An underwater drilling device for plugging cracks in tunnel concrete lining and its operation method

Abstract

The invention discloses an underwater drilling device for plugging cracks in concrete lining of a tunnel and an operating method thereof, comprising an underwater robot and an underwater electric drill used in conjunction therewith, wherein the outer shell and a thin-walled rear cover of the underwater electric drill are both hexagonal, the outer shell edge is provided with a groove and a snap-fitting strip corresponding to the groove of the other outer shell, the two outer shells and the thin-walled rear cover are combined to wrap a motor and a reducer, and a sealing material is packaged in the groove gap; 12 clamping protrusions corresponding to the robot's mechanical arm clamping claws are provided on the surface of the outer shell; a sealing rubber layer is provided on the surface of the thin-walled rear cover; a circular front sleeve is provided at the front end of the outer shell, and a skeleton oil seal is provided between the front end of the outer shell and the front sleeve, and the skeleton oil seal has at least two layers; the drill bit is a special drill bit for concrete, the device and the operating method meet the drilling operation requirements for plugging cracks and the like in an underwater environment, avoid workers from going into water for operation, improve work efficiency and safety, and reduce the cost of underwater drilling.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robot detection and operation, and in particular relates to an underwater drilling device for plugging cracks in a tunnel concrete lining and an operation method thereof. Background Art

[0002] In water diversion projects, water is mainly transported through long-distance water tunnels, but long-term water erosion and natural disasters can cause serious damage to the concrete lining of the tunnel, requiring regular inspection and repair.

[0003] The cracks in the concrete lining of the tunnel are the most typical damage phenomenon. In order to prevent the tunnel from leaking, deforming or collapsing, it is necessary to drill holes around the lining cracks and grout with high pressure, so drilling is the key link in plugging the cracks in the tunnel concrete lining. The existing underwater drilling methods mainly use water-stopping and emptying manual drilling and diving drilling, but the cost of water-stopping detection and disposal is too high, and the impact on people's lives is too great, so it will only be used in serious cases. The underwater environment is uncertain, and the time and scope of manual diving drilling will be greatly restricted. The professional and technical requirements of the staff are high, and the safety risks of the high-pressure and high-flow underwater environment are very high, so the need to use robots instead of manual underwater drilling operations is very urgent.

[0004] There is currently a lack of suitable methods and devices for using robots for underwater drilling operations, especially underwater drilling operations for plugging cracks in the concrete lining of hydraulic tunnels. Therefore, for the scenario of plugging cracks in the concrete lining of tunnels, there is an urgent need for an underwater drilling operation method and a robot suitable for plugging cracks in the concrete lining of tunnels to improve the handling capabilities of such urgent, difficult and dangerous tasks. Summary of the invention

[0005] The present invention is aimed at the problem that there is no reasonable and efficient device in the prior art to deal with the problem of sealing cracks in tunnel concrete lining, and provides an underwater drilling device for sealing cracks in tunnel concrete lining and an operation method thereof, including an underwater robot and an underwater electric drill used in conjunction with the underwater robot, the underwater electric drill is movably connected to the underwater robot through the mechanical arm clamp of the underwater robot, the outer shell and the thin-walled back cover of the underwater electric drill are both hexagonal, the edge of the outer shell is provided with a groove and a snap-fit ​​strip corresponding to the groove of the other outer shell, the two outer shells and the thin-walled back cover are combined to wrap the motor and the reducer, and the sealing material is encapsulated in the groove gap; the surface of the outer shell is provided with 12 clamping protrusions, the The clamping protrusion corresponds to the robot's mechanical arm claw; a circular groove for placing an O-ring is provided inside the thin-walled rear cover, and a sealing rubber layer is provided on the surface of the thin-walled rear cover; a circular front sleeve is provided at the front end of the outer shell, and a skeleton oil seal is provided between the front end of the outer shell and the front sleeve, and the skeleton oil seal has at least two layers; the drill bit is a special drill bit for concrete, which passes through the front sleeve at the front end of the outer shell through an integrated shaft and is connected to the reducer. The device and operating method can meet the needs of drilling operations such as crack plugging in underwater environments, avoid workers going into the water for drilling operations, improve work efficiency and worker safety, and reduce underwater drilling costs.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an underwater drilling device for plugging cracks in tunnel concrete lining, comprising an underwater robot and an underwater electric drill used in conjunction with the underwater robot, the underwater electric drill being movably connected to the underwater robot through the mechanical arm clamp of the underwater robot, the underwater electric drill comprising two shells, a thin-walled rear cover, a front sleeve, a motor, a reducer, an integrated shaft and a drill bit,

