An underwater concrete chipping device and system

Abstract

The application relates to the technical field of concrete chiseling equipment, and provides an underwater concrete chiseling device and system, which is used for chiseling construction of an underwater concrete vertical surface or an inclined surface. The chiseling device is provided with a moving spraying mechanism comprising a high-pressure spraying assembly and a moving assembly. The spraying element in the high-pressure spraying assembly is driven to move by the moving assembly, and the spraying element is driven by a high-pressure driving element in the high-pressure spraying assembly to spray high-pressure water flow and act on the concrete surface to be chiseled, so that the chiseling of the concrete surface is realized. A wall-attaching mechanism comprising a water spraying driving element and a water spraying element is arranged to enable the chiseling device to work by attaching to the concrete surface. The chiseling device is controlled by an underwater control center to perform construction work. The underwater concrete chiseling device of the application can be lowered into water through a lifting device, can complete the chiseling construction of the concrete surface in a deep water environment which cannot be completed by manual work, and realizes the mechanized operation of the chiseling construction of the concrete surface in a complex deep water environment.

Description

Technical Field

[0001] This application belongs to the technical field of concrete scabbing equipment, and more specifically, relates to an underwater concrete scabbing device and system. Background Technology

[0002] Hydraulic concrete structures are exposed to outdoor environments for extended periods, subject to factors such as foundation constraints, erosion, temperature fluctuations, and sudden climate changes. Under the alternating and continuous effects of loads and harsh environments, concrete is more prone to aging, leading to defects such as cracks, water seepage, or surface concrete erosion and spalling. These defects typically affect the safe operation of hydraulic structures. When such defects occur, appropriate and scientifically sound engineering measures are taken to repair and protect the structure, based on the specific defects and their causes. One widely used method is to add a concrete protective layer to the concrete surface for defect repair. Generally, when applying concrete surface protection, the concrete surface must be thoroughly roughened and cleaned to facilitate effective adhesion between the protective layer and the original concrete surface, ensuring sufficient bond strength between the old and new concrete.

[0003] In general, underwater concrete repair work at shallow depths can be completed manually by divers. However, for reservoirs and dams at deep depths, manual work is very difficult due to complex environmental factors such as the large concrete surface area that needs to be cleaned and roughened and the high water pressure in the construction area. Summary of the Invention

[0004] The purpose of this application is to provide an underwater concrete roughening device and system to solve the technical problem that roughening the surface of concrete in deep water environments is very difficult by relying on manual operation in the prior art.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide an underwater concrete roughening device for roughening construction of underwater concrete vertical or inclined surfaces, including a lifting device, an installation frame, and a mobile spraying mechanism, a wall-adhering mechanism, and an underwater control center fixedly installed on the installation frame.

[0006] The roughening device is lifted or lowered by the lifting device. The mobile spraying mechanism includes a high-pressure spraying component and a moving component. The high-pressure spraying component includes a high-pressure drive component and a spraying component connected to the high-pressure drive component. The moving component is connected to the spraying component to drive the spraying component to move. The two side frames of the mounting frame define the range of movement of the spraying component. The high-pressure drive component provides driving force to make the spraying component spray high-pressure water jets and act on the concrete surface to be roughened.

[0007] The wall-adhering mechanism includes a water spraying drive and a water spraying element disposed on the upper surface of the mounting frame. The water spraying drive provides a driving force to make the water spraying element spray water outward to provide a thrust so that the roughening device can adhere to the concrete surface to be roughened.

[0008] The underwater control center is electrically connected to both the moving jet mechanism and the wall-adhering mechanism.

[0009] Optionally, the moving component includes a moving drive and a slide rail assembly that is pulsatorically connected to the moving drive. The slide rail assembly includes a screw and a slide rod that are parallel to each other and disposed between the two side frames of the mounting frame, and a slider that is slidably connected to the slide rod and screwed to the screw. The spraying component is connected to the bottom end of the slider, and the spraying component can reciprocate along the screw and the slide rod with the slider.

[0010] Optionally, the upper part of the slider is provided with a smooth semi-hole for connecting with the slide rod, the middle part of the slider is provided with a screw hole for connecting with the screw, and the bottom of the slider is provided with a pin hole for connecting with the spraying component.

