected with the adsorption driver 41 through a water pipe, the lower end of the sucker seat 98 is fixedly connected with the support 1, a containing groove is arranged in the sucker seat 98, the upper end of the sucker seat 98 is provided with a limiting socket 99, the cover plate sucker 90 is arranged in the containing groove of the sucker seat 98, the guide rod 97 is inserted into the limiting socket 99, and the guide rod 97 is embedded into the limiting socket 99 to limit and fixedly connect the sucker 90 with the sucker seat 98, the upper end of the troweling tool 91 is fixedly provided with a troweling handle 100, the periphery of a troweling plate of the troweling tool 91 is at least provided with two limiting notches 101, a troweling positioning seat 102 is fixedly arranged in the support 1, a troweling tool groove is formed in the troweling positioning seat 102, the upper end face of the troweling tool groove is at least provided with two limiting blocks 103 radially inwards, the limiting blocks 103 are fixedly connected with the troweling positioning seat 102, the limiting notches 101 are matched with the limiting blocks 103, the troweling tool 91 is inserted into the troweling tool groove, the troweling tool 91 is limited and fixed in the troweling tool groove through the limiting blocks 103 after rotating, so that the sucker cover plate can be taken out after the sucker handle is clamped by a manipulator to rotate, then the sucker is placed above the cover plate cabin, the sucker is driven to adsorb a driver to make the sucker adsorb the cover plate, the manipulator lift upwards, the cover plate is separated from a cover plate guide column, then the cover plate is translated and taken out from a cover plate outlet, is placed on a damaged working surface, the troweling tool is taken out by the manipulator to rotate, then the cover plate is pressed by the troweling tool, the cover plate, the lower end face is not glued, the periphery of the boss, and the cover plate is not adhered, and the troweling tool, and then the cover plate is adhered in advance.

The lower end of the support 1 is fixedly provided with a recovery bin 104, so that parts or sundries can be stored through the recovery bin.

According to the invention, a drag chain mechanism 105 is arranged in the support 1, the drag chain mechanism 105 comprises a drag chain 106 and a drag chain frame 107, at least one drag chain 106 is arranged in the support 1, the drag chain 106 is arranged on the drag chain frame 107, one end of the drag chain 106 is fixedly connected with the inner wall of the support 1, the other end of the drag chain 106 is fixedly connected with the transverse mounting frame 48, and the drag chain frame 107 is fixedly connected with the support 1, so that connecting cables of a manipulator driving moving mechanism, a manipulator and the like can be conveniently arranged in the drag chain, and the cable protecting function is realized.

In the invention, an illuminating lamp and a camera are fixedly arranged in the support 1 and/or on the mechanical arm 64 of the manipulator 30, so that underwater operation can be conveniently illuminated through the illuminating lamp, and the camera is used for shooting operation conditions, so that workers can conveniently know the working progress in time.

An electric cabin 111 is fixedly arranged in the support 1, a support control system is arranged in the electric cabin 111, and the operation water pump 3, the material storage hydraulic cylinder 11, the stirring motor 25, the grouting machine 5, the material storage detection displacement sensor, the pull wire sensor 18, the manipulator 30, the clean water replacement motor 34, the sucker hydraulic cylinder 40, the adsorption driver 41, the transverse driving hydraulic motor 51, the longitudinal driving hydraulic motor 59, the swing cylinder 63, the jaw oil cylinder 71, the illuminating lamp and the camera are respectively connected with the support control system, so that the manipulator operation can be controlled through the support control system.

According to the invention, the upper end of the support 1 is provided with the rack 29, the rack 29 is provided with the rack control system and the propeller, the rack is fixedly connected with the support, the rack control system is connected with the support control system, so that the support is driven to move to an operation area through the propeller, and the manipulator is controlled to perform underwater repair operation through the rack control system.

When the robot is used, a support is fixedly arranged at the lower end of a rack of the robot, a floating body, a propeller, a hoisting frame, a rack control system, a sonar, a lighting system, a camera system and the like can be arranged on the rack, the sonar, the lighting system, the camera system and the support control system can also be arranged on the support, the support control system and the rack control system can adopt a PLC (programmable logic controller) control system, the rack control system is connected with a host computer through a cable, the sonar and the camera system are used for scanning and shooting underwater environment and detecting the underwater damage or crack in time, the propeller is used for driving the support to move to an operation surface, when the robot is used, the rack is hoisted by the hoisting frame, raw materials are loaded in each storage bin as required and are generally configured according to a formula, the raw materials pushed out by the storage bins can be monitored by a storage detection displacement sensor, before the robot is used, the raw materials are firstly loaded in each storage bin on a shore, after underwater repairing operation, the storage bins are returned to the shore, the raw materials can be loaded again, and can be recycled, an adsorption driver can be an adsorption water pump, and the adsorption storage pump can pump the water in the adsorption position to generate suction force at the adsorption position; the adsorption driver can also be a structure similar to that of a clear water replacement mechanism, wherein an adsorption motor and a propeller are covered on a flow guide cover, one end of the flow guide cover is connected with a water pumping port of an adsorption sucker through a connecting pipe, the other end of the flow guide cover is in a grid shape, the adsorption motor is fixed in the flow guide cover, the propeller is fixed on an output shaft of the adsorption motor and drives the propeller to rotate so as to enable the adsorption sucker to generate negative pressure, and therefore the sucker generates suction force,