[0007] The motor and the reducer are arranged in parallel;

[0008] The shell and the thin-walled back cover are both hexagonal, and the edge of the shell is provided with a groove and a snap-fit ​​strip corresponding to the groove of the other shell. The two shells and the thin-walled back cover are combined to wrap the motor and the reducer, and the sealing material is encapsulated in the groove gap; the surface of the shell is provided with 12 clamping protrusions, and the clamping protrusions correspond to the robot's mechanical arm claws;

[0009] The thin-walled rear cover is provided with a circular groove for placing an O-shaped rubber ring inside, and a sealing rubber layer is provided on the surface of the thin-walled rear cover;

[0010] A circular front sleeve is provided at the front end of the housing, and a skeleton oil seal is provided between the front end of the housing and the front sleeve, wherein the skeleton oil seal has at least two layers;

[0011] The drill bit is a special drill bit for concrete, which passes through the front sleeve at the front end of the shell through an integrated shaft and is connected to the reducer.

[0012] In order to achieve the above-mentioned purpose, the present invention also adopts a technical solution: an operation method of an underwater drilling device for plugging cracks in a tunnel concrete lining, which is executed by an operator controlling a main terminal computer, and comprises the following steps:

[0013] S1, placing the robot into an underwater tunnel, when the robot's camera detects cracks in the tunnel's concrete lining, it sends a feedback signal to the host computer;

[0014] S2, the operator observes the underwater cracks through the on-site images transmitted from the main computer display, and determines whether repair drilling work is needed. If necessary, proceed to step S3; otherwise, return to step S1 to continue searching for cracks in the tunnel concrete lining until the search stops;

[0015] S3, the operator uses the main end computer to calibrate the position and number of holes to be drilled on the concrete cracks, and the display assists in aiming according to the calibrated position;

[0016] S4, the operator controls the mechanical arm of the underwater robot through the host computer to approach the position where the hole needs to be drilled, and adjusts the posture of the underwater electric drill held by the mechanical arm to align with the drilling point;

[0017] S5, starting the drilling program to start the drilling operation, the underwater electric drill starts drilling in a clockwise direction, and the underwater electric drill uses a segmented speed method to drill according to the drilling depth;

[0018] S6, drilling is completed, the robotic arm slowly pulls out the drill bit at an angle perpendicular to the crack, and at the same time applies clockwise rotation force to the underwater electric drill.

[0019] Compared with the existing technology, the technical advantages of this case are:

[0020] (1) The method and device can meet the drilling operation requirements for crack plugging and other work in an underwater environment, avoiding the need for workers to go underwater for drilling operations, improving work efficiency and worker safety, and reducing underwater drilling costs.

[0021] (2) The drill bit in the device of this case is equipped with twelve clamping protrusions, which can easily cooperate with the robot's mechanical arm, and the operation is stable and safe. A layer of thermal conductive glue is coated between the metal shell of the motor and the shell of the electric drill, which can conduct heat to the outer shell for dissipation in the underwater environment. This reduces the weight of the heat dissipation device on the electric drill. The sealing setting of each component of the device is more suitable for underwater use. The alloy drill bit specially designed for concrete avoids the recoil force like the impact drill to damage the robot.