[0011] Optionally, the number of sliders is two, and the screw is respectively provided with a positive thread and a negative thread, so that when the screw rotates in the same direction, the two sliders can move in opposite directions or in opposite directions.

[0012] Optionally, the spraying element is connected to the slider via a mounting base. The bottom end of the mounting base is provided with an enlarged portion having an inclined surface. The spraying element is fixedly connected to the inclined surface of the enlarged portion so that the high-pressure water jet sprayed by the spraying element can act obliquely on the concrete surface to be roughened.

[0013] Optionally, a contact switch is provided on the left and / or right side of the mounting frame corresponding to the end position reached by the slider. When the slider slides to the end position and touches the contact switch, it can trigger the moving drive to rotate forward or backward.

[0014] Optionally, the top and side borders of the mounting frame are closed, the bottom border of the mounting frame is open, and the bottom border of the mounting frame includes two rows of parallel and spaced closed brushes, with the spraying component reciprocating between the two rows of closed brushes.

[0015] Optionally, the water spray component includes an inlet pipe section and a spray pipe section that are interconnected. The inlet of the inlet pipe section is located on the top edge of the mounting frame, and the outlet of the spray pipe section is perpendicular to the upper surface of the mounting frame and faces outward.

[0016] Optionally, the roughening device further includes lateral pushers disposed on the side frames of the mounting frame;

[0017] And / or, the chiseling device further includes a plurality of image acquisition elements disposed on the mounting frame;

[0018] And / or, the burring device further includes a protective shell covering the mounting frame and movable rollers disposed on the mounting frame.

[0019] Optionally, this application also provides an underwater concrete roughening system, including a surface control center and an underwater concrete roughening device as described above, wherein the surface control center and the underwater control center are electrically connected by a cable.

[0020] The beneficial effects of the underwater concrete roughening device provided in this application are as follows: Compared with the prior art, the underwater concrete roughening device of this application is used for roughening construction of underwater concrete vertical or inclined surfaces. By setting up an installation frame to fix and install the various components in the roughening device, and by setting up a moving spraying mechanism including a high-pressure spraying component and a moving component, the moving component drives the spraying component in the high-pressure spraying component to move, and the high-pressure driving component in the high-pressure spraying component provides driving force, which enables the spraying component to spray high-pressure water jets and act on the concrete surface to be roughened, thereby realizing the roughening construction of the concrete surface; at the same time, a wall-adhering mechanism including a water spraying driving component and a water spraying component set on the upper surface of the installation frame is set up. Under the drive of the water spraying driving component, the water spraying component sprays water outward to provide thrust, so that the roughening device can adhere to the concrete surface to be roughened for operation. All components in the entire roughening device work together under the control of the underwater control center. The underwater concrete roughening device of this application can be lowered into the water to perform roughening of the concrete surface through a lifting device. It can complete the roughening of concrete surface in deep water environment where it is impossible to do it manually, and realize the mechanization of concrete surface roughening in deep water environment. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A top view of the underwater concrete roughening device provided in an embodiment of this application;

[0023] Figure 2 A left-side structural schematic diagram of the underwater concrete roughening device provided in an embodiment of this application;

[0024] The following are the labeling elements in the figure:

[0025] 100. Mounting frame; 110. Top frame; 120. Left side frame; 130. Right side frame; 140. Sealing brush; 150. Upper surface; 160. Lower surface; 200. Moving spray mechanism; 210. High-pressure spray assembly; 211. Spray component; 212. Reducer; 213. High-pressure hose; 220. Moving assembly; 221. Moving drive component; 222. Slide rail assembly; 2221. Screw; 2222. Slide rod; 2223. Slider; 2224. Slider retaining clip; 2225. Installation... Mounting device; 223, Transmission assembly; 2231, Drive wheel; 2232, Driven wheel; 2233, Transmission belt; 224, Contact switch; 300, Wall-adhering mechanism; 310, Water spray drive unit; 320, Water spray unit; 321, Inlet pipe section; 322, Water spray pipe section; 323, Inlet; 324, Outlet; 400, Underwater control center; 500, Lateral thruster; 600, Image acquisition unit; 700, Protective shell; 800, Moving roller; 900, Surface control center; 000, Concrete. Detailed Implementation

[0026] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0027] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0028] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0030] The underwater concrete roughening device provided in this application will now be described. The underwater concrete roughening device of this application is mainly used for roughening construction of underwater concrete vertical or inclined surfaces, and can be applied to roughening the concrete surface inside different water environments such as shallow water or deep water.

