Water jet robot and construction method thereof

Abstract

The invention belongs to the technical field of urban road construction, and discloses a water jet robot and a construction method thereof. The supporting mechanism comprises a support, a first supporting piece, a second supporting piece and a third supporting piece, the support is connected to the advancing mechanism and extends towards the bottom of the elevated anti-collision wall sequentially through the inner side, the top and the outer side of the elevated anti-collision wall, the first supporting piece is connected to the side, facing the inner side surface of the elevated anti-collision wall, of the support and abuts against the inner side surface, and the second supporting piece abuts against the third supporting piece. The second supporting piece is connected to the side, facing the outer side surface of the elevated anti-collision wall, of the support and abuts against the outer side surface, and the third supporting piece is connected to the side, facing the bottom of the elevated anti-collision wall, of the support and abuts against the bottom. The advancing mechanism can drive the supporting mechanism to move together; and the spray head mechanism is movably connected to the advancing mechanism and is detachable relative to the advancing mechanism, and the advancing mechanism can drive the spray head mechanism to move. The safety performance and the operation stability of the water jet robot can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of urban road construction, and in particular to a water jet robot and a construction method thereof. Background Art

[0002] A water jet robot is a device that uses high-speed water jets to perform operations and is widely used in cleaning, decontamination, cutting and disassembly. In the renovation of urban elevated roads, water jet robots have been widely used because they can only remove surface concrete without damaging the overall structure and surface steel bars.

[0003] However, during the operation of the water jet robot, the reverse impact force generated when the water jet nozzle sprays high-pressure water can easily cause the water jet robot to shake as a whole, thus affecting the stability of its operation. In addition, the water jet robot lacks effective guidance measures during the construction process, and is prone to deviation, resulting in construction position deviation. It is also prone to tilting or tipping over under complex and uneven road conditions, posing certain safety hazards.

[0004] Therefore, it is urgent to propose a water jet robot and a construction method thereof to solve the above technical problems. Summary of the invention

[0005] The object of the present invention is to provide a water jet robot and a construction method thereof, which can improve the safety performance and operation stability of the water jet robot.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a water jet robot, comprising:

[0008] a travel mechanism configured to move on a viaduct deck;

[0009] A support mechanism, comprising a bracket, a first support member, a second support member and a third support member, wherein the bracket is connected to the travel mechanism, and the bracket extends to the bottom of the elevated anti-collision wall via the inner side, the top and the outer side of the elevated anti-collision wall in sequence, the first support member is connected to the side of the bracket facing the inner surface of the elevated anti-collision wall, the first support member abuts against the inner surface of the elevated anti-collision wall, the second support member is connected to the side of the bracket facing the outer surface of the elevated anti-collision wall, the second support member abuts against the outer surface of the elevated anti-collision wall, the third support member is connected to the side of the bracket facing the bottom of the elevated anti-collision wall, and the third support member abuts against the bottom of the elevated anti-collision wall; the travel mechanism can drive the support mechanism to move together along the length direction of the elevated anti-collision wall;

[0010] The nozzle mechanism is movably connected to the traveling mechanism and is detachably arranged relative to the traveling mechanism. The traveling mechanism can drive the nozzle mechanism to move.

[0011] In some embodiments, the first support member, the second support member and the third support member are configured as support wheels.

[0012] In some embodiments, the bracket includes a first connecting segment, a second connecting segment, a third connecting segment and a fourth connecting segment, the first connecting segment is located on the inner side of the elevated crash wall, the second connecting segment is located on the top of the elevated crash wall, the third connecting segment is located on the outer side of the elevated crash wall, and the fourth connecting segment is located on the bottom of the elevated crash wall, and the first connecting segment and the second connecting segment, the second connecting segment and the third connecting segment, and the third connecting segment and the fourth connecting segment are all rotatably connected and can be relatively fixed.

[0013] In some embodiments, the traveling mechanism includes a bearing seat and traveling wheels, the bearing seat is used to connect the support mechanism and the nozzle mechanism, the traveling wheels are connected to the bearing seat, and the traveling wheels are configured to contact the elevated bridge deck and drive the bearing seat to move.

[0014] In some embodiments, the water jet robot further includes an anti-fall bracket; the anti-fall bracket is disposed at the bottom of the viaduct deck, and the anti-fall bracket is used to receive waste generated during the operation of the nozzle mechanism.