the underwater operation tool is shown in figure 27, from front to back, the underwater operation tool can comprise a hydraulic pickaxe, a hydraulic disc saw, a hydraulic mill and a hydraulic drill, and with reference to figure 28, a positioning shaft of the hydraulic pickaxe is inserted into a positioning sleeve of a tool table and is tightly extruded and fixed, a positioning plate of the hydraulic disc saw is embedded into a positioning plate of the tool table for limiting and fixing, positioning shafts of the hydraulic mill, the hydraulic mill and the hydraulic drill are respectively inserted into corresponding positioning sleeves on the tool table and are tightly extruded and fixed, the hydraulic pickaxe, the hydraulic disc saw, the hydraulic mill and the hydraulic drill are all in the prior art, in the using process, the underwater operation tool is butted with a mechanical arm through a butting mechanism, an oil source can be a hydraulic oil tank, a support can also be provided with a hydraulic valve block and is connected with a support control system, the invention is used for controlling underwater operation tools, the mechanical arms of the invention are divided into two types, the lower end of the mechanical arm of one type of mechanical arm is a mechanical clamping jaw and is used for grabbing a water gun, a cover plate sucker or an underwater object, and the like, as shown in the attached drawing 20, the lower end of the mechanical arm of the other type of mechanical arm is an underwater operation tool, the lower end of the mechanical arm is a hydraulic pickaxe or a hydraulic disc saw or a hydraulic mill or a hydraulic drill, as shown in the attached drawing 21 and the attached drawing 22, when in use, a butt joint mechanism is selected to be adopted for butt joint according to requirements, and the upper end of the mechanical arm can be provided with three swing cylinders to realize the rotation and swing functions of the mechanical arm, so that the invention not only can repair large and small cracks, but also can be used for repairing large-area damaged surfaces, particularly:

the first method comprises the following steps: detecting and finding out that the structural joint of the large area of the horizontal plane or the vertical plane is damaged and needs to be repaired:

the first step is as follows: the machine frame drives the support to move to a damaged operation surface through the propeller, the position of the support is adjusted through the propeller, the support is arranged above the damaged operation surface, an operation opening of the support faces the damaged operation surface, the distance between the lower end of the support and the damaged operation surface is adjusted, the adsorption mechanism is started after the distance is proper, the control system starts the sucker hydraulic cylinder, the sucker hydraulic cylinder drives the adsorption suckers to approach the damaged operation surface until the adsorption suckers touch the damaged operation surface, the adsorption driver is started, water in each adsorption sucker is pumped out, and the adsorption suckers are adsorbed on the periphery of the damaged operation surface;

the second step is that: the control system turns on an illuminating lamp and a camera system in the support;

the third step: the clean water replacement mechanism is started, the control system starts the clean water replacement motor to drive the propeller to rotate, clean seawater enters the support from the water inlet of the support, turbid water in the support flows out from the water outlet of the support until the water in the support becomes clean, and the clean water replacement motor is always started during the whole operation period;

the fourth step: cutting the periphery of the damaged working face: a mechanical arm of the mechanical arm is connected with a hydraulic circular saw through a docking mechanism, as shown in fig. 2, fig. 3 and fig. 21-fig. 29, a control system drives a mechanical arm driving moving mechanism and a swinging mechanism, an upper docking seat of the mechanical arm moves to the upper side of a lower docking seat of the hydraulic circular saw, a telescopic oil cylinder is controlled by the control system to extend out to drive the upper docking seat to move downwards, the lower docking seat is clamped into a guide groove of the upper docking seat, a positioning block is embedded into a positioning notch to enable the upper docking seat and the lower docking seat to be in quick docking, the upper oil port is over against a lower oil port at the moment, a clamping claw oil cylinder is driven to retract to enable the lower end of a clamping claw to clamp the docking notch, the upper docking seat and the lower docking seat are docked, then the mechanical arm is driven to drive the moving mechanism to separate the hydraulic circular saw from the positioning block, the telescopic mechanism is driven, the telescopic oil cylinder retracts, the mechanical arm drives the hydraulic circular saw to move to a damaged operation surface when the mechanical arm is driven, the mechanical arm drives the hydraulic circular saw to cut, the hydraulic circular saw to reversely operate, and the hydraulic circular saw to return the hydraulic circular saw to the original position;

the fourth step: knocking and chiseling a damaged operation face: the control system drives the manipulator to drive the moving mechanism and the swinging mechanism, so that the upper butt joint seat of the manipulator moves above the lower butt joint seat of the hydraulic pick, the control system controls the telescopic oil cylinder to extend out to drive the upper butt joint seat to move downwards, the lower butt joint seat is clamped into the guide groove of the upper butt joint seat, the positioning block is embedded into the positioning notch to enable the upper butt joint seat to be in quick butt joint with the lower butt joint seat, the upper oil port is opposite to the lower oil port at the moment, the clamping jaw oil cylinder is driven to retract to enable the lower end of the clamping jaw to clamp the butt joint notch, the butt joint of the upper butt joint seat and the lower butt joint seat is completed, the control system controls the telescopic oil cylinder to retract to lift the hydraulic pick, the manipulator drives the moving mechanism to drive the hydraulic pick to move to an operation surface to be repaired, concrete is chiseled, and after the operation is finished, the hydraulic pick is placed back to the original position according to the reverse operation;

