Intelligent analysis and comprehensive treatment device for urban underground engineering structure diseases

Abstract

This invention discloses an intelligent analysis and comprehensive treatment device for structural defects in urban underground engineering projects, comprising: a power supply and movement component; a robotic arm, one end of which is movably mounted on the power supply and movement component; and an execution component, detachably mounted on the other end of the robotic arm, for the detection and treatment of structural defects in urban underground engineering projects. This invention improves efficiency and effectiveness by using automated equipment to detect and treat structural defects in urban underground engineering projects, while also enhancing the safety of personnel.

Description

Technical Field

[0001] This invention relates to the field of underground engineering maintenance technology, and in particular to a smart analysis and comprehensive treatment device for structural defects in urban underground engineering. Background Technology

[0002] As the service life of urban underground engineering structures continues to increase, the durability problems of underground engineering structures, mainly made of reinforced concrete, are gradually being exposed. In related technologies, the detection and treatment of defects in urban underground engineering structures still mainly rely on manual detection and treatment, which has low work efficiency, poor detection effect, and makes it difficult to guarantee the safety of workers. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an intelligent analysis and comprehensive treatment device for structural defects in urban underground engineering projects, improving efficiency, effectiveness, and the safety of personnel.

[0004] According to an embodiment of the present invention, an intelligent analysis and comprehensive treatment device for structural defects in urban underground engineering projects includes: a power supply and movement component; a robotic arm, one end of which is movably mounted on the power supply and movement component; and an execution component, which is detachably mounted on the other end of the robotic arm, for detecting and treating structural defects in urban underground engineering projects.

[0005] The intelligent analysis and comprehensive treatment device for urban underground engineering structural defects according to embodiments of the present invention uses automated equipment to detect and treat urban underground engineering structural defects, thereby improving efficiency and effectiveness while enhancing the safety of staff.

[0006] In some embodiments, the execution component includes a plurality of sub-components, which are detachably mounted on the robotic arm via a rotatable self-locking sleeve.

[0007] In some embodiments, the plurality of sub-components include: a detection execution component, the detection execution end being used to detect the structural defects of the urban underground engineering project; a cutting and grinding execution component, the cutting and grinding execution component being used to cut and / or grind the location of the structural defects of the urban underground engineering project; and a grouting and rebar installation execution component, the grouting and rebar installation execution component being used to pour concrete and / or install structural rebar.

[0008] In some embodiments, the detection execution component includes: a base; a plurality of positioning elements movably disposed on the base; and a geophysical probe disposed on the positioning elements or between the plurality of positioning elements to position the geophysical probe.

[0009] In some embodiments, the base is provided with a plurality of spaced tracks, and the positioning member is movably connected to the tracks.

[0010] In some embodiments, the detection execution component further includes a rolling element that abuts against the surface of the urban underground engineering structure to maintain a predetermined distance between the geophysical probe and the surface of the urban underground engineering structure.

[0011] In some embodiments, the positioning element is configured as a mechanical claw, the mechanical claw including a body and a plurality of limbs, the plurality of limbs collectively defining a receiving space for accommodating the geophysical object; wherein the limbs are movably disposed on the body, and the rolling element is disposed on the side of the limb opposite to the receiving space.

[0012] In some embodiments, the grouting and rebar installation assembly includes: a grouting pipe for injecting grout into a target space; and an expandable sealing assembly, wherein the grouting pipe is disposed on the side of the expandable sealing assembly away from the robotic arm, and the expandable sealing assembly has a sealing surface for sealing the target space.

[0013] In some embodiments, the expandable sealing assembly includes: a telescopic member, one end of which can extend away from the grouting pipe; and a flexible member connected to the telescopic member and adjusting the area of ​​the sealing surface under the drive of the telescopic member.

[0014] In some embodiments, the cutting and polishing assembly includes: a cutting and polishing body, on which a cutting and polishing tool is provided; a telescopic rod, one end of which is provided on the cutting and polishing body, and the other end of which can extend away from the cutting and polishing body; and a corrugated hose, which is connected to the telescopic rod and extends under the drive of the telescopic rod.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a schematic diagram illustrating the cooperation between the power supply and movement components and the robotic arm in an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the detection execution component in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the mechanical gripper in an embodiment of the present invention;

[0020] Figure 4This is a schematic diagram of the grouting and rebar installation execution component in an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the cutting and grinding execution component in an embodiment of the present invention.