[0031] Please refer to the following: Figure 1 and Figure 2 The underwater concrete roughening device of this application embodiment includes a lifting device (not shown in the figure), a mounting frame 100, and a mobile spraying mechanism 200, a wall-adhering mechanism 300 and an underwater control center 400 fixedly mounted on the mounting frame 100.

[0032] The chiseling device is raised or lowered by a lifting device, which is usually set up on the water. Specifically, the chiseling device and the lifting device are connected by ropes, such as steel wire ropes. Under the lifting of the lifting device, the chiseling device is lowered into the corresponding construction position in the water to carry out chiseling work.

[0033] Among them, combined Figure 1 The mobile injection mechanism 200 includes a high-pressure injection assembly 210 and a moving assembly 220. The high-pressure injection assembly 210 includes a high-pressure drive (not shown) and an injection element 211 connected to the high-pressure drive. Specifically, in combination with... Figure 2 The high-pressure drive unit primarily provides the working foundation for the spraying component 211 to spray water. It provides the driving force to enable the spraying component 211 to spray high-pressure water onto the surface of the concrete to be roughened. The high-pressure drive unit can be a high-pressure water pump, and the specific specifications and model of the high-pressure water pump can be selected as needed. The spraying component 211 can be a nozzle, spray gun, or similar component capable of spraying water. The spraying component 211 can be connected to the high-pressure drive unit via a high-pressure water pipe, which can be a high-pressure hose 213 or other types of water pipe capable of withstanding high pressure.

[0034] The movable component 220 is connected to the spraying component 211 to drive the spraying component 211 to move. The two side frames of the mounting frame 100 define the range of movement of the spraying component 211. Specifically, driven by the movable component 220, the spraying component 211 reciprocates within the area between the two side frames (left side frame 120 and right side frame 130) of the mounting frame 100, thereby achieving strip-type operation on the concrete surface.

[0035] Among them, combined Figure 1 and Figure 2 The wall-adhering mechanism 300 includes a water spraying drive 310 and a water spraying element 320 disposed on the upper surface 150 of the mounting frame 100. The upper surface 150 of the mounting frame 100 refers to the side of the mounting frame 100 facing away from the concrete 000 surface. The water spraying drive 310 provides driving force to make the water spraying element 320 spray water outward to provide thrust so that the roughening device can adhere to the surface of the concrete 000 to be roughened. Specifically, the water spray drive unit 310 can be selected from various types of water pumps, such as an axial flow pump. The water spray unit 320 can be a spray pipe set perpendicular to the upper surface 150 of the mounting frame 100. Driven by the axial flow pump, water flows into the water spray unit 320 from the inlet 323 and out from the outlet 324. The water outlet direction of the water spray unit 320 is perpendicular to the upper surface 150 of the mounting frame 100 and faces outward. While the water spray unit 320 sprays water, the high-pressure water flow can generate a reaction force on the mounting frame 100. The direction of the reaction force is opposite to the direction of the water spray. Under the action of this reaction force, the entire roughening device can adhere to the surface of the concrete 000 to be roughened, thereby ensuring that the roughening device constructed in water will not float relative to the surface of the concrete 000 to be roughened, which is conducive to achieving a good roughening effect on the surface of the concrete 000.

[0036] The underwater control center 400 is electrically connected to the mobile jetting mechanism 200 and the wall-adhering mechanism 300. Specifically, the underwater control center 400 includes components such as an underwater switch and an industrial control motherboard. The underwater control center 400 integrates functions such as sensing, line switching, information exchange, and signal processing, and can control the coordinated operation of various mechanisms and components in the chiseling device.