the fourth step: cleaning a damaged working surface: the control system drives the manipulator to drive the moving mechanism, the manipulator grabs the large concrete through the mechanical clamping jaw and puts the large concrete into the recovery bin, the control system drives the manipulator to drive the moving mechanism, the manipulator grabs the water gun through the mechanical clamping jaw, the swing cylinder of the swing mechanism is started, the manipulator rotates, as shown in the attached drawing 30 and the attached drawing 33, the water gun is taken out from the water gun slot, the water gun is moved, the control system starts the operation water pump, the small concrete and residues on the operation surface are cleaned through water sprayed by the water gun until the operation surface is cleaned;

the fifth step: polishing a damaged working surface: the control system drives the manipulator to drive the moving mechanism and the swinging mechanism, so that the upper butt joint seat of the manipulator moves above the lower butt joint seat of the hydraulic mill, the control system controls the telescopic oil cylinder to extend out to drive the upper butt joint seat to move downwards, the lower butt joint seat is clamped into the guide groove of the upper butt joint seat, the positioning block is embedded into the positioning notch to enable the upper butt joint seat to be in quick butt joint with the lower butt joint seat, the upper oil port is over against the lower oil port at the moment, the claw oil cylinder is driven to retract, the butt joint notch is clamped by the lower end of the claw, the butt joint of the upper butt joint seat and the lower butt joint seat is completed, the control system controls the telescopic oil cylinder to retract, the hydraulic mill is lifted, the manipulator drives the moving mechanism to drive the hydraulic mill to move to a working surface to be repaired by the manipulator, the periphery of the working surface is polished, the working water pump is started at the same time, residues after the working surface is polished by using high pressure, and the hydraulic mill and the hydraulic gun is reversely operated after the working is finished, so that the hydraulic mill and the high pressure is put back to the original place;

and a sixth step: coating slurry: the control system controls the material storage hydraulic cylinders of the material storage bins to drive the raw materials in the material storage bin raw material chambers to enter a stirring barrel, the quantity of the raw materials discharged from the material storage bins is controlled through material storage detection displacement sensors, the material storage hydraulic cylinders corresponding to the material storage bins are closed after the required quantity is reached, the control system starts a stirring motor to stir, the raw materials are stirred for a certain time to form mixed slurry, meanwhile, an operation water pump is started, the operation water pump conveys water into a water inlet chamber of a pressurized-water bin, air is injected into the stirring barrel through an air chamber of the pressurized-water bin, the slurry in the stirring barrel is driven to enter a grouting machine, meanwhile, air is injected into the material storage bins through exhaust holes of the stirring barrel, the air pressure balance of the material storage bins and the stirring barrel is maintained, after the slurry enters the grouting machine, a discharge port of the grouting machine is connected with a grouting head through a hose, and the control system drives a mechanical arm driving moving mechanism to enable mechanical clamping jaws of the manipulator to grab the grouting head to place the slurry on a damaged operation surface;

the seventh step: after grouting is finished, if excess materials exist in the stirring barrel, the excess materials are completely discharged through the grouting machine, a water inlet can be formed in the stirring barrel and is connected with an operation water pump through a water pipe, water is conveyed into the stirring barrel by starting the operation water pump, and then the excess materials enter the grouting machine through a discharge port of the stirring barrel and are discharged until clear water is discharged by the grouting machine;

eighth step: leveling a damaged operation surface: after the slurry is coated, the control system drives the manipulator to drive the moving mechanism, the manipulator grabs a floating handle of a floating tool through the mechanical clamping jaw, a swing cylinder of the swing mechanism is started, the manipulator rotates to take the floating tool out of the floating positioning seat, then the manipulator drives the moving mechanism to perform floating operation on a damaged operation surface, after the floating operation is completed, the manipulator clamps a hydraulic gun, an operation water pump is started to clean the floating tool, after the cleaning is completed, the control system drives the manipulator to drive the moving mechanism and the swing mechanism, and the floating tool is placed back to the floating positioning seat to complete the repairing operation;

and the second method comprises the following steps: detect and discover that the inclined plane is damaged by a large scale or the inclined plane structure seam is damaged, when needing to be repaired:

the first step to the fifth step are the same as the first step to the fifth step of the first type;

and a sixth step: and (3) covering a cover sheet: the control system drives the manipulator to drive the moving mechanism, the manipulator grabs a sucker handle of the cover plate sucker through the mechanical clamping jaw, a swing cylinder of the swing mechanism is started to enable the manipulator to rotate, the cover plate sucker is taken out of a sucker seat, the control system drives the manipulator to drive the moving mechanism, the manipulator drives the cover plate sucker to move to a cover plate suction port of a cover plate cabin, an adsorption driver is started to enable the cover plate sucker to suck a cover plate and to move in a translation mode, the manipulator drives the cover plate to move to an operation surface to be repaired, glue is coated on the bottom surface of the cover plate in advance and used for being adhered to the operation surface to be repaired, no glue is arranged on the periphery of a boss to prevent multiple layers of cover plates from being adhered, the cover plate is adhered to and covers the damaged operation surface, the control system drives the manipulator to drive the moving mechanism, the mechanical clamping jaw of the other manipulator to grab a floating handle of a floating tool, the swing cylinder of the swing mechanism is started to enable the manipulator to rotate, the floating tool is taken out of the floating positioning seat, the manipulator drives the manipulator to drive the moving mechanism, the mechanical clamping jaw of the manipulator to drive the floating tool to move the cover plate to tightly adhere to the damaged operation surface;