[0015] In some embodiments, the nozzle mechanism includes a connecting seat and a nozzle body, the nozzle body is connected to the connecting seat, the connecting seat is detachably connected to the traveling mechanism via a connecting shaft, the connecting shaft is provided with a first motor, and the first motor can drive the connecting seat to swing horizontally, so that the connecting seat drives the nozzle body to swing horizontally.

[0016] In some embodiments, the connecting seat is provided with a screw rod and a second motor, the screw rod is connected to the output end of the second motor, the outer periphery of the screw rod is sleeved with an adjustment seat, the second motor can drive the screw rod to rotate around its own axis so that the adjustment seat moves along the length direction of the screw rod, the nozzle body is connected to the adjustment seat, and the adjustment seat can drive the nozzle body to move along the length direction of the screw rod.

[0017] In some embodiments, the adjustment seat is provided with a nozzle body seat and a third motor, the nozzle body seat is connected to the output end of the third motor, the nozzle body is connected to the nozzle body seat, and the third motor can drive the nozzle body seat to rotate and drive the nozzle body to perform pitch adjustment.

[0018] In some embodiments, the connecting seat is further provided with a guide rod which is parallel to the screw rod, the guide rod passes through the adjustment seat, and the adjustment seat can slide relative to the guide rod.

[0019] In a second aspect, the present invention provides a construction method of a water jet robot, comprising:

[0020] S1. Determine the construction area and construction path of the water jet robot;

[0021] S2. Calculate the construction path and estimated use time of the water jet robot in a single day, and determine the number of elevated box girders that the water jet robot needs to pass through in a single day;

[0022] S3, connect and assemble the supporting mechanism to the traveling mechanism to form the main mechanism of the water jet robot, lift the main mechanism to the construction start position by a crane, install a set of main mechanisms between every two elevated box girders on the construction path, ensure that the traveling mechanism is placed on the elevated bridge deck, and ensure that the first supporting member, the second supporting member and the third supporting member in the supporting mechanism are all in contact with the surface of the elevated anti-collision wall;

[0023] S4, installing the nozzle mechanism to the main mechanism of one section of the construction area;

[0024] S5. Programming the construction path of the water jet robot;

[0025] S6, the water jet robot starts construction;

[0026] S7, determining whether the water jet robot has completed all construction work in a single day; if so, proceeding to the subsequent steps; if not, disassembling the nozzle mechanism, and installing the disassembled nozzle mechanism to the main mechanism of the next construction area, and repeating steps S5 to S7 until all construction work in a single day is completed;

[0027] S8. After the water jet robot completes all construction work within a single day, it will inspect the construction quality and use the pickaxe machine to correct the construction defect areas;

[0028] S9. Use a crane to lift the water jet robot away from the construction area.

[0029] Beneficial effects of the present invention:

[0030] The water jet robot provided by the present invention is provided with a supporting mechanism and the supporting mechanism is always supported on the surface of the elevated crash barrier. The cooperation between the supporting mechanism and the elevated crash barrier provides guidance for the movement of the water jet robot, which effectively avoids the water jet robot from going off track, tilting, or even falling during the construction process, and is beneficial to improving safety performance. At the same time, using the elevated crash barrier as a guide rail also avoids the cost and work time caused by laying additional guide rails. In addition, in the support mechanism, the first support member abuts against the inner surface of the elevated anti-collision wall, and the second support member abuts against the outer surface of the elevated anti-collision wall. When the water jet robot moves, the first support member and the second support member play a role in limiting the inner and outer directions of the elevated anti-collision wall and reducing the lateral recoil force when the nozzle mechanism is running; the third support member abuts against the bottom of the elevated anti-collision wall, playing a role in reducing the vertical recoil force when the nozzle mechanism is running; that is, the cooperation between the support mechanism and the elevated anti-collision wall can also absorb and reduce the recoil force of the nozzle mechanism, so that without the need for additional counterweights, it helps to reduce the jitter of the water jet robot during operation, thereby improving the operating stability of the water jet robot.