[0037] The underwater concrete roughening device provided in this application, compared with the prior art, is used for roughening construction of underwater concrete vertical or inclined surfaces. It uses an installation frame 100 to fix and install the various components of the roughening device. A movable spraying mechanism 200, including a high-pressure spraying assembly 210 and a moving assembly 220, is used. The moving assembly 220 drives the spraying element 211 in the high-pressure spraying assembly 210 to move, and the high-pressure drive component in the high-pressure spraying assembly 210 provides the driving force, enabling the spraying element 211 to move. 1. High-pressure water jets are sprayed onto the surface of the concrete 000 to be roughened, thereby achieving the roughening of the concrete 000 surface. Simultaneously, a wall-adhering mechanism 300 is provided, including a water-spraying drive component 310 and a water-spraying component 320 perpendicular to the upper surface 150 of the mounting frame 100. Driven by the water-spraying drive component 310, the water-spraying component 320 sprays water outward to provide thrust, allowing the roughening device to adhere to the surface of the concrete 000 to be roughened for operation. All components in the entire roughening device work collaboratively under the control of the underwater control center 400. The underwater concrete roughening device of this application can be lowered into the water to perform the roughening of the concrete surface using a lifting device, enabling the roughening of concrete surfaces in deep-water environments where manual operation is impossible, thus realizing mechanized operation of concrete surface roughening in deep-water environments.

[0038] Alternatively, in another embodiment of this application, see [reference]. Figure 1 Four sets of wall-adhering mechanisms 300 are provided, and the four sets of wall-adhering mechanisms 300 are distributed relative to the mounting frame 100. The four sets of wall-adhering mechanisms 300 include four water spray drive units 310 and four matching water spray units 320. The water spray drive unit 310 can be an axial flow pump. The wall-adhering mechanism 300 draws water in from the top and sprays water from a direction perpendicular to the upper surface 150 of the mounting frame 100 to provide thrust for the underwater chiseling device to adhere to the wall. Specifically, the water spray unit 320 includes an inlet pipe section 321 and a spray pipe section 322. The inlet 323 of the inlet pipe section 321 is located on the top edge 110 of the mounting frame 100. A filter screen can be installed at the inlet 323 to prevent large particles from entering the inlet pipe section 321. The outlet 324 of the spray pipe section 322 is perpendicular to the upper surface 150 of the mounting frame 100 and faces outward to ensure that the direction of the sprayed water is consistent with the outer normal direction of the chiseling working surface. Specifically, in one embodiment, the water spray component 320 may be provided with a 90-degree arc-shaped corner structure. The water spray component 320 may be formed by bending a water pipe, or it may be formed by sequentially connecting a water inlet pipe section 321, a corner structure, and a water spray pipe section 322.

[0039] Specifically, in this embodiment, refer to Figure 1The axial flow pump consists of pump blades and a waterproof motor. The pump blades are located inside the straight section of the inlet pipe section 321; the waterproof motor is located outside the inlet pipe section 321 and the spray pipe section 322. The waterproof motor is connected to the pump blades through an extended drive shaft, and the drive shaft of the waterproof motor is collinear with the center line of the inlet pipe section 321.

[0040] In another embodiment of this application, please refer to Figure 1 The moving component 220 includes a moving drive component 221 and a slide rail assembly 222 that is connected to the moving drive component 221 in a transmission manner. The slide rail assembly 222 includes a screw 2221 and a slide rod 2222 that are parallel to each other and disposed between the two side frames of the mounting frame 100, and a slider 2223 that is slidably connected to the slide rod 2222 and screwed to the screw 2221. The spraying component 211 is connected to the bottom end of the slider 2223 and can reciprocate along the screw 2221 and the slide rod 2222 with the slider 2223.

[0041] Specifically, in this embodiment, a transmission component 223 connects the movable drive component 221 and the slide rail assembly 222, thereby achieving the transmission connection between the movable drive component 221 and the slide rail assembly 222. The movable drive component 221 can be a drive motor, such as an automatically controllable stepper motor or a servo motor. The movable drive component 221 is mounted on either side of the mounting frame 100, such as on the right side frame 130. The screw 2221 in the slide rail assembly 222 is preferably a bidirectional screw 2221, and the slider 2223 in the slide rail assembly 222 can reciprocate along the slider 2222 and the screw 2221. The transmission assembly 223 includes a drive wheel 2231 sleeved with the output shaft of the moving drive component 221, a driven wheel 2232 sleeved with the screw 2221, and a transmission belt 2233 connecting the drive wheel 2231 and the driven wheel 2232. The drive wheel 2231 and the driven wheel 2232 achieve speed change transmission through the transmission belt 2233. The spray component 211 is connected to the slider 2223, and the slider 2223 drives the spray component 211 to reciprocate along the screw 2221 and the slide bar 2222.