[0022] Figure label:

[0023] 10. Power supply mobile component; 11. Platform body; 111. Unmanned cabin; 112. Stabilizing device; 113. Execution component rotating cabin; 114. Separated hopper; 12. Rotating chassis; 13. Spider-like simulated mechanical legs; 14. Energy supply device;

[0024] 20. Robotic arm; 21. Main robotic arm; 22. Telescopic main robotic arm; 23. Telescopic secondary robotic arm; 231. Rotary connecting self-locking sleeve;

[0025] 31. Detection and execution component; 311. Base; 3111. Track; 3112. High-precision imager; 3113. Data transmission base station; 312. Positioning component; 3121. Main body; 3122. Limbs; 3123. Telescopic column; 3124. Spring damping cylinder; 313. Rolling component; 3125. Accommodation space;

[0026] 32. Cutting and grinding execution component; 321. Cutting and grinding body; 3211. Cutting and grinding tool; 322. Telescopic rod; 323. Corrugated hose;

[0027] 33. Grouting and rebar installation execution components; 331. Grouting pipe; 332. Expandable sealing components; 3321. Telescopic components; 3322. Flexible components; 3323. Sealing surface; 333. Multi-type material pumping pipe; 334. Rebar installation robot. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention 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 invention.

[0030] Furthermore, features specified as "first" or "second" may explicitly or implicitly include one or more of the same feature, used to distinguish and describe features, without any order or distinction of importance.

[0031] In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] The following description, in conjunction with the accompanying drawings, describes an embodiment of the intelligent analysis and comprehensive treatment device for structural defects in urban underground engineering projects according to the present invention.

[0034] like Figures 1 to 5 As shown, the intelligent analysis and comprehensive treatment device for urban underground engineering structural defects according to an embodiment of the present invention includes: a power supply and movement component 10, a robotic arm 20, and an execution component.

[0035] One end of the robotic arm 20 is movably mounted on the power supply moving component 10.

[0036] The execution component is detachably mounted on the other end of the robotic arm 20 for the detection and treatment of structural defects in urban underground engineering projects.

[0037] The power supply mobile component 10 provides energy to the entire device. It drives the robotic arm 20, which in turn moves. The actuator at one end of the robotic arm 20 inspects the urban underground engineering structure and addresses structural defects such as cracks in the lining, insufficient lining thickness, and holes behind the lining. Compared to manual labor in related technologies, this method improves efficiency and effectiveness while eliminating the need for on-site operations, thus enhancing worker safety.

[0038] It should be noted that the robotic arm 20 being movably mounted on the power supply moving component 10 can mean that the robotic arm 20 itself deforms, such as bending or extending, or that the robotic arm 20 moves relative to the power supply moving component 10, such as moving or rotating relative to the power supply moving component 10, etc. There are no restrictions here.

[0039] According to an embodiment of the present invention, the intelligent analysis and comprehensive treatment device for urban underground engineering structural defects uses a power supply mobile component 10 to drive the movement of a robotic arm 20. The execution component at one end of the robotic arm 20 identifies and treats urban underground engineering structural defects, thereby improving work efficiency and effectiveness through automated equipment and reducing the probability of injury to workers.

[0040] like Figure 1 As shown, in some embodiments, the power supply mobile component 10 is configured as a spider simulation mobile platform, which includes: a platform body 11, a rotating chassis 12, spider simulation mechanical legs 13, and an energy supply device 14. The rotating chassis 12 is pivotally mounted on the platform body 11, and a plurality of spider simulation mechanical legs 13 are spaced apart around the platform body 11. The energy supply device 14 is mounted on the platform body 11.

[0041] In related technologies, urban underground engineering projects include ancillary structures such as subway tracks and underground pipelines. When people ride on vehicles such as aerial ladder trucks, these ancillary structures hinder the movement of the vehicles. This application uses a spider simulation mobile platform, which can adapt to various terrains and improve adaptability.