the seventh step: installing an expansion screw: whether installation is carried out or not can be selected according to the field working condition, when expansion screws need to be installed, before the expansion screws enter underwater, screw holes can be punched in advance on a cover plate, a control system drives a mechanical arm driving and moving mechanism and a swinging mechanism to enable an upper butt joint seat of a mechanical arm to move to the position above a lower butt joint seat of a hydraulic drill, the control system controls a telescopic oil cylinder to extend out to drive an upper butt joint seat to move downwards, the lower butt joint seat is clamped into a guide groove of the upper butt joint seat, a positioning block is embedded into a positioning notch to enable the upper butt joint seat to be in fast butt joint with the lower butt joint seat, an upper oil port is opposite to a lower oil port at the moment, a clamping jaw oil cylinder is driven to retract, the lower end of a clamping jaw clamps the butt joint notch, the upper butt joint seat is in butt joint with the lower butt joint seat, the control system controls the telescopic oil cylinder to retract, the hydraulic drill is lifted, the mechanical arm drives the moving mechanism to enable the mechanical arm to drive the hydraulic drill to move to the cover plate, holes are punched downwards along the pre-punched in advance on the cover plate, and then a mechanical arm driving and the expansion clamping jaw drives the cover plate to be firmly to be screwed by the mechanical arm, and the mechanical clamping jaw to be firmly adhered to the cover plate;

and a sixth step: coating slurry: before underwater entering, grouting holes can be punched on the cover plate at intervals in advance, the control system controls the storage hydraulic cylinders of the storage bins to drive raw materials in the raw material chambers of the storage bins to enter the stirring barrel, the quantity of the raw materials discharged from the storage bins is controlled through the storage detection displacement sensor, the storage hydraulic cylinders corresponding to the storage bins are closed after the required quantity is reached, the control system starts the stirring motor to stir, the raw materials are stirred for a certain time to form mixed slurry, meanwhile, the operation water pump is started, the operation water pump conveys water into the water inlet chamber of the pressurized-water bin, the air is injected into the stirring barrel through the air chamber of the pressurized-water bin, the slurry in the stirring barrel is driven to enter the grouting machine, the air is injected into the storage bins through the air discharge holes of the stirring barrel, the air pressure balance between the storage bins and the stirring barrel is maintained, after the slurry enters the grouting machine, the discharge port of the grouting machine is connected with a grouting head through a hose, the control system drives the mechanical arm to drive the moving mechanism, the mechanical clamping jaw of the mechanical arm to grab the grouting head, grouting is injected into the holes of the cover plate, the grouting machine can be stopped until the cover plate is fully filled between the cover plate and the grouting operation surface, the grouting machine is operated while the water pump is used for keeping the balance, the water pressure balance, the quality of the water inlet of the pressurized-water tank, the whole grouting water is kept, and the vacuum stirring barrel is used for preventing the slurry from being injected into the stirring barrel, and outputting of the stirring barrel, and the stirring barrel;

the seventh step: after grouting is finished, if excess materials exist in the stirring barrel, the excess materials need to be completely discharged through the grouting machine, the stirring barrel can be provided with a water inlet and is connected with an operation water pump through a water pipe, water is conveyed into the stirring barrel by starting the operation water pump, then the water enters the grouting machine through a discharge port of the stirring barrel and is discharged until clear water is discharged from the grouting machine, and the repairing of the operation surface to be repaired is finished;

and the third is that: when the horizontal plane and the inclined plane cracks need to be repaired:

the first to third steps are the same as the first to third steps of the first type;

the fourth step: cleaning a crack working face: the control system drives the manipulator to drive the moving mechanism, the manipulator grabs the water gun through the mechanical clamping jaw, a swing cylinder of the swing mechanism is started, the manipulator rotates to take the water gun out of a water gun slot and move the water gun to a crack operation surface, and the control system starts an operation water pump to clean the crack operation surface by spraying water through the water gun;

the fifth step: sealing the crack working face: the control system drives the mechanical arm to drive the moving mechanism, the mechanical arm grabs a sucker handle of a cover plate sucker through a mechanical clamping jaw, a swing cylinder of the swing mechanism is started to enable the mechanical arm to rotate, the cover plate sucker is taken out of a sucker seat, the control system drives the mechanical arm to drive the moving mechanism, the mechanical arm drives the cover plate sucker to move to a cover plate suction port of a cover plate cabin, an adsorption driver is started to enable the cover plate sucker to suck a cover plate, the cover plate is translated and moved out from a cover plate outlet, then the mechanical arm drives the cover plate to move to a crack operation surface, the crack is covered by the cover plate, the bottom surface of the cover plate is coated with glue in advance and is used for being adhered to the crack operation surface, no glue is arranged on the periphery of a boss, multiple layers of cover plates are prevented from being adhered to the crack of the crack operation surface, the control system drives the mechanical arm to drive the moving mechanism, the mechanical clamping jaw of the other mechanical arm is used for grabbing a troweling handle of a troweling tool, the swing cylinder of the swing mechanism is started, the mechanical arm is rotated, the troweling tool is taken out of the troweling positioning seat, then the mechanical arm is driven to drive the moving mechanism, the mechanical arm, the troweling tool, the mechanical arm is driven by the troweling tool to move the troweling tool to the cover plate, and tightly adhere to the crack operation surface;