[0022] (3) When drilling, the collision disturbance between the electric drill and the concrete will cause the position of the end of the robot arm to shift. In traditional control methods, the problem of suppressing interference is completely ignored. The method in this case introduces a step of suppressing interference to further improve the accuracy of drilling.

[0023] (4) Existing robots do not have tactile force feedback, so operators cannot feel the strength and effect of force during the drilling process. The operation method in this case introduces dual feedback of vision and touch, processes the on-site information into images and displays them on the monitor of the host computer. During the operation of the underwater robotic arm, the force sensor is used to calculate the feedback force of the hand controller, which enhances the operator's sense of presence and improves the operator's control ability.

[0024] (5) In the existing drilling technology, usually only one rotation speed is used or the rotation speed is randomly set. In this case, after long-term experiments and practical conclusions, the segmented rotation speed method based on the drilling depth can ensure the stability and accuracy of underwater drilling operations. This is an unprecedented disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of an underwater electric drill in an underwater drilling device for plugging cracks in a tunnel concrete lining according to the present invention;

[0026] Figure 2 It is a schematic diagram of the hardware layout of the underwater drilling device for plugging cracks in a tunnel concrete lining according to the present invention during operation;

[0027] Figure 3 This is a schematic diagram of the process of the underwater drilling device for plugging cracks in a tunnel concrete lining according to Embodiment 3 of the present invention;

[0028] Figure 4 It is a schematic diagram of a method for suppressing disturbance in operation step S5 of the underwater drilling device for plugging cracks in a tunnel concrete lining according to the present invention;

[0029] List of Figure Symbols:

[0030] 1-1, operator; 1-2, force feedback hand controller; 1-3, host computer; 1-4 optical-electric composite cable; 1-5, tunnel; 1-6 underwater robot; 1-7, concrete crack 1-7;

[0031] 2-1, outer shell; 2-2, thin-walled rear cover; 2-3, front sleeve; 2-4, motor; 2-5, reducer; 2-6, integrated shaft; 2-7, drill bit; 2-8, robotic arm gripper. DETAILED DESCRIPTION

[0032] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0033] Example 1

[0034] An underwater drilling device for plugging cracks in a tunnel concrete lining comprises an underwater robot and an underwater electric drill used in conjunction with the underwater robot. The underwater electric drill is movably connected to the underwater robot through the mechanical arm clamp of the underwater robot. Figure 1 As shown, the underwater electric drill includes two shells 2-1, a thin-walled rear cover 2-2, a front sleeve 2-3, a motor 2-4, a reducer 2-5, an integrated shaft 2-6 and a drill bit 2-7. The motor 2-4 and the reducer 2-5 are arranged in parallel. The shell 2-1 and the thin-walled rear cover 2-2 are both hexagonal and made of aluminum alloy. The edge of the shell 2-1 is provided with a groove and a snap-fit ​​strip corresponding to the groove of the other shell 2-1, so as to facilitate the alignment of the two shells 2-1 to avoid slipping and deviation. The two shells 2-1 and the thin-walled rear cover 2-2 are combined to wrap the motor 2-4 and the reducer 2-5, and the sealing material is packaged in the groove gap; the electric drill shell 2-1 has twelve screw holes on both sides for fixing, and has twelve clamping protrusions to cooperate with the mechanical arm clamp 2-8. The robot arm can grasp the underwater drill, and the existing electric drill cannot cooperate with the robot arm; the thin-walled rear cover 2-2 is provided with a circular groove for placing an O-ring, and the surface of the thin-walled rear cover 2-2 is provided with a sealing layer to seal the rear end of the underwater electric drill; the front end of the shell 2-1 is provided with a circular front sleeve 2-3, and the front end of the shell 2-1 is circular and has a certain thickness of space to place two layers of skeleton oil seals to seal the front end of the underwater electric drill. This is the first time that a skeleton oil seal has been used in the field of robots, and it has never been disclosed in previous technical solutions; the front sleeve 2-3 is circular in shape to protect and block the skeleton oil seal to prevent exposure; the drill bit 2-7 is a special drill bit for concrete, which passes through the front sleeve 2-3 at the front end of the shell 2-1 through the integrated shaft 2-6 and is connected to the reducer 2-5.