[0031] The construction method of the water jet robot provided by the present invention can simultaneously install multiple main bodies in advance. During construction, the nozzle mechanism is installed on one of the main bodies according to the needs of the site. After the construction of this section is completed, the nozzle mechanism can be manually removed and moved to the second main body that has been erected in advance to carry out the next section of construction. The construction of multiple sections can be completed in one installation, and the box beam area can be skipped for construction. This method reduces the impact of the erection of the main body on the construction period and improves the utilization rate of the water jet robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0033] Figure 1 is a schematic diagram of the assembly of a water jet robot provided by an embodiment of the present invention;

[0034] Figure 2 It is a schematic diagram of the assembly of the traveling mechanism and the supporting mechanism provided by an embodiment of the present invention;

[0035] Figure 3 is a structural schematic diagram of a nozzle mechanism provided by an embodiment of the present invention;

[0036] Figure 4 It is a flow chart of the construction method of the water jet robot provided in an embodiment of the present invention.

[0037] In the figure:

[0038] 1. Traveling mechanism; 11. Carrying seat; 12. Traveling wheel;

[0039] 2. Support mechanism; 21. Bracket; 211. First connecting section; 212. Second connecting section; 213. Third connecting section; 214. Fourth connecting section; 22. First supporting member; 23. Second supporting member; 24. Third supporting member;

[0040] 3. Nozzle mechanism; 31. Connecting seat; 32. Nozzle body; 33. Connecting shaft; 34. Screw rod; 35. Second motor; 36. Adjusting seat; 37. Nozzle body seat; 38. Third motor; 39. Guide rod;

[0041] 4. Anti-fall bracket;

[0042] 100. Elevated bridge deck;

[0043] 200. Elevated crash barrier. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0045] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0047] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0048] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0050] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0051] like Figure 1 to Figure 3 As shown, the water jet robot provided in this embodiment includes a traveling mechanism 1, a supporting mechanism 2 and a nozzle mechanism 3.

[0052] The traveling mechanism 1 is configured to move on an elevated bridge deck 100. The elevated bridge deck 100 is the surface to be constructed.

[0053] The support mechanism 2 includes a bracket 21, a first support member 22, a second support member 23 and a third support member 24. The bracket 21 is connected to the traveling mechanism 1, and the bracket 21 sequentially extends to the bottom of the elevated anti-collision wall 200 through the inner side, the top and the outer side of the elevated anti-collision wall 200. That is, the bracket 21 is half-surrounded by the elevated anti-collision wall 200.

[0054] The first support member 22 is connected to the side of the bracket 21 facing the inner surface of the elevated anti-collision wall 200, and the first support member 22 abuts against the inner surface of the elevated anti-collision wall 200. The second support member 23 is connected to the side of the bracket 21 facing the outer surface of the elevated anti-collision wall 200, and the second support member 23 abuts against the outer surface of the elevated anti-collision wall 200. The third support member 24 is connected to the side of the bracket 21 facing the bottom of the elevated anti-collision wall 200, and the third support member 24 abuts against the bottom of the elevated anti-collision wall 200. The traveling mechanism 1 can drive the supporting mechanism 2 to move along the length direction of the elevated anti-collision wall 200. Among them, the inner side of the elevated anti-collision wall 200 refers to the side where the elevated bridge deck 100 is located, and the outer side of the elevated anti-collision wall 200 refers to the side opposite to the elevated bridge deck 100.

[0055] The nozzle mechanism 3 is movably connected to the traveling mechanism 1 and is detachably arranged relative to the traveling mechanism 1. The traveling mechanism 1 can drive the nozzle mechanism 3 to move. The nozzle mechanism 3 is used to output a high-speed water flow for construction, and the nozzle mechanism 3 is movable relative to the traveling mechanism 1, so that the user can adjust the position angle of the nozzle mechanism 3 according to actual construction needs.

[0056] During specific implementation, the moving mechanism 1 is started, and the supporting mechanism 2 and the nozzle mechanism 3 will move together with the moving mechanism 1 along the length direction of the elevated anti-collision wall 200. During the movement, the supporting mechanism 2 is always in contact with and supported on the surface of the elevated anti-collision wall 200, that is, the water jet robot uses the elevated anti-collision wall 200 as a moving guide rail.