[0042] like Figure 1 As shown, in some specific embodiments, the platform body 11 is also equipped with a drone cabin 111 for loading drones. The drones are used to detect the travel route of the intelligent analysis and comprehensive treatment device for urban underground engineering structural defects and to conduct preliminary detection of urban underground engineering structural defects.

[0043] like Figure 1 As shown, in some specific embodiments, the platform body 11 is also provided with a stabilizing device 112 to improve the stability of the power supply moving component 10.

[0044] like Figure 1As shown, in some specific embodiments, the platform body 11 is also provided with an execution component rotation compartment 113, which is used to store execution components.

[0045] like Figure 1 As shown, in some embodiments, the robotic arm 20 is configured as a multi-degree-of-freedom robotic arm, which includes a main robotic arm 21, a telescopic main robotic arm 22, and a telescopic secondary robotic arm 23. One end of the main robotic arm 21 is mounted on the rotating chassis 12, and the other end is connected to the telescopic main robotic arm 22. The telescopic end of the main robotic arm 21 is connected to the telescopic secondary robotic arm 23, which is used to connect the execution components.

[0046] In some embodiments, the execution component includes multiple sub-components, which are detachably mounted on the robotic arm 20 via a rotary connecting self-locking sleeve 231. By providing multiple sub-components, two sub-components can be interchanged; for example, different sub-components can be designed for different working conditions, thereby improving specificity. Alternatively, if multiple sub-components are identical, a second sub-component can be quickly replaced if the first sub-component is damaged or worn, improving efficiency. Furthermore, all multiple sub-components are connected to the robotic arm 20 via the rotary connecting self-locking sleeve 231, thereby improving versatility.

[0047] In related technologies, detection and treatment are often carried out independently, and each operation can generally only detect, analyze and treat a certain type of disease, resulting in low work efficiency and easy disruption to the normal operation of urban underground engineering. This application, through the cooperation of various sub-components, enables detection and treatment to be completed at the same time, thereby improving work efficiency.

[0048] like Figures 2 to 5 As shown, in some embodiments, multiple sub-components include: a detection execution component 31, a cutting and grinding execution component 32, and a grouting and rebar installation execution component 33.

[0049] The detection execution component 31 is used to detect structural defects in urban underground engineering projects.

[0050] The cutting and grinding execution component 32 is used to cut and / or grind the parts of urban underground engineering structures where structural defects are located.

[0051] Grouting and rebar installation assembly 33 is used for pouring concrete and / or installing structural rebar.

[0052] like Figure 2 , Figure 3 As shown, in some embodiments, the detection execution component 31 includes: a base 311, a geophysical probe, and a plurality of positioning elements 312.

[0053] The positioning element 312 is movably mounted on the base 311. The movable positioning element 312 can adapt to different positioning requirements and improve flexibility.

[0054] The geophysical probe is positioned on or between multiple positioning elements 312 to locate the geophysical probe.

[0055] The geophysical probe can be placed on the positioning member 312 or between multiple positioning members 312. Geophysical probes of different sizes can be set on the detection execution component 31 to meet different needs.

[0056] For example, geophysical instruments include ground-penetrating radar, seismic imaging systems, or other geophysical exploration tools. It should be noted that different geophysical instruments are selected based on the specific needs for detecting structural defects in urban underground engineering projects and the type of the target structure.

[0057] like Figure 2 , Figure 3 As shown, in some embodiments, the base 311 is provided with a plurality of spaced-apart tracks 3111, and the positioning member 312 is movably connected to the tracks 3111. Through the movable connection between the positioning member 312 and the tracks 3111, the distance between the positioning members 312 can be adjusted to adapt to the needs of different track spacing and shot spacing during seismic exploration.

[0058] like Figure 2 , Figure 3 As shown, in some specific embodiments, multiple positioning elements 312 are provided on the track 3111. The multiple positioning elements 312 on the multiple tracks 3111 are constructed as an adaptive embedding array, thereby adapting to the installation requirements of various geophysical exploration elements. The adaptive embedding array can freely carry various types of geophysical exploration elements.