[0035] The motor 2-4 and the reducer 2-5 are fixed together, and the reducer 2-5 is provided with anti-slip protrusions and fixing grooves inside, which can fix the motor 2-4 to prevent sliding; traditional electric drills need to be equipped with a built-in fan for heat dissipation during use, but in this case, a layer of thermal conductive glue is applied between the metal shell of the motor 2-4 and the underwater electric drill shell 2-1, which can conduct heat to the outer shell for heat dissipation in the underwater environment, and also effectively reduce the weight of the heat dissipation device on the electric drill, making the device in this case lighter.

[0036] The shell 2-1 is made of aluminum alloy instead of stainless steel, which greatly reduces the weight of the electric drill. The motor 2-4 uses an external power supply. A large enough round hole is left in the middle of the thin-walled rear cover 2-2 to lead out the two power supply lines of the motor 2-4, and an underwater automatic heat dissipation method is used to avoid the weight of the motor 2-4 and the battery on the electric drill, which greatly reduces the overall weight of the device. At the same time, the concrete drilling robot usually uses an impact drill, which is easy to cause damage to the robot, so a buffer device is required. In this case, a special alloy drill bit for concrete is used to avoid damage to the robot caused by the recoil force like an impact drill. At the same time, it is more convenient for the underwater electric drill to be directly clamped by the robot, which is more suitable for the use environment of blocking cracks in the concrete lining of the tunnel.

[0037] Example 2

[0038] The present embodiment discloses an underwater drilling device for plugging cracks in concrete lining of a tunnel. The difference from the embodiment 1 is that the device further includes a force feedback hand controller 1-2 and a force sensor. The force feedback hand controller 1-2 is a device with 3 position degrees of freedom, 3 joint degrees of freedom and 3 position degrees of freedom force feedback output. The underwater manipulator has four degrees of freedom and is equipped with a clamping claw, which can meet the posture required when drilling holes in tunnel cracks. The manipulator adopts a flange sealing solution and a skeleton oil seal for waterproof sealing. A force sensor is added to the terminal device to feedback force to the main computer 1-3. At the same time, a flexible buffer device can be added to prevent the collision generated by the electric drill during drilling from damaging the manipulator. The force sensor feeds back the detected six-dimensional force data to the main computer 1-3, and sends it to the force feedback hand controller 1-2 after processing to control the force of the underwater electric drill.

[0039] The reducer 2-5 reduces the motor speed by about ten times and increases the output torque. The self-designed integrated shaft 2-6 is made of stainless steel and contains a adapter inside. The end is connected to the reducer 2-5 to prevent the shaft from eccentricity during rotation.

[0040] The drill bit 2-7 of this embodiment uses a special alloy cross drill for concrete, which has a carbide cutter head, a cross-shaped four-edge, a widened spiral chip removal groove and a hexagonal slot. This design makes the cutting resistance smaller, the drilling is more accurate, the wear is small and it is not easy to slip, which is very suitable for underwater concrete drilling operations.