[0042] Preferably, two spraying elements 211 are provided, and two corresponding sliders 2223 are provided. The left and right ends of the bidirectional screw 2221 are respectively configured with positive and negative threads, so that when the bidirectional screw 2221 rotates in the same direction, the sliders 2223 fixed at the left and right ends of the bidirectional screw 2221 can move in opposite directions or in opposite directions. The two spraying elements 211 are driven by the corresponding sliders 2223, and move with the left and right sides of the sliders 2223. The two spraying elements 211 move in opposite directions or in opposite directions along the screw 2221 and the slider 2222.

[0043] Optionally, corresponding to the two spray elements 211, a reducing connector 212 is provided between the high-pressure drive and the spray element 211. The spray element 211 and the reducing connector 212 are connected by a high-pressure hose 213. The reducing connector 212 is set on the top frame 110 of the mounting frame 100. The exposed end of the reducing connector 212 provides an adapter for high-pressure water inlet. The inner end of the reducing connector 212 is set as a Y-shaped fork. The Y-shaped fork is connected to the high-pressure hoses 213 on the left and right sides respectively. The high-pressure hoses 213 on the left and right sides are then connected to the corresponding spray elements 211 respectively. This realizes that the two spray elements 211 share a high-pressure drive, and realizes the compactness of the overall structure of the burring device.

[0044] Preferably, the slide bar 2222 is a metal slide bar, specifically a smooth stainless steel bar, and the slide bar 2222 is fixedly connected to the left and right side frames of the mounting frame 100. The bidirectional screw 2221 is preferably a precision-made screw, and the bidirectional screw 2221 is specifically connected to the left and right side frames of the mounting frame 100 through rollers on both sides, a left fixing bolt, and a right fixing plate.

[0045] The main function of the moving component 220 is to achieve strip-like operation on the underwater concrete surface through the reciprocating linear motion of a set of spraying components 211.

[0046] In another embodiment of this application, the upper part of the slider 2223 is provided with a smooth semi-hole for connecting with the slide rod 2222, the middle part of the slider 2223 is provided with a screw hole for connecting with the screw 2221, and the bottom of the slider 2223 is provided with a pin hole for connecting the spraying component 211.

[0047] Specifically, in this embodiment, the slider 2223 can be connected to the slide rod 2222 via the slider fixing clamp 2224. The slider 2223 and the slide rod 2222 can be slidably connected through the smooth half-hole on the upper part of the slider 2223 and the smooth half-hole on the slider fixing clamp 2224. A pin hole on the bottom of the slider 2223 allows for the insertion of a pin or dowel to achieve a pin connection between the slider 2223 and the spraying component 211. By opening different connection holes on the slider 2223, the slider 2223 can be simultaneously connected to the slide rod 2222, the screw 2221, and the spraying component 211. The connection relationship is simple and reliable, which is beneficial for long-term roughening operations using the roughening device.

[0048] In another embodiment of this application, please refer to Figure 1 and Figure 2 The spraying component 211 is connected to the slider 2223 via the mounting base 2225. The bottom end of the mounting base 2225 is provided with an enlarged portion having an inclined surface. The spraying component 211 is fixedly connected to the inclined surface of the enlarged portion so that the high-pressure water jet sprayed by the spraying component 211 can act obliquely on the surface of the concrete 000 to be roughened.

[0049] Specifically, in this embodiment, a mounting base 2225 is provided to connect the spraying component 211 and the slider 2223. Specifically, the top of the mounting base 2225 is provided with a pin structure, such as a circular pin structure. The locking pin can achieve a tight connection between the mounting base 2225 and the slider 2223.