[0057] The water jet robot provided in this embodiment is provided with a support mechanism 2 and the support mechanism 2 is always supported on the surface of the elevated anti-collision wall 200. The cooperation between the support mechanism 2 and the elevated anti-collision wall 200 provides guidance for the movement of the water jet robot, which effectively avoids the water jet robot from going off track, tilting, or even falling during the construction process, which is beneficial to improving safety performance. At the same time, using the elevated anti-collision wall 200 as a guide rail also avoids the cost and work time caused by laying additional guide rails. In addition, in the support mechanism 2, the first support member 22 abuts against the inner surface of the elevated anti-collision wall 200, and the second support member 23 abuts against the outer surface of the elevated anti-collision wall 200. When the water jet robot moves, the first support member 22 and the second support member 23 play a role in limiting the inner and outer directions of the elevated anti-collision wall 200 and reducing the lateral recoil force when the nozzle mechanism 3 is running; the third support member 24 abuts against the bottom of the elevated anti-collision wall 200, playing a role in reducing the vertical recoil force when the nozzle mechanism 3 is running; that is, the cooperation between the support mechanism 2 and the elevated anti-collision wall 200 can also absorb and reduce the recoil force of the nozzle mechanism 3, so that without the need for additional counterweights, it helps to reduce the jitter of the water jet robot during operation, thereby improving the operating stability of the water jet robot.

[0058] Optionally, the spray head mechanism 3 may be provided with an openable splash protection cover to protect the safety of the operator.

[0059] In some embodiments, the first support member 22, the second support member 23 and the third support member 24 are configured as support wheels. In this way, the support wheels can roll on the surface of the elevated anti-collision wall 200, which is conducive to reducing the contact friction between the first support member 22, the second support member 23 and the third support member 24 and the surface of the elevated anti-collision wall 200, so that the water jet robot moves more smoothly.

[0060] like Figure 2 As shown, in some embodiments, the bracket 21 includes a first connecting segment 211, a second connecting segment 212, a third connecting segment 213 and a fourth connecting segment 214. The first connecting segment 211 is located on the inner side of the elevated crash wall 200, the second connecting segment 212 is located on the top of the elevated crash wall 200, the third connecting segment 213 is located on the outer side of the elevated crash wall 200, and the fourth connecting segment 214 is located on the bottom of the elevated crash wall 200. The first connecting segment 211 and the second connecting segment 212, the second connecting segment 212 and the third connecting segment 213, and the third connecting segment 213 and the fourth connecting segment 214 are all rotatably connected and can be relatively fixed.

[0061] During specific implementation, the first connecting segment 211, the second connecting segment 212, the third connecting segment 213 and the fourth connecting segment 214 are rotated and adjusted to ensure that the first supporting member 22, the second supporting member 23 and the third supporting member 24 are in contact with the surface of the elevated crash barrier 200, and then the connecting segments are fixed.

[0062] Through such a setting, each connecting section can be rotated and adjusted according to the specific shape of the elevated crash barrier 200, so as to facilitate the installation of the bracket 21 on the elevated crash barrier 200, and enable the bracket 21 to be more flexibly adapted to the elevated crash barrier 200.

[0063] like Figure 2 As shown, in some embodiments, the traveling mechanism 1 includes a bearing seat 11 and traveling wheels 12, the bearing seat 11 is used to connect the supporting mechanism 2 and the nozzle mechanism 3, the traveling wheels 12 are connected to the bearing seat 11, and the traveling wheels 12 are configured to contact the elevated bridge deck 100 and drive the bearing seat 11 to move.

[0064] When using water jet robots for road construction, it is necessary to block the road in advance, usually closing one lane at a time for construction. The construction site is relatively narrow, so there is a demand for miniaturization of the equipment. However, existing water jet robots usually use crawler chassis, and the crawler walking mechanism is heavy and wide, which is not suitable for engineering construction on narrow roads.

[0065] By configuring the traveling mechanism 1 to include traveling wheels 12 , the lateral width and the overall volume and weight of the traveling mechanism 1 are reduced compared to a crawler-type traveling mechanism, so that the water jet robot can be better suited for construction in narrow sections.

[0066] Optionally, the water jet robot is also equipped with an electrical control cabinet (not shown in the figure), which is installed on the supporting seat 11. The electrical control cabinet is configured to control the movement of the traveling mechanism 1 and the nozzle mechanism 3. The electrical control cabinet includes a controller (such as a servo system, a programmable logic controller, etc.) and a power supply circuit. Those skilled in the art can make specific settings for the electrical control cabinet according to conventional techniques based on the on-site conditions, which will not be introduced in detail here.