[0041] Example 3

[0042] An operation method of an underwater drilling device for plugging cracks in a tunnel concrete lining, wherein the operator controls the main terminal computer 1-3 to execute the operation, and the hardware cooperates as follows Figure 2As shown, it includes an operator 1-1, a force feedback hand controller 1-2, and a host computer 1-3. The communication mode realizes long-distance wired communication through a remote control photoelectric composite cable 1-4, which is suitable for a tunnel 1-5 and an underwater drilling device for plugging cracks in a tunnel concrete lining as in Example 1. The device includes an underwater robot 1-6 and a concrete crack 1-7 of an operation object. The operation method of the underwater drilling device is as follows: Figure 3 As shown, the specific steps include:

[0043] S1, put the robot 1-6 into the underwater tunnel 1-5. When the camera of the robot 1-6 detects cracks in the concrete lining of the tunnel 1-5, it sends a feedback signal to the host computer 1-3. The camera uses a binocular heterogeneous camera composed of a high-definition fixed-focus industrial camera and a zoom monitoring camera, which can meet the requirements of high precision and large field of view, assist the underwater robot to more accurately and comprehensively detect the defects of the concrete cracks 1-7 and help the operator 1-1 to clearly and completely observe the underwater situation;

[0044] S2, the operator 1-1 observes the underwater crack 1-7 through the on-site image transmitted from the display of the host computer 1-3, and determines whether repair drilling work is needed. If the crack width is large and there is a risk of leakage, deformation or collapse, the operator 1-1 starts to prepare for drilling and plugging repair work, and continues to step S3; otherwise, return to step S1 to continue searching for the concrete lining crack 1-7 of the tunnel 1-5 until the search stops;

[0045] S3, the operator 1-1 uses the main terminal computer 1-3 to calibrate the position and number of holes to be drilled on the concrete crack 1-7, and the display is aimed according to the calibrated position;

[0046] S4, the operator 1-1 controls the mechanical arm of the underwater robot 1-6 through the host computer 1-3 to approach the position where the hole needs to be drilled, and adjusts the posture of the underwater electric drill held by the mechanical arm to align with the drilling point;

[0047] Operator 1-1 enters the teleoperation control mode and controls the underwater drilling robot arm to approach the crack with the correct posture through the on-site environment transmitted by the display and the force feedback hand controller 1-2. The host computer 1-3 uses a position mapping mechanism to map the spatial position of the end of the force feedback hand controller 1-2 to the end of the robot arm, and controls the end of the robot arm to approach the target crack. The mapping relationship between the position of the end of the force feedback hand controller 1-2 and the position of the end of the underwater robot arm is:

[0048]

[0049] Among them, [x p y p z p] is the end position of the force feedback hand controller 1-2, [xyz] is the end position of the underwater manipulator, S x , S y , S z They are the magnifications along the X-axis, Y-axis, and Z-axis directions respectively.

[0050] At the same time, the force sensor feeds back the detected six-dimensional force data to the main end computer 1-3, and the main end computer 1-3 sends the data to the force feedback hand controller 1-2 after processing so that it generates force feedback to the operator 1-1. The operator 1-1 has a stronger sense of presence under the joint feedback of touch and vision, ensuring that the electric drill touches the drilling point with the correct posture.

[0051] S5, starting the drilling program to start the drilling operation, the underwater electric drill starts drilling in a clockwise direction, and the underwater electric drill uses a segmented speed method to drill according to the drilling depth;

[0052] First, when drilling begins, the underwater electric drill is in low speed mode, with a speed of 600 r / min, the main purpose of which is to prevent the drill bit 2-7 from slipping on the concrete surface;

[0053] Secondly, when the drilling depth reaches 10 cm, the underwater electric drill mode is adjusted to the medium speed mode with a speed of 900 r / min. At this time, the operator 1-1 can control the underwater mechanical arm through the force feedback hand controller 1-2 to adjust the inclination angle of the drill bit 2-7 to avoid deviation of the drilling position;

[0054] Finally, after confirming that the drilling angle is correct, when the drilling depth reaches 20 cm, the drill bit 2-7 has penetrated deep into the concrete, the reaction force has been reduced, and the drilling 2-7 mode is adjusted to the high speed mode, with a speed of 1200 r / min;

[0055] Operator 1-1 determines the depth of the hole to be drilled based on the width and depth of crack 1-7. Generally, the hole is 15 cm away from the crack, the distance between the two holes is 30 cm, and the hole depth is about half of the lining thickness.