[0050] Specifically, in combination Figure 2 The bottom end of the mounting base 2225 is provided with an enlarged portion for fixing the spraying component 211. The enlarged portion has an inclined surface, and the normal direction of the inclined surface is at a certain angle to the axial direction of the pin structure, such as a 15° angle. Of course, in some embodiments, it can also be at other angles. Optionally, the spraying component 211 is snapped and fixed on the enlarged portion of the mounting base 2225. Through the enlarged portion on the mounting base 2225, the spraying component 211 is at a certain inclined angle to the surface of the concrete 000 to be roughened. The high-pressure water jet sprayed by the spraying component 211 can act obliquely on the surface of the concrete 000 to be roughened. Compared with spraying vertically onto the surface of the concrete 000, the oblique spraying method is more conducive to improving the surface roughening effect and roughening efficiency of the concrete 000.

[0051] Optionally, in one embodiment, the rotating mounting base 2225 can achieve a change in the angle between the incident direction of the high-pressure jet water flow and the surface of the concrete 000.

[0052] In another embodiment of this application, please refer to Figure 1 The mounting frame 100 has a contact switch 224 on the left side frame 120 and / or the right side frame 130 corresponding to the end position reached by the slider 2223. When the slider 2223 slides to the end position and touches the contact switch 224, it can trigger the moving drive 221 to rotate forward or backward.

[0053] Specifically, in this embodiment, the contact switch 224 is fixed on the left side frame 120 and / or the right side frame 130 of the mounting frame 100. Taking the right side frame 130 as an example, when there are two sliders 2223, when the left and right sliders 2223 move to the left and right ends of the screw 2221 and the slide bar 2222 respectively, the right slider 2223 will touch the right contact switch 224, thereby triggering the interlocking control relay built into the underwater control center 400 to complete the automatic switching of the circuit. The interlocking control relay and the driver of the moving drive 221 work together to control the forward and reverse rotation of the moving drive 221.

[0054] In another embodiment of this application, please refer to Figure 1 and Figure 2The top frame 110 and the two side frames of the mounting frame 100 are closed, while the bottom frame of the mounting frame 100 is open. The bottom frame of the mounting frame 100 includes two rows of parallel and spaced closed brushes 140, and the spraying component 211 moves back and forth between the two rows of closed brushes 140.

[0055] Specifically, in this embodiment, the mounting frame 100 is preferably an all-metal rectangular structure. The top frame 110, left frame 120, and right frame 130 of the mounting frame 100 are all designed to be closed, while the bottom frame is designed to be open, consisting of two parallel plates. The open design of the bottom frame provides a working channel for the spraying component 211 to slide left and right. The mounting frame 100 provides mounting support for other components and is also the main component for weight adjustment of the underwater shaving device. In some embodiments, the suspension stability of the underwater shaving device can be improved by increasing the weight of the mounting frame 100 or adding counterweights to the mounting frame 100.

[0056] Specifically, in combination Figure 2 The closed brush 140 on the bottom edge of the mounting frame 100 has a double-row brush structure, which is arranged on two parallel plates on the bottom edge of the mounting frame 100. The double-row brushes are crisscrossed to prevent residual particles from entering the inside of the burr device.

[0057] In another embodiment of this application, please refer to Figure 1 The shaving device also includes lateral pushers 500 disposed on the side frames of the mounting frame 100.

[0058] Specifically, in this embodiment, the lateral thruster 500 is preferably a propeller thruster. The lateral thruster 500 is an integrated waterproof structure that provides lateral thrust for the shaving device to ensure that the shaving device can move smoothly underwater.

[0059] Preferably, in some embodiments, the lateral thrusters 500 can be mounted in pairs on the outer sides of the left and right edges of the mounting frame 100 via mounting brackets.

[0060] In another embodiment of this application, please refer to Figure 1 The shaving device also includes multiple image acquisition units 600 mounted on the mounting frame 100.