[0067] The electrical control cabinet can also be provided with components such as an operating touch screen, a control switch, and an emergency stop switch. These components are connected to the controller and the power supply circuit inside the electrical control cabinet and are used to manually control the travel mechanism 1 and the nozzle mechanism 3 to work. For example, the user can edit parameters such as the working pressure, working path, and single-step working time of the nozzle mechanism 3 on the operating touch screen.

[0068] Furthermore, the electrical control cabinet is also provided with a remote control component, through which the start and stop and activity adjustment of the nozzle mechanism 3 can be remotely controlled.

[0069] During specific implementation, a background is generally set up in a non-construction area far away from the water jet robot. The background consists of a high-pressure pump station part and a power part. The high-pressure water is connected to the nozzle mechanism 3 through a high-pressure water pipe, and is connected to the electrical control cabinet through a cable. Setting up the background in this way can reduce the space requirements for the construction area.

[0070] like Figure 1 As shown, in some embodiments, the water jet robot further includes an anti-fall bracket 4 .

[0071] The anti-falling bracket 4 is arranged at the bottom of the viaduct deck 100, and is used to receive the waste generated during the operation of the sprinkler mechanism 3. The anti-falling bracket 4 serves as a construction protection, collects construction wastewater, and prevents concrete fragments from falling.

[0072] like Figure 3 As shown, in some embodiments, the nozzle mechanism 3 includes a connection seat 31 and a nozzle body 32, the nozzle body 32 is connected to the connection seat 31, and the connection seat 31 is detachably connected to the travel mechanism 1 through a connection shaft 33. The connection shaft 33 is provided with a first motor (not shown in the figure), and the first motor can drive the connection seat 31 to swing horizontally, so that the connection seat 31 drives the nozzle body 32 to swing horizontally. That is: the nozzle body 32 is Figure 1 Swing left and right under the azimuth viewing angle shown in the figure.

[0073] Specifically, the connecting shaft 33 can be quickly installed and disassembled through a pin shaft, and the first motor can be arranged inside the connecting shaft 33 to make the structure more compact.

[0074] The first motor can be controlled by the aforementioned electrical control cabinet, and the first motor is helpful to control the left and right swing angles of the nozzle body 32 more accurately and quickly.

[0075] like Figure 3 As shown, in some embodiments, the connecting seat 31 is provided with a screw rod 34 and a second motor 35, the screw rod 34 is connected to the output end of the second motor 35, and an adjustment seat 36 is connected to the outer periphery of the screw rod 34, and the second motor 35 can drive the screw rod 34 to rotate around its own axis so that the adjustment seat 36 moves along the length direction of the screw rod 34, and the nozzle body 32 is connected to the adjustment seat 36, and the adjustment seat 36 can drive the nozzle body 32 to move along the length direction of the screw rod 34.

[0076] Through such a configuration, the rotation of the screw rod 34 can drive the adjustment seat 36 to perform linear motion, thereby achieving position adjustment of the nozzle body 32 along the length direction of the screw rod 34. The second motor 35 can be controlled by the aforementioned electrical control cabinet, and the second motor 35 is conducive to more accurately and quickly controlling the moving distance of the nozzle body 32 to ensure the adjustment accuracy.

[0077] like Figure 3 As shown, in some embodiments, the connecting seat 31 is further provided with a guide rod 39 parallel to the screw rod 34 , the guide rod 39 passes through the adjustment seat 36 , and the adjustment seat 36 can slide relative to the guide rod 39 .

[0078] By providing the guide rod 39 , the linear motion of the adjustment seat 36 along the length direction of the screw rod 34 can be further limited and guided, so as to prevent the adjustment seat 36 from being skewed and affecting the movement.

[0079] Optionally, the number of the guide rods 39 may be two, and the two guide rods 39 are respectively located on two opposite sides of the screw rod 34 .

[0080] like Figure 3 As shown, in some embodiments, the adjustment seat 36 is provided with a nozzle body seat 37 and a third motor 38, the nozzle body seat 37 is connected to the output end of the third motor 38, the nozzle body 32 is connected to the nozzle body seat 37, and the third motor 38 can drive the nozzle body seat 37 to rotate and drive the nozzle body 32 to perform pitch adjustment. Taking the moving path of the traveling mechanism 1 as the front-to-back direction, the nozzle body 32 swings forward and backward when performing pitch adjustment.

[0081] Through such an arrangement, the pitch angle of the nozzle body 32 can be adjusted, which is conducive to better application of the nozzle body 32 in construction sites with different road conditions.