[0056] In addition, during the drilling process, the collision between the drill bit 2-7 and the concrete will inevitably interfere with the posture of the end of the robot arm. In order to suppress this interference, a vibration suppression control method based on a disturbance observer is used to compensate for it.

[0057] See also Figure 4 As shown, the control method includes a disturbance observer part and a disturbance part.

[0058] w d represents the displacement required by the system input to the end of the robot arm, τ drepresents the joint torque required to adapt to vibration suppression, C(s) represents the torque-based motor controller built into the manipulator joint, G T (s) represents the transfer function from the excitation torque to the end position of the manipulator after Laplace transformation, G F (s) represents the transfer function from the end force to the end displacement of the robot arm after Laplace transformation, G T1 (s) represents G T The first mode of (s), which is the main factor in generating the vibration amount.

[0059] τ e Indicates the actual applied joint torque. e Indicates the displacement of the actual end of the robot arm. There are three main factors that affect the actual displacement:

[0060] The actual applied joint torque τ e The joint torque τ needs to be applied d error, end force f, noise and model error w n .

[0061] The undesirable vibration is mainly caused by the end force f of the robot arm, noise and model error w n The system estimates the two disturbances by designing a disturbance observer, then eliminates or reduces their effects, and then compensates the estimated disturbance error through the filter Q(s). In order to simplify the design of the disturbance observer, a second-order model is used for the filter Q(s), and the transfer function of the filter Q(s) is defined as:

[0062]

[0063] where f c Represents the cutoff frequency of the filter Q. The selection of these cutoff frequencies depends on the interference signal. The use of filter Q is mainly to maintain the stability of the disturbance observer design and to ensure control performance.

[0064] S6, after the drilling is completed, the operator 1-1 starts the recovery program, takes the underwater electric drill out of the hole, and the robotic arm slowly pulls out the underwater electric drill at an angle perpendicular to the crack 1-7. At the same time, the underwater electric drill is rotated clockwise to prevent the drill bit 2-7 from accidentally hitting the concrete and breaking. Finally, the underwater electric drill is controlled to drill the remaining holes in sequence, and the drilling task is completed.

[0065] It should be noted that the above content only illustrates the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications all fall within the protection scope of the claims of the present invention.

Claims

1. An underwater drilling device for plugging cracks in a tunnel concrete lining, comprising an underwater robot and an underwater electric drill used in conjunction therewith, wherein the underwater electric drill is movably connected to the underwater robot through the mechanical arm clamp of the underwater robot, and characterized in that: The underwater electric drill comprises two housings, a thin-walled rear cover, a front sleeve, a motor, a reducer, an integrated shaft and a drill bit. The motor and the reducer are arranged in parallel and fixedly connected, the reducer is provided with anti-slip protrusions and fixing grooves, and the space between the motor and the underwater electric drill housing is provided with a heat-conducting adhesive layer; The shell and the thin-walled back cover are both hexagonal, and the edge of the shell is provided with a groove and a snap-fit ​​strip corresponding to the groove of the other shell. The two shells and the thin-walled back cover are combined to wrap the motor and the reducer, and the sealing material is encapsulated in the groove gap; the surface of the shell is provided with 12 clamping protrusions, and the clamping protrusions correspond to the robot's mechanical arm claws; The thin-walled rear cover is provided with a circular groove for placing an O-shaped rubber ring inside, and a sealing rubber layer is provided on the surface of the thin-walled rear cover; A circular front sleeve is provided at the front end of the housing, and a skeleton oil seal is provided between the front end of the housing and the front sleeve, wherein the skeleton oil seal has at least two layers; The drill bit is a special drill bit for concrete, which passes through the front sleeve at the front end of the housing through an integrated shaft and is connected to the reducer; It also includes a force feedback hand controller and a force sensor. The force feedback hand controller controls the mechanical arm of the underwater robot to approach the crack in the correct position. The force sensor calculates and feeds back the detected force data to the force feedback hand controller to control the drill force.