[0061] Specifically, in this embodiment, the image acquisition component 600 can be a camera or webcam of various specifications and models. The image acquisition component 600 has an integrated waterproof structure and is mainly used for scene observation when the underwater roughening device is moving and for observing the effectiveness of underwater cleaning and roughening experiments or cleaning and roughening operations after completion. The image acquisition component 600 is arranged at the corner of the mounting bracket of the horizontal thruster 500 and the left and right edges of the mounting frame 100. The number of horizontal thrusters 500 can be arranged according to actual needs. Preferably, the number is 2 or 4. The image acquisition components 600 are preferentially arranged in the normal direction of the plane where the mounting frame 100 is located, and secondly arranged in the left and right directions of the plane where the mounting frame 100 is located.

[0062] In another embodiment of this application, please refer to Figure 1 and Figure 2 The shaving device also includes a protective shell 700 covered on the mounting frame 100 and movable rollers 800 disposed on the mounting frame 100.

[0063] Specifically, in this embodiment, the protective shell 700 is basically a fully enclosed design. Its function is to prevent residual particles from splashing into the interior of the chiseling device and to help maintain the overall continuity of the external shape of the chiseling device, so as to reduce the obstruction effect of underwater foreign objects on the movement of the chiseling device.

[0064] Specifically, four movable rollers 800 are arranged on the top and bottom of the left and right sides of the mounting frame 100. These four rollers are located on the lower surface 160 of the mounting frame 100, i.e., the side of the concrete 000 to be roughened. The upper surface 150 is positioned opposite the lower surface 160. The arrangement of the movable rollers 800 helps reduce the movement resistance of the roughening device when sliding close to the surface of the concrete 000, and also helps control the working distance of the roughening device during underwater spraying.

[0065] Please see Figure 1 and Figure 2 This application also provides an underwater concrete roughening system, including a surface control center 900 and an underwater concrete roughening device as described in the above embodiments, wherein the surface control center 900 and the underwater control center 400 are electrically connected by a cable.

[0066] Specifically, in this embodiment, the underwater control center 400 integrates functions such as sensing, line switching, video acquisition, information exchange, and signal processing. The underwater control center 400 mainly includes components such as a frame contact switch 224, a central contact switch, an interlocking control relay, an axial flow pump motor driver, a slider motion motor driver, an underwater switch, a video acquisition unit, and an industrial control motherboard.

[0067] Specifically, the industrial control motherboard uses a servo motor driver to control the speed of the transverse thruster 500 and the waterproof motor built into the axial flow pump. Underwater environmental video information is acquired in real-time via the image acquisition unit 600 in the underwater control center 400. Both the image acquisition unit 600 and the industrial control motherboard are connected to an underwater switch via TCP / IP ports. The underwater switch is wired to the built-in switch of the shore-based control system on the surface, forming an integrated underwater and shore-based information exchange network.

[0068] Specifically, in this embodiment, to avoid cable tangling, a floating integrated design is adopted. The cable is an 8-core custom cable, of which 2 cores are used for DC power input, 4 cores are used for TCP / IP communication, and 2 cores are used for RS-485 communication.

[0069] Specifically, in this embodiment, the water-based device mainly consists of a high-pressure drive unit (high-pressure pump), an electrically controlled lifting device, and a shore-based controller and its supporting control software system. The chiseling device is connected to the lifting device via a steel wire rope, enabling the controllable lifting and lowering of the chiseling device; the shore-based controller and its supporting software system work together to realize the electrically controlled lifting of the electrically controlled lifting device, as well as system task management and work parameter setting functions.

[0070] The underwater concrete roughening device of this application mainly realizes functions such as underwater cleaning and roughening operations, underwater wall stabilization, underwater movement, underwater observation, and underwater control; the above-water device of this application mainly realizes functions such as electrically controlled lifting, pressurized jet for cleaning and roughening operations, pressurized jet for movement and wall stabilization control, and shore-based control and system management.

[0071] This underwater concrete roughening system enables controlled movement of underwater cleaning and roughening components via shore-based operation, achieving full-coverage cleaning and roughening of underwater concrete surfaces. The roughening device can automatically adhere to the surface and perform concrete surface cleaning and roughening operations in a high-pressure jet mode. Continuous cleaning operations in strip-shaped work areas are achieved through automatic swing control of the spray component 211 and automatic lifting control of the hoisting device. Underwater video monitoring allows for self-monitoring of its status and evaluation of operational effectiveness. This device eliminates the need for divers or underwater auxiliary facilities for underwater concrete surface cleaning and roughening operations, allowing for entirely shore-based operation. It is effectively adapted to cleaning and roughening of warped, vertical, and inclined concrete surfaces, significantly improving the efficiency of underwater concrete cleaning and roughening.