and a sixth step: installing an expansion screw: the step can be selected according to the field working condition, when the expansion screw needs to be installed, before the expansion screw enters underwater, a cover plate can be punched with screw holes in advance, the control system drives the mechanical arm to drive the moving mechanism and the swinging mechanism, so that an upper butt joint seat of the mechanical arm moves to the position above a lower butt joint seat of the hydraulic drill, the control system controls the telescopic oil cylinder to extend out to drive the upper butt joint seat to move downwards, the lower butt joint seat is clamped into a guide groove of the upper butt joint seat, the positioning block is embedded into the positioning notch to enable the upper butt joint seat to be in quick butt joint with the lower butt joint seat, the upper oil port is opposite to the lower oil port at the moment, the clamping jaw oil cylinder is driven to retract, the lower end of the clamping jaw clamps the butt joint notch, the upper butt joint seat is in butt joint with the lower butt joint seat, the control system controls the telescopic oil cylinder to retract, the hydraulic drill is lifted, the mechanical arm drives the moving mechanism to drive the mechanical arm to move the hydraulic drill to the cover plate, holes are punched downwards along the pre-punched in the screw holes in the cover plate, and then the mechanical clamping jaw drives the moving mechanism to enable a mechanical clamping jaw to clamp the expansion screw to firmly and firmly adhere to the crack working surface;

the seventh step: drilling a grouting hole: the control system controls the driving manipulator to drive the moving mechanism, the manipulator drives the hydraulic drill to drill grouting holes downwards at intervals on the cover plates on two sides of the upper end face of the crack, the grouting holes point to the crack from the cover plates, and after drilling is finished, the hydraulic drill is placed back to the original position;

eighth step: cleaning a grouting hole: the control system drives the manipulator to drive the moving mechanism, the manipulator grabs the water gun through the mechanical clamping jaw and moves to the grouting hole, and the control system starts the operation water pump to spray water through the water gun to clean the grouting hole;

the ninth step: installing a grouting nozzle: the control system drives the mechanical arm to drive the moving mechanism, the mechanical arm grabs a grouting nozzle in the storage bin through a mechanical clamping jaw, and the mechanical arm is correspondingly inserted and fixed to one grouting hole in the previous step and screwed down and fixed;

the tenth step: injecting slurry: the control system controls the material storage hydraulic cylinders of the material storage bins to drive the raw materials in the material storage bin raw material chambers to enter the mixing barrels, the material storage detection displacement sensors control the quantity of the raw materials discharged from the material storage bins, the material storage hydraulic cylinders corresponding to the material storage bins are closed after the required quantity is reached, the control system starts the mixing motors to mix, the raw materials are mixed for a certain time to form mixed slurry, the operation water pump is started at the same time to convey water into the water inlet chamber of the pressurized-water bin, the air chamber of the pressurized-water bin injects air into the mixing barrels to drive the slurry in the mixing barrels to enter the grouting machines, the air is injected into the material storage bins through the exhaust holes of the mixing barrels at the same time to maintain the air pressure balance of the material storage bins and the mixing barrels, and after the slurry enters the grouting machines, the discharge ports of the grouting machines are connected with grouting heads through hoses, the control system drives the mechanical arm to drive the moving mechanism, so that the mechanical clamping jaw of the mechanical arm grabs the grouting head, grouting is carried out in the grouting hole with the grouting nozzle until the next grouting hole emerges slurry, then the mechanical arm is driven to grab the grouting nozzle in the storage bin through the mechanical clamping jaw, the grouting nozzle is inserted into the grouting hole emerging the slurry, the mechanical arm is screwed and fixed, grouting is started until the next grouting hole emerges the slurry, the process is repeated until the crack is filled with the slurry, a one-way valve is arranged in the grouting nozzle, the slurry cannot flow out after grouting, and while grouting of the grouting machine, an operating water pump conveys water into the pressurized water bin to keep the underwater quality balance of the whole support, and meanwhile, the pressurized water bin injects air into the stirring barrel to prevent the stirring barrel from generating vacuum due to slurry output;

the eleventh step: cutting off the exposed part of the grouting nozzle: after slurry is initially solidified, a control system drives a manipulator to drive a moving mechanism and a swinging mechanism, so that an upper butt joint seat of the manipulator moves above a lower butt joint seat of a hydraulic mill, the control system controls a telescopic oil cylinder to extend out to drive the upper butt joint seat to move downwards, the lower butt joint seat is clamped into a guide groove of the upper butt joint seat, a positioning block is embedded into a positioning notch to enable the upper butt joint seat to be in quick butt joint with the lower butt joint seat, an upper oil port is right opposite to a lower oil port at the moment, a clamping jaw oil cylinder is driven to retract, the lower end of a clamping jaw clamps the butt joint notch, the upper butt joint seat is in butt joint with the lower butt joint seat, the control system controls the telescopic oil cylinder to retract, the hydraulic mill is lifted, the manipulator drives the moving mechanism to drive the hydraulic mill to move to a grouting nozzle, the leaked part of the grouting nozzle is cut off, the manipulator sequentially cuts off the leaked part of each grouting nozzle, and the hydraulic mill is returned to the original position after the cutting off is finished; the invention has simple structure, a plurality of water guns can be arranged, water gun sockets can be independently arranged in the working cavity of the support, the water guns can be limited and fixed in the water gun sockets by adopting a structure similar to a cover plate sucker and a sucker seat, in addition, raw materials pushed out of each storage bin can be determined according to the formula requirement of required coating slurry, the moving distance of the storage partition plate can be known through a storage detection displacement sensor, then the volume of the pushed raw materials can be calculated by honest interface agents on the inner wall of the storage bin, and similarly, a pull line sensor is arranged in the water pressing bin, the moving distance of the air-water partition plate can be known through the pull line sensor, and the volume of air exhausted by the water pressing bin can be known through the interface agents of the water pressing bin.