2. An underwater drilling device for sealing cracks in tunnel concrete lining according to claim 1, characterized in that: The drill bit is an alloy cross drill specially used for concrete, which at least comprises a carbide cutter head, a cross-shaped four-edge, a widened spiral chip removal groove and a hexagonal slot.

3. An underwater drilling device for sealing cracks in tunnel concrete lining as claimed in claim 1 or 2, characterized in that: The shell and the thin-walled rear cover are made of aluminum alloy, the integrated shaft is made of stainless steel, and a conversion joint is arranged inside the integrated shaft.

4. The method for operating an underwater drilling device for plugging cracks in a tunnel concrete lining as claimed in claim 1 is executed by an operator controlling a main terminal computer, and is characterized in that: The steps include: S1, placing the robot into an underwater tunnel, when the robot's camera detects cracks in the tunnel's concrete lining, it sends a feedback signal to the host computer; S2, the operator observes the underwater cracks through the on-site images transmitted from the main computer display, and determines whether repair drilling work is needed. If necessary, proceed to step S3; otherwise, return to step S1 to continue searching for cracks in the tunnel concrete lining until the search stops; S3, the operator uses the main end computer to calibrate the position and number of holes to be drilled on the concrete cracks, and the display assists in aiming according to the calibrated position; S4, the operator controls the mechanical arm of the underwater robot through the main end computer to approach the position where the hole needs to be drilled, and adjusts the posture of the underwater electric drill held by the mechanical arm to align the drilling point; it also includes a force feedback hand controller, through the field environment and the force feedback hand controller, using a position mapping mechanism, the spatial position of the end of the force feedback hand controller is mapped to the end of the mechanical arm, and the mechanical arm of the robot is manipulated to approach the crack with the correct posture. The position mapping relationship between the end position of the force feedback hand controller and the end position of the underwater mechanical arm is: Among them, [x p y p z p ] is the end position of the force feedback hand controller, [xyz] is the end position of the underwater manipulator, S x , S y , S z are the magnifications along the X-axis, Y-axis, and Z-axis directions respectively; S5, starting the drilling program to start the drilling operation, the underwater electric drill starts drilling in a clockwise direction, and the underwater electric drill uses a segmented speed method to drill according to the drilling depth; S6, drilling is completed, the robotic arm slowly pulls out the drill bit at an angle perpendicular to the crack, and at the same time applies clockwise rotation force to the underwater electric drill.

5. The method for operating an underwater drilling device for sealing cracks in a tunnel concrete lining according to claim 4, characterized in that: The step S4 also includes a force sensor, which feeds back the detected six-dimensional force data to the host computer, and sends it to the force feedback hand controller after processing to control the force of the underwater electric drill.

6. The method for operating the underwater drilling device for sealing cracks in a tunnel concrete lining according to claim 4 or 5, characterized in that: The step S5 of drilling with the segmented rotation speed method is as follows: S51, when starting to drill, set the underwater electric drill to a low speed mode, with a speed of 600 r / min; S52, when the drilling depth reaches 10 cm, the underwater electric drill mode is adjusted to the medium speed mode, the speed is 900 r / min, and the underwater mechanical arm is controlled by the force feedback hand controller to adjust the inclination angle of the drill bit; S53, when the drilling depth reaches 20cm, adjust the drilling mode to high speed mode, the speed is 1200r / min.

7. The method for operating an underwater drilling device for sealing cracks in a tunnel concrete lining according to claim 6, characterized in that: The step S5 also includes a disturbance suppression step to avoid drilling collision that causes the robot arm to have a posture deviation. The step is based on a disturbance observer controller designed according to the robot's robot arm, and the estimated interference error is compensated by a filter.

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