[0072] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An underwater concrete roughening device, used for roughening construction of underwater concrete vertical or inclined surfaces, characterized in that, It includes a lifting device, an installation frame, and a mobile spraying mechanism, a wall-adhering mechanism, and an underwater control center that are fixedly installed on the installation frame; The chiseling device is lifted or lowered by the lifting device. The mobile spraying mechanism includes a high-pressure spraying assembly and a moving assembly. The high-pressure spraying assembly includes a high-pressure drive and a spraying element connected to the high-pressure drive. The moving assembly is connected to the spraying element to drive the spraying element to move. The two side frames of the mounting frame define the range of movement of the spraying element. The high-pressure drive provides driving force to make the spraying element spray high-pressure water jets onto the concrete surface to be chiseled. The chiseling device and the lifting device are connected by ropes. The wall-adhering mechanism includes a water spraying drive and a water spraying element disposed on the upper surface of the mounting frame. The water spraying drive provides a driving force to make the water spraying element spray water outward to provide a thrust so that the roughening device can adhere to the concrete surface to be roughened. The underwater control center is electrically connected to both the moving jet mechanism and the wall-adhering mechanism. The top and side borders of the mounting frame are closed, while the bottom border of the mounting frame is open. The bottom border of the mounting frame includes two rows of parallel and spaced-apart closed brushes, and the spraying component moves back and forth between the two rows of closed brushes. The water spray component includes a water spray pipe section, the outlet of which is perpendicular to the upper surface of the mounting frame and faces outward. The burring device also includes a protective shell covering the mounting frame.

2. The underwater concrete roughening device as described in claim 1, characterized in that, The moving component includes a moving drive and a slide rail assembly that is pulsatorically connected to the moving drive. The slide rail assembly includes a screw and a slide rod that are parallel to each other and disposed between the two side frames of the mounting frame, and a slider that is slidably connected to the slide rod and screwed to the screw. The spraying component is connected to the bottom end of the slider and can reciprocate along the screw and the slide rod with the slider.

3. The underwater concrete roughening device as described in claim 2, characterized in that, The upper part of the slider has a smooth semi-hole for connecting with the slide rod, the middle part of the slider has a screw hole for connecting with the screw, and the bottom of the slider has a pin hole for connecting with the spraying component.

4. The underwater concrete roughening device as described in claim 2, characterized in that, The number of sliders is two, and the screw is respectively provided with positive and negative threads, so that when the screw rotates in the same direction, the two sliders can move in opposite directions or in opposite directions.

5. The underwater concrete roughening device as described in claim 2, characterized in that, The spraying component is connected to the slider via a mounting base. The bottom end of the mounting base is provided with an enlarged portion having an inclined surface. The spraying component is fixedly connected to the inclined surface of the enlarged portion so that the high-pressure water jet sprayed by the spraying component can act obliquely on the concrete surface to be roughened.

6. The underwater concrete roughening device as described in claim 2, characterized in that, The mounting frame has a contact switch on its left and / or right sides corresponding to the end position reached by the slider. When the slider slides to the end position and touches the contact switch, it can trigger the moving drive to rotate forward or backward.

7. The underwater concrete roughening device as described in any one of claims 1 to 6, characterized in that, The water spray component also includes a water inlet pipe section that communicates with the water spray pipe section, and the water inlet of the water inlet pipe section is located on the top edge of the mounting frame.

8. The underwater concrete roughening device as described in any one of claims 1 to 6, characterized in that, The roughening device also includes lateral pushers disposed on both sides of the mounting frame; And / or, the chiseling device further includes a plurality of image acquisition elements disposed on the mounting frame; And / or, the shaving device further includes movable rollers disposed on the mounting frame.

9. An underwater concrete roughening system, characterized in that, It includes a surface control center and an underwater concrete roughening device as described in any one of claims 1 to 8, wherein the surface control center and the underwater control center are electrically connected by a cable.

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