[0082] Specifically, the third motor 38 can be controlled by the aforementioned electrical control cabinet, and the third motor 38 is helpful to control the forward and backward swing angle of the nozzle body 32 more accurately and quickly.

[0083] like Figure 4 As shown, this embodiment also provides a construction method for the water jet robot, comprising the following steps:

[0084] S1. Determine the construction area and construction path of the water jet robot; ensure that there are no construction obstacles on the construction path;

[0085] S2. Calculate the construction path and estimated use time of the water jet robot in a single day, and determine the number of elevated box girders that the water jet robot needs to pass through in a single day; specifically, it is necessary to survey and map the construction site in advance, determine the location, length, and segmentation information of the water jet construction, and make a construction plan;

[0086] S3, connect and assemble the support mechanism 2 to the traveling mechanism 1 to form the main mechanism of the water jet robot, lift the main mechanism to the construction start position by a crane, install a set of main mechanisms between every two elevated box girders on the construction path, and ensure that the traveling mechanism 1 is placed on the elevated bridge deck 100, and ensure that the first support member 22, the second support member 23 and the third support member 24 in the support mechanism 2 are all in contact with the surface of the elevated anti-collision wall 200;

[0087] S4, installing the nozzle mechanism 3 to the main mechanism of one section of the construction area;

[0088] S5. Programming the construction path of the water jet robot; specifically, the operator can set the working pressure, construction depth, single-step working time and other parameters of the nozzle mechanism 3 on the aforementioned operation touch screen;

[0089] S6, the water jet robot starts construction;

[0090] S7, judging whether the water jet robot has completed all the construction work in a single day; if so, proceeding to the subsequent steps; if not, disassembling the nozzle mechanism 3, and installing the disassembled nozzle mechanism 3 to the main mechanism of the next construction area, and repeating steps S5 to S7 until all the construction work in a single day is completed;

[0091] S8. After the water jet robot completes all construction work within a single day, it will inspect the construction quality and use the pickaxe machine to correct the construction defect areas;

[0092] S9. Use a crane to lift the water jet robot away from the construction area.

[0093] The construction method of the water jet robot provided in this embodiment can install multiple main bodies in advance at the same time. During construction, the nozzle mechanism 3 is installed on one of the main bodies according to the needs of the site. After the construction of this section is completed, the nozzle mechanism 3 can be manually removed and moved to the second main body that has been erected in advance to carry out the next section of construction. The construction of multiple sections can be completed in one installation, and the box beam area can be skipped for construction. This method reduces the impact of the erection of the main body on the construction period and improves the utilization rate of the water jet robot.

[0094] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A water jet robot, characterized in that: include: A traveling mechanism (1), wherein the traveling mechanism (1) is configured to move on an elevated bridge deck (100); A support mechanism (2) comprises a bracket (21), a first support member (22), a second support member (23) and a third support member (24); the bracket (21) is connected to the travel mechanism (1); the bracket (21) extends to the bottom of the elevated crash barrier (200) via the inner side, the top and the outer side of the elevated crash barrier (200) in sequence; the first support member (22) is connected to a side of the bracket (21) facing the inner side surface of the elevated crash barrier (200); the first support member (22) abuts against the inner side surface of the elevated crash barrier (200); The second support member (23) is connected to a side of the bracket (21) facing the outer surface of the elevated anti-collision wall (200), and the second support member (23) abuts against the outer surface of the elevated anti-collision wall (200); the third support member (24) is connected to a side of the bracket (21) facing the bottom of the elevated anti-collision wall (200), and the third support member (24) abuts against the bottom of the elevated anti-collision wall (200); the travel mechanism (1) can drive the support mechanism (2) to move together along the length direction of the elevated anti-collision wall (200); A nozzle mechanism (3), wherein the nozzle mechanism (3) is movably connected to the traveling mechanism (1) and is detachably arranged relative to the traveling mechanism (1); the traveling mechanism (1) is capable of driving the nozzle mechanism (3) to move.

2. The water jet robot according to claim 1, characterized in that: The first support member (22), the second support member (23) and the third support member (24) are configured as support wheels.