Claims

1. The utility model provides an operation device is repaired in circulation under water, includes support (1), its characterized in that: be equipped with pressurized-water storage (2), operation water pump (3), storage silo (4) and slip casting machine (5) on support (1), be equipped with air-water separation board (6) in pressurized-water storage (2), air-water separation board (6) falls into pressurized-water storage air chamber (7) and pressurized-water storage intake chamber (8) with pressurized-water storage (2) inner wall sealing sliding connection, be equipped with pressurized-water storage gas vent (9) on pressurized-water storage (2) of pressurized-water storage air chamber (7) one side, be equipped with pressurized-water storage (10) on pressurized-water storage (2) of pressurized-water storage intake chamber (8) one side, pressurized-water storage (10) water inlet (10) leads to pipe and is connected with operation water pump (3) delivery port, the water inlet and the water source of operation water pump (3) are connected, operation water pump (3) and pressurized-water storage (2) all fix on support (1), pressurized-water storage (2) one side is equipped with storage silo (4), fixed on support (4) is equipped with storage silo (4) baffle (4), be equipped with storage (11) and pneumatic cylinder (12) on storage (11) and pneumatic cylinder (12), storage baffle (12) outer wall and storage silo (4) inner wall sealing sliding connection, be equipped with storage air inlet (15) on storage silo (4) of storage silo air chamber (13) one side, be equipped with storage discharge gate (16) on storage silo (4) of raw materials room (14) one side, storage pneumatic cylinder (11) and storage silo (4) fixed connection, the extension bar of storage pneumatic cylinder (11) passes storage silo (4), gets into storage silo air chamber (13) and storage baffle (12) fixed connection, storage air inlet (15) are connected with pressurized-water silo gas vent (9) through the trachea, storage discharge gate (16) are connected with the feed inlet of slip casting machine (5) through the pipeline, slip casting machine (5) are fixed on support (1).

2. The utility model provides an operation device is repaired in circulation under water, includes support (1), its characterized in that: be equipped with pressurized-water storehouse (2), operation water pump (3), storage silo (4), agitator (19), agitator motor (25) and slip casting machine (5) on support (1), be equipped with air water division board (6) in pressurized-water storehouse (2), air water division board (6) fall into pressurized-water storehouse air chamber (7) and pressurized-water storehouse intake chamber (8) with pressurized-water storehouse (2), air water division board (6) and pressurized-water storehouse (2) inner wall sealing sliding connection, be equipped with pressurized-water storehouse gas vent (9) on pressurized-water storehouse (2) of pressurized-water storehouse air chamber (7) one side, be equipped with pressurized-water storehouse water inlet (10) on pressurized-water storehouse (2) of pressurized-water storehouse intake chamber (8) one side, pressurized-water storehouse water inlet (10) are connected with operation water pump (3) delivery port through the water pipe, the water inlet and the water source of operation water pump (3) are connected, operation water pump (3) and pressurized-water storehouse (2) all fix on support (1), be equipped with pressurized-water storehouse (2) baffle (4), pneumatic cylinder (12) are equipped with storage silo (4) on the support (1), and pneumatic cylinder (12) are equipped with storage silo (4), pneumatic cylinder (12) on pressurized-storage silo (4) are separated into And raw material chamber (14), storage baffle (12) outer wall and storage silo (4) inner wall sealing sliding connection, be equipped with storage air inlet (15) on storage silo (4) of storage silo air chamber (13) one side, be equipped with storage discharge gate (16) on storage silo (4) of raw material chamber (14) one side, storage pneumatic cylinder (11) and storage silo (4) fixed connection, the extension bar of storage pneumatic cylinder (11) passes storage silo (4), gets into storage silo air chamber (13) and storage baffle (12) fixed connection, agitator (19) are fixed on support (1), agitator (19) upper end is equipped with stirring air inlet (20), two at least stirring gas vents (21) and two at least stirring feed inlets (22), agitator (19) lower extreme is equipped with stirring discharge gate (23), be equipped with stirring subassembly (24) in agitator (19), stirring subassembly (24) are driven by agitator (25), agitator (25) are fixed on agitator (19) or on support (1), agitator (20) is connected with pressurized-water pipeline (16) through trachea and pressurized-water inlet (9), stirring discharge gate (23) are connected with the feed inlet of slip casting machine (5) through the pipeline, slip casting machine (5) are fixed on support (1).

3. The underwater circulation repairing working device of claim 2, wherein: be equipped with clear water replacement mechanism (32) on support (1), clear water replacement mechanism (32) includes kuppe (33), clear water replacement motor (34) and screw (35), be equipped with the working chamber in the middle of support (1), support (1) is the fender form, support (1) working chamber is arranged respectively in to pressure sump (2), operation water pump (3), storage silo (4), agitator (19) and slip casting machine (5), support (1) upper end is equipped with support water inlet (36), and the lower extreme is equipped with operation mouth (37), support (1) lateral wall is equipped with one support delivery port (38) at least, be equipped with one kuppe (33) in support (1) working chamber at least, kuppe (33) and support (1) fixed connection, kuppe (33) one end face opening and towards support delivery port (38), the other end face is the latticed, be equipped with clear water replacement motor (34) and delivery port (35) in kuppe (33), clear water replacement motor (34) and kuppe (33) fixed, screw (35) are fixed at screw output shaft (34) on support, screw replacement motor (35) output shaft (38) is towards screw (38).