[0059] like Figure 2 As shown, in some embodiments, a high-precision imager 3112 is provided on the base 311. The high-precision imager is used to image the urban underground engineering structure. The high-precision imager 3112 is fused with the data of the geophysical probe to improve the detection accuracy and determine the location, shape and size of the defects in the urban underground engineering structure.

[0060] like Figure 2 As shown, in some specific embodiments, the base 311 is also provided with a data transmission base station 3113, which is used to transmit the data of the high-precision imager 3112 and the geophysical object to other devices, such as the operator's operating instrument.

[0061] like Figure 3 As shown, in some embodiments, the detection execution component 31 further includes a rolling element 313, which abuts against the surface of the urban underground engineering structure to maintain a predetermined distance between the geophysical probe and the surface of the urban underground engineering structure. By setting the rolling element 313, the distance between the geophysical probe and the surface of the urban underground engineering structure is maintained at a predetermined distance, which meets the requirement of the ground-penetrating radar-type geophysical probe continuously adhering to the surface of the lining structure.

[0062] like Figure 3 As shown, in some embodiments, the positioning member 312 is configured as a mechanical claw, which includes a body 3121 and a plurality of limbs 3122, which together define a receiving space 3125 for receiving the probe.

[0063] The limb 3122 is movably mounted on the main body 3121, and the rolling element 313 is located on the side of the limb 3122 away from the receiving space 3125. For example, the rolling element 313 is a roller. When the receiving space 3125 carries a ground-penetrating radar-like geophysical probe, the mechanical claw folds inward, and the roller is located on the side of the receiving space 3125 closer to the surface of the lining structure, so that the detection execution component 31 can slide smoothly on the surface of the lining structure.

[0064] It should be noted that the accommodating space 3125 is used for smaller geophysical devices, such as seismic imaging detectors.

[0065] The geophysical object can also be installed between multiple mechanical claws. Understandably, the mechanical claws can move on the track 3111, and the space between multiple mechanical claws can be changed in size to accommodate different geophysical objects.

[0066] like Figure 3 As shown, specifically, the mechanical gripper also includes a telescopic column 3123 and a spring damping cylinder 3124. One end of the telescopic column 3123 is connected to the base 311, and the spring damping cylinder 3124 is located on the other end of the telescopic column 3123 and connected to the main body 3121. By setting the spring damping cylinder 3124, the mechanical gripper has a certain elastic deformation capability, thus preventing damage to the device.

[0067] The telescopic column 3123 extends and retracts relative to the base 311, adjusting the distance between the geophysical object and the base 311, thus performing multiple functions. For example, the five mechanical claws are arranged in a row, and the telescopic columns 3123 of the three middle mechanical claws retract, allowing the mechanical claws at both ends to grip the geophysical object.

[0068] In some specific embodiments, the telescopic column 3123 and / or the spring damping cylinder 3124 are provided with a rubber layer, so that the telescopic column 3123 and / or the spring damping cylinder 3124 have a certain elasticity when clamping the geophysical object, increasing the buffering capacity, improving the stability of the geophysical object, and preventing the geophysical object from being affected by vibration during detection.

[0069] like Figure 4 As shown, in some embodiments, the grouting and rebar installation execution component 33 includes: a grouting pipe 331 and an expandable sealing component 332.

[0070] Grouting pipe 331 is used to inject grout into the target space. Grouting pipe 331 injects grout into the target space to fill the target space.

[0071] The grouting pipe 331 is located on the side of the expandable sealing assembly 332 away from the robotic arm 20. The expandable sealing assembly 332 has a sealing surface 3323 to seal the target space. By using the expandable sealing assembly 332 to seal the target space, the grout is kept within the target space and shaped according to the set target. The expandable sealing assembly 332 can deform and expand to adapt to the needs of target spaces of different sizes, thus improving adaptability.

[0072] like Figure 4 As shown, in some specific embodiments, the grouting pipe 331 is located in the middle of the sealing surface 3323.

[0073] like Figure 4 As shown, in some embodiments, the expandable blocking assembly 332 includes a telescopic member 3321 and a flexible member 3322.