3. The water jet robot according to claim 1, characterized in that: The bracket (21) comprises a first connecting section (211), a second connecting section (212), a third connecting section (213) and a fourth connecting section (214); the first connecting section (211) is located on the inner side of the elevated crash barrier (200); the second connecting section (212) is located on the top of the elevated crash barrier (200); the third connecting section (213) is located on the outer side of the elevated crash barrier (200); and the fourth connecting section (214) is located on the bottom of the elevated crash barrier (200); the first connecting section (211) and the second connecting section (212), the second connecting section (212) and the third connecting section (213), and the third connecting section (213) and the fourth connecting section (214) are all rotatably connected and can be relatively fixed.

4. The water jet robot according to claim 1, characterized in that: The traveling mechanism (1) comprises a bearing seat (11) and traveling wheels (12); the bearing seat (11) is used to connect the support mechanism (2) and the nozzle mechanism (3); the traveling wheels (12) are connected to the bearing seat (11); the traveling wheels (12) are configured to contact the elevated bridge deck (100) and drive the bearing seat (11) to move.

5. The water jet robot according to claim 1, characterized in that: Also includes an anti-fall bracket (4); The anti-falling bracket (4) is arranged at the bottom of the viaduct deck (100), and the anti-falling bracket (4) is used to receive waste generated when the nozzle mechanism (3) is in operation.

6. The water jet robot according to any one of claims 1 to 5, characterized in that: The nozzle mechanism (3) comprises a connecting seat (31) and a nozzle body (32), wherein the nozzle body (32) is connected to the connecting seat (31), and the connecting seat (31) is detachably connected to the travel mechanism (1) via a connecting shaft (33), wherein the connecting shaft (33) is provided with a first motor, and the first motor is capable of driving the connecting seat (31) to swing horizontally, so that the connecting seat (31) drives the nozzle body (32) to swing horizontally.

7. The water jet robot according to claim 6, characterized in that: The connecting seat (31) is provided with a screw rod (34) and a second motor (35); the screw rod (34) is connected to the output end of the second motor (35); an adjustment seat (36) is sleeved and connected to the outer periphery of the screw rod (34); the second motor (35) can drive the screw rod (34) to rotate around its own axis so that the adjustment seat (36) moves along the length direction of the screw rod (34); the nozzle body (32) is connected to the adjustment seat (36); and the adjustment seat (36) can drive the nozzle body (32) to move along the length direction of the screw rod (34).

8. The water jet robot according to claim 7, characterized in that: The adjustment seat (36) is provided with a nozzle body seat (37) and a third motor (38); the nozzle body seat (37) is connected to the output end of the third motor (38); the nozzle body (32) is connected to the nozzle body seat (37); the third motor (38) can drive the nozzle body seat (37) to rotate and drive the nozzle body (32) to perform pitch adjustment.

9. The water jet robot according to claim 7, characterized in that: The connecting seat (31) is also provided with a guide rod (39) which is parallel to the screw rod (34); the guide rod (39) passes through the adjustment seat (36); and the adjustment seat (36) is capable of sliding relative to the guide rod (39).

10. A construction method for a water jet robot according to any one of claims 1 to 9, characterized in that: include: S1. Determine the construction area and construction path of the water jet robot; S2. Calculate the construction path and estimated use time of the water jet robot in a single day, and determine the number of elevated box girders that the water jet robot needs to pass through in a single day; S3, connecting and assembling the support mechanism (2) to the traveling mechanism (1) to form the main mechanism of the water jet robot, hoisting the main mechanism to the construction start position by a crane, installing a set of main mechanisms between every two elevated box girders on the construction path, and ensuring that the traveling mechanism (1) is placed on the elevated bridge deck (100), and ensuring that the first support member (22), the second support member (23) and the third support member (24) in the support mechanism (2) are all in contact with the surface of the elevated anti-collision wall (200); S4, installing the nozzle mechanism (3) to the main mechanism of one section of the construction area; S5. Programming the construction path of the water jet robot; S6, the water jet robot starts construction; S7, determining whether the water jet robot has completed all construction work in a single day; if so, proceeding to the subsequent steps; if not, disassembling the nozzle mechanism (3), and installing the disassembled nozzle mechanism (3) to the main mechanism of the next construction area, and repeating steps S5 to S7 until all construction work in a single day is completed; S8. After the water jet robot completes all construction work within a single day, it will inspect the construction quality and use the pickaxe machine to correct the construction defect areas; S9. Use a crane to lift the water jet robot away from the construction area.

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