4. An underwater circulation repairing working device according to claim 3, characterized in that: support (1) lower extreme is equipped with adsorption apparatus structure (31), adsorption apparatus structure (31) is including adsorbing sucking disc (39), sucking disc hydraulic cylinder (40) and absorption driver (41), both sides interval is equipped with adsorbing sucking disc (39) around support (1) lower extreme, adsorbing sucking disc (39) upper end is equipped with sucking disc hydraulic cylinder (40), be equipped with the mouth that draws water on adsorbing sucking disc (39), the mouth that draws water is connected with absorption driver (41) through the water pipe, sucking disc hydraulic cylinder (40) upper end and support (1) fixed connection, sucking disc hydraulic cylinder (40) lower extreme and adsorption sucking disc (39) fixed connection, sucking disc hydraulic cylinder (40) and absorption driver (41) are fixed respectively on support (1).

5. An underwater circulation repair work apparatus according to claim 3 or 4, wherein: the mechanical arm driving and moving mechanism (42) is arranged in a working cavity of the support (1), the mechanical arm driving and moving mechanism (42) comprises a transverse driving mechanism (43) and a longitudinal driving mechanism (44), the transverse driving mechanism (43) is arranged in the support (1) and connected with the support (1), the longitudinal driving mechanism (44) is connected with the transverse driving mechanism (43), and mechanical arms (30) are installed on the longitudinal driving mechanism (44) at intervals.

6. The underwater circulation repairing working device of claim 5, wherein: a rotary swing mechanism (62) is arranged between the mechanical arm (30) and the longitudinal driving mechanism (44), the rotary swing mechanism (62) comprises a swing cylinder (63), at least one swing cylinder (63) is arranged on a mechanical arm (64) of the mechanical arm (30), and the mechanical arm (64) is connected with the longitudinal driving mechanism (44) through the swing cylinder (63).

7. The underwater circulation repairing working device of claim 6, wherein: be equipped with telescopic machanism (78) on arm (64), telescopic machanism (78) are including telescopic cylinder (108) and rotatory swing arm (109), arm (64) upper end is equipped with telescopic cylinder (108), telescopic cylinder (108) upper end is equipped with rotatory swing arm (109), rotatory swing arm (109) upper end is connected with vertical actuating mechanism (44) through swing jar (63), and rotatory swing arm (109) lower extreme is connected with arm (64) through telescopic cylinder (108).

8. An underwater circulation repairing working device according to claim 6 or 7, characterized in that: the support is characterized in that a tool table (65) is arranged in a working cavity of the support (1), the tool table (65) is fixedly connected with the support (1), underwater operation tools (66) are arranged on the tool table (65) at intervals, and the underwater operation tools (66) are connected with the tool table (65).

9. An underwater circulation repairing operation device according to claim 8, wherein: the tool table (65) is provided with positioning sleeves (67) at intervals, the positioning sleeves (67) are fixed on the tool table (65), and the underwater operation tool (66) and the positioning sleeves (67) are extruded and fixed.

10. The underwater circulation repairing working device of claim 8, wherein: an underwater repairing tool is mounted at the lower end of a mechanical arm (64) of the manipulator (30), and the underwater repairing tool is a mechanical clamping jaw (110) or an underwater operating tool (66).

11. The underwater circulation repairing working device of claim 10, wherein: and a docking mechanism (68) is arranged between the mechanical arm (64) of the manipulator (30) and the underwater operation tool (66).

12. An underwater circulation repairing working device according to claim 11, wherein: docking mechanism (68) are equipped with on arm (64) of at least one manipulator (30) and are docked seat (69) including last butt joint seat (69), jaw assembly and lower butt joint seat (70), go up butt joint seat (69) upper end and arm (64) fixed connection, go up and dock and be equipped with two jaw assemblies on seat (69) at least, jaw assembly includes jaw hydro-cylinder (71) and jaw (72), jaw hydro-cylinder (71) upper end is articulated with last butt joint seat (69), and the lower extreme is articulated with jaw (72) upper end, jaw (72) upper portion is articulated with last butt joint seat (69), be equipped with down on underwater operation instrument (66) and dock seat (70), dock seat (70) and underwater operation instrument (66) fixed connection down, be equipped with two butt joint breach (73) on lower butt joint seat (70) at least, butt joint breach (73) cooperate with jaw (72), when last butt joint seat (69) docks seat (70) with lower butt joint seat (70), the withdrawal of jaw (72) centre gripping realizes that jaw (73) is docked the fixed connection of arm (64).

13. An underwater circulation repairing working device according to claim 12, characterized in that: be equipped with hydraulic fluid port docking mechanism (74) between manipulator (30) and underwater operation instrument (66), hydraulic fluid port docking mechanism (74) includes oil pipe, oil source and sealing washer (75), upward be equipped with hydraulic fluid port (76) on butt joint seat (69), it is connected with the oil source through oil pipe to go up hydraulic fluid port (76), be equipped with down hydraulic fluid port (77) down on butt joint seat (70), be equipped with sealing washer (75) down on hydraulic fluid port (77), hydraulic fluid port (77) are connected with underwater operation instrument (66) through oil pipe down, when last butt joint seat (69) with butt joint seat (70) down, go up hydraulic fluid port (76) through sealing washer (75) and hydraulic fluid port (77) sealing connection down.