[0074] One end of the telescopic component 3321 can extend away from the grouting pipe 331.

[0075] The flexible component 3322 connects to the telescopic component 3321 and adjusts the area of ​​the sealing surface 3323 under the drive of the telescopic component 3321. The size of the sealing surface 3323 is adjusted through the cooperation between the telescopic component 3321 and the flexible component 3322. For example, the flexible component 3322 is a flexible template, possessing a certain degree of rigidity while maintaining flexibility.

[0076] like Figure 4 As shown, in some embodiments, the grouting and rebar installation assembly 33 further includes a multi-material pumping pipe 333, which is used to pump grout into the grouting pipe 331. The multi-material pumping pipe 333 selects different types of concrete and grout for pumping according to the different types of structural defects in urban underground engineering projects.

[0077] like Figure 1 As shown, in some specific embodiments, the platform body 11 is also provided with a partitioned silo 114, which is used to store materials required for the treatment of defects such as steel bars and grout.

[0078] like Figure 4 As shown, in some embodiments, the grouting and rebar installation execution component 33 further includes a rebar installation robot 334, which grabs and positions the rebar to complete the rebar installation process.

[0079] like Figure 5 As shown, in some embodiments, the cutting and grinding assembly includes: a cutting and grinding body 321, a telescopic rod 322, and a corrugated hose 323.

[0080] The cutting and grinding body 321 is equipped with a cutting and grinding tool 3211.

[0081] One end of the telescopic rod 322 is located on the cutting and grinding body 321, and the other end can extend away from the cutting and grinding body 321.

[0082] The corrugated hose 323 is connected to the telescopic rod 322 and extends under the drive of the telescopic rod 322. Through the cooperation of the telescopic rod 322 and the corrugated hose 323, cutting waste is collected, preventing waste from falling and causing damage to personnel and machinery.

[0083] It is understandable that the corrugated hose 323 can be unfolded, and the extension and retraction of the telescopic rod 322 causes the corrugated hose 323 to unfold or retract.

[0084] In some specific embodiments, the cutting and grinding tool 3211 includes: mechanical cutting tool, hot melt cutting tool and water jet cutting tool, which can be selected according to the type of structural defects in urban underground engineering.

[0085] In some embodiments, the working process of the intelligent analysis and comprehensive treatment device for structural defects in urban underground engineering is as follows:

[0086] Step 1: Control the spider simulation mobile platform to move to the target position in the urban underground project, and adjust the rotating chassis 12 and the multi-degree-of-freedom robotic arm to a suitable working height and angle according to the size of the target project cross section and the position of the survey line, and extend the stabilizing device 112 to fix it in the working position.

[0087] Step 2: Open the rotating compartment 113 of the execution component, adjust the multi-degree-of-freedom robotic arm, connect the telescopic secondary robotic arm 23 to the detection execution component 31 through the rotating connection self-locking sleeve 231, and use the adaptive embedded array to carry the geophysical object to detect the target. After the detection is completed, the high-precision imaging results and the geophysical results processed by the geophysical data fusion imaging method are transmitted to the operator through the data transmission base station 3113, and the detection execution component 31 is retracted into the rotating compartment 113 of the execution component.

[0088] Step 3: The operator determines the treatment method based on the detection results of the urban underground engineering structure defects. If the defect type is a surface crack in the lining structure, the multi-degree-of-freedom robotic arm is connected to the grouting and rebar installation execution component 33. Crack repair material is pumped through the multi-type material pumping pipe 333, and the target repair area is molded and cured through the expandable sealing component 332. If the defect type is a cavity behind the lining structure or insufficient lining thickness, requiring cutting of the lining structure, the multi-degree-of-freedom robotic arm is connected to the cutting and grinding execution component 32. The cutting and grinding execution component 32 is used to cut, grind, and remove rust from the rebar in the lining structure, and the corrugated hose 323 is extended to collect waste. After the cutting and grinding execution component 32 finishes its work, it is retracted to the execution component rotation chamber 113, and then connected to the grouting and rebar installation execution component 33.