14. An underwater circulation repairing working device according to claim 12 or 13, wherein: go up butt joint seat (69) and be equipped with quick positioning mechanism down between butt joint seat (70), quick positioning mechanism includes locating piece (79) and location breach (80), upward be equipped with guide groove (81) that open side down on butt joint seat (69), guide groove (81) inner wall is equipped with one locating piece (79) of inside salient at least, locating piece (79) and last butt joint seat (69) fixed connection, be equipped with one location breach (80) on butt joint seat (70) down at least, location breach (80) cooperate with locating piece (79), when last butt joint seat (69) with under butt joint seat (70) dock, in lower connecting seat (70) embedding guide groove (81), realize in locating piece (79) embedding location breach (80) that the quick location of going up butt joint seat (69) and butt joint seat (70) down.

15. An underwater circulation repair working device according to claim 2, 3, 4, 6, 7, 9, 10, 11, 12 or 13, wherein: be equipped with storing storehouse (82) in support (1), storing storehouse (82) lower extreme and support (1) fixed connection, the interval is equipped with slip casting mouth slot and/or inflation screw slot on storing storehouse (82), slip casting mouth (83) and/or inflation screw (84) are pegged graft fixedly with storing storehouse (82) respectively.

16. An underwater circulation repairing working device according to claim 15, wherein: be equipped with the squirt slot on storing storehouse (82), be equipped with squirt (85) on storing storehouse (82), squirt (85) are connected with storing storehouse (82) through the squirt slot, the water inlet of squirt (85) is connected with the delivery port of operation water pump (3).

17. An underwater circulation repairing working device according to claim 2, 3, 4, 6, 7, 9, 10, 11, 12, 13 or 16, characterized in that: the device is characterized in that a damage repairing mechanism (86) is arranged in the support (1), the damage repairing mechanism (86) comprises a cover plate cabin (87), a cover plate (88), an aluminum pressing strip (89), a cover plate sucking disc (90) and a floating tool (91), the support (1) is internally provided with the cover plate cabin (87), the lower end of the cover plate cabin (87) is fixedly connected with the support (1), each side of the left side and the right side of the cover plate cabin (87) is at least provided with two cover plate guide posts (92), the lower ends of the cover plate guide posts (92) are fixedly connected with the cover plate cabin (87), the upper end of the cover plate cabin (87) is provided with a cover plate suction port (93), the front side or the rear side of the cover plate cabin (87) is provided with a cover plate outlet (94), the left side and the right side of the cover plate (88) are respectively provided with cover plate guide post through holes, the periphery of the cover plate (88) is fixedly provided with the aluminum pressing strip (89), bosses (95) are arranged on the aluminum pressing strip (89) at intervals on the left side and the left side of the cover plate (88), boss (87) is provided with boss through holes (92) arranged on one side of the cover plate guiding post through hole and the floating tool (87) and the floating tool (91), the cover plate sucker (90) upper end is fixedly provided with a sucker handle (96), the lower end of the cover plate sucker (90) is fixedly provided with a guide rod (97), the cover plate sucker (90) is provided with a cover plate sucker water pumping port, the support (1) is provided with a sucker seat (98), the sucker water pumping port is connected with the adsorption driver (41) through a water pipe, the lower end of the sucker seat (98) is fixedly connected with the support (1), a containing groove is formed in the sucker seat (98), the upper end of the sucker seat (98) is provided with a limiting socket (99), the cover plate sucker (90) is arranged in the containing groove of the sucker seat (98), the guide rod (97) is inserted into the limiting socket (99), the sucker (90) is rotated, the guide rod (97) is embedded into the limiting socket (99) to fixedly connect the cover plate sucker (90) with the sucker seat (98), the upper end of the floating tool (91) is fixedly provided with a floating handle (100), the flat plate periphery of the floating tool (91) is at least provided with two limiting notches (101), the support (1) is fixedly provided with a floating positioning seat (102), the floating tool (102), and the floating tool (102) is connected with at least two limiting blocks (103), spacing breach (101) and stopper (103) cooperate, and floating tool (91) insert floating tool inslot, and floating tool (91) is fixed in floating tool inslot through stopper (103) spacing after rotatory.

18. An underwater circulation repairing working device according to claim 2, 3, 4, 6, 7, 9, 10, 11, 12, 13 or 16, characterized in that: the bin outlet of slip casting machine (5) is equipped with hose and slip casting head, the bin outlet of slip casting machine (5) is through hose and slip casting head fixed connection.

19. An underwater circulation repairing working apparatus as claimed in claim 2, 3, 4, 6, 7, 9, 10, 11, 12, 13 or 16, wherein: support (1) internal fixation is equipped with electric cabin (111), be equipped with support control system in electric cabin (111), operation water pump (3), storage pneumatic cylinder (11), agitator motor (25) and slip casting machine (5) are connected with support control system respectively.

20. An underwater circulation repairing working apparatus as claimed in claim 2, 3, 4, 6, 7, 9, 10, 11, 12, 13 or 16, wherein: the support is characterized in that a rack (29) is arranged at the upper end of the support (1), a rack control system and a propeller are arranged on the rack (29), the rack (29) is fixedly connected with the support (1), and the rack control system is connected with the support control system.