[0089] Step 4: Depending on the type of structural defects in the urban underground engineering, select concrete and different types of grout for pumping to comprehensively treat the structural defects in the urban underground engineering. As needed, use a rebar anchoring robot 334 to perform rebar anchoring on the structure. After the treatment of structural defects in the urban underground engineering is completed, pump concrete to fill the cut positions and then perform formwork and curing.

[0090] Step 5: Retract the stabilizing device 112, control the spider simulation mobile platform to step to the next target position, adjust the working position of the multi-degree-of-freedom robotic arm, and repeat steps 2 to 4 to complete the detection, analysis and comprehensive treatment of all urban underground engineering structural defects within the target project.

[0091] This invention can meet the needs of intelligent detection, analysis and comprehensive treatment of defects in various types of urban underground engineering structures. It can overcome the difficulties in treating defects of different spatial cross-sectional sizes, and achieve comprehensive treatment of defects of different heights, angles and types. It ensures the detection accuracy and treatment efficiency of defects in urban underground engineering structures, eliminates safety hazards in urban underground engineering structures, and improves the level of intelligence and mechanization in the treatment of defects in urban underground engineering structures. The detection and treatment methods have strong safety and operability.

[0092] Other configurations and operations of the intelligent analysis and comprehensive treatment device for urban underground engineering structural defects according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0093] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0094] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A smart analysis and comprehensive treatment device for structural defects in urban underground engineering, characterized in that, include: Power supply mobile components; A robotic arm, one end of which is movably mounted on the power supply and movement assembly; An execution component, detachably mounted at the other end of the robotic arm, is used for the detection and treatment of structural defects in urban underground engineering projects. The execution component includes multiple sub-components, which are detachably mounted on the robotic arm via a rotatable self-locking sleeve. The plurality of said sub-components include: A detection execution component, the detection execution component being used to detect structural defects in the urban underground engineering project; A cutting and grinding execution component, which is used to cut and / or grind the parts of the urban underground engineering structure where the defects are located; Grouting and rebar installation execution assembly, the grouting and rebar installation execution assembly being used for pouring concrete and / or structural rebar installation; The grouting and rebar installation component includes: Grouting pipe, the grouting pipe being used to inject grout into the target space; An expandable sealing assembly, wherein the grouting pipe is located on the side of the expandable sealing assembly away from the robotic arm, and the expandable sealing assembly has a sealing surface to seal the target space; The grouting and rebar installation execution component also includes a rebar installation robot, which grabs and positions the rebar to complete the rebar installation process. The scalable plugging component includes: An expansion joint, one end of which can extend away from the grouting pipe; A flexible component, which connects to the telescopic component and adjusts the area of ​​the sealing surface under the drive of the telescopic component; The detection execution component includes: Base; Multiple positioning elements are movably mounted on the base; A geophysical probe, which is disposed on the positioning member or between the positioning members to position the geophysical probe; The base is provided with multiple spaced tracks, and the positioning element is movably connected to the tracks. The tracks are provided with multiple positioning elements, and the multiple positioning elements on the tracks are constructed as an adaptive embedded array.

2. The intelligent analysis and comprehensive treatment device for structural defects in urban underground engineering according to claim 1, characterized in that, The detection execution component further includes a rolling element that abuts against the surface of the urban underground engineering structure to maintain a predetermined distance between the geophysical probe and the surface of the urban underground engineering structure.

3. The intelligent analysis and comprehensive treatment device for structural defects in urban underground engineering according to claim 2, characterized in that, The positioning element is constructed as a mechanical claw, which includes a main body and multiple limbs, and the multiple limbs together define a receiving space for accommodating the geophysical object. The limb is movably disposed on the main body, and the rolling element is disposed on the side of the limb away from the receiving space.

4. The intelligent analysis and comprehensive treatment device for structural defects in urban underground engineering according to claim 1, characterized in that, The cutting and grinding execution component includes: A cutting and polishing body, wherein a cutting and polishing tool is provided on the cutting and polishing body; A telescopic rod, one end of which is mounted on the cutting and grinding body, and the other end which can extend away from the cutting and grinding body; A corrugated hose is connected to the telescopic rod and extends under the drive of the telescopic rod.

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