Operating mechanism and operating method of robot for repairing defects in water conveyance tunnel

Abstract

The operating mechanism and operating method of a robot for repairing defects in a water conveyance tunnel relate to the field of underwater robots. The present invention is to solve the problem that existing underwater robots can only detect and evaluate the defects of water conveyance tunnels, but cannot repair them. The operating mechanism of the robot for repairing defects in a water conveyance tunnel described in the present invention has a control cabin that is a pressure-resistant watertight cabin and a control panel is provided inside it. Three groups of operating parts are evenly distributed along the circumferential direction, and a rotary actuator is used to drive the three groups of operating parts to rotate along the circumferential direction they form; a roller brush and a grouting part are connected to the support part through a connecting part, the grouting part is used to grout the defects on the surface of the tunnel, and the roller brush is used to clean the surface of the tunnel or apply grouting material; the control panel is used to drive the rotary actuator to start or stop, and is also used to drive the connecting part to rotate or retract.

Description

Technical Field

[0001] The invention belongs to the field of underwater robots. Background Art

[0002] As an important part of hydraulic structures, water transfer tunnels will inevitably have various defects during long-term operation. Rapid emergency repair of defects formed in the early stage can prevent the defects from further deteriorating rapidly and extend the safe operation time of the tunnel.

[0003] With the improvement of intelligence level, the use of underwater robots for water tunnel inspection has been widely used. However, most underwater robots at this stage can only detect and evaluate the defects of water tunnels, and do not have the ability to perform emergency autonomous repairs. Therefore, a robot operating mechanism is needed that can perform rapid emergency repairs after detecting defects in the water tunnel environment. Summary of the invention

[0004] The present invention aims to solve the problem that the existing underwater robots can only detect and evaluate the defects of water conveyance tunnels but cannot repair them. An operating mechanism and an operating method of a water conveyance tunnel defect repairing robot are provided.

[0005] The operating mechanism of a robot for repairing defects in a water conveyance tunnel comprises: a support part, a control cabin 6, a rotary actuator 8 and three groups of operating parts; the support part is used to support the control cabin 6, the rotary actuator 8 and the three groups of operating parts, the control cabin 6 is a pressure-resistant watertight cabin and is provided with a control panel inside, the three groups of operating parts are evenly distributed along the circumferential direction, and the rotary actuator 8 is used to drive the three groups of operating parts to rotate along the circumferential direction formed by them; each group of operating parts comprises: a roller brush 1 and a grouting part 2, the roller brush 1 and the grouting part 2 are connected to the support part through a connecting part, the grouting part 2 is used to grout defects on the tunnel surface, and the roller brush 1 is used to clean the tunnel surface or apply grouting material; the control panel is used to drive the rotary actuator 8 to start or stop, and is also used to drive the connecting part to rotate or retract.

[0006] Furthermore, the above-mentioned support part includes a support frame 5 and a connecting frame 9, the support frame 5 is annular and is used to fix the rotary actuator 8 on the robot 15, the connecting frame 9 includes three connecting rods, the three connecting rods are located in the same plane and one end intersects at one point, the three groups of working parts are respectively fixed at the other end of the three connecting rods, the power output end of the rotary actuator 8 is connected to the intersection of the connecting frame 9, and can drive the connecting frame 9 to rotate within its plane.

[0007] Furthermore, the above-mentioned connecting part includes: a telescopic rod 7 and a working bracket 10, one end of the telescopic rod 7 is fixedly connected to one end of the corresponding connecting rod, and the other end of the telescopic rod 7 is connected to the working bracket 10, and the roller brush 1 and the grouting part 2 are both fixed on the working bracket 10, and the working bracket 10 can drive the roller brush 1 and the grouting part 2 to rotate respectively.

[0008] Furthermore, the working part further includes a light 3 and a camera 4 , and the light 3 and the camera 4 are both fixed on the working bracket 10 .

[0009] Furthermore, the grouting part 2 comprises at least two groups of barrels for storing repair materials, and grouting plugs 11 and grouting nozzles 14 are respectively provided at both ends of the barrels. The grouting plugs 11 push the repair materials in the barrels toward the other end, so that the repair materials are squeezed out from the grouting nozzles 14 .

[0010] Furthermore, the above-mentioned repair material is a water-oil mixture of polyurethane and a catalyst, and the polyurethane and the catalyst are respectively located in different barrels.

[0011] The operating method of the operating mechanism of the water conveyance tunnel defect repair robot is specifically as follows:

[0012] When the robot detects defects on the surface of the water tunnel, it uses the control panel to adjust the postures of the rotary actuator 8 and the three groups of working parts so that the roller brush 1 contacts the defective part on the surface of the water tunnel, and then drives the roller brush 1 to clean the surface of the water tunnel;

[0013] Use the control panel to adjust the posture of the rotary actuator 8 and the three groups of working parts so that the grouting part 2 is aligned with the defective part on the surface of the water conveyance tunnel and squeezes out the repair material;

[0014] The control panel is used to adjust the postures of the rotary actuator 8 and the three groups of working parts so that the roller brush 1 contacts the defective parts on the surface of the water conveyance tunnel, and then the roller brush 1 is driven to spread the repair material on the defective parts on the surface of the water conveyance tunnel evenly.

[0015] The operating mechanism of the water tunnel defect repair robot of the present invention adopts a modular design concept, is easy to install and disassemble, and can be flexibly installed on the robot carrier according to task requirements as a supplement to the original robot function. At the same time, the operating mechanism can carry a variety of operating tools and can independently select different repair tasks according to different defect types, realizing underwater multi-task integrated repair operations.

[0016] In addition, using the operating mechanism of the water conveyance tunnel defect repair robot described in the present invention to quickly repair the water conveyance tunnel not only avoids the disadvantage of high risk of manual repair, but also can perform emergency repairs on the defects in the early stage of formation of the defects to prevent further deterioration of the defects, thereby providing guarantee for the long-term safe and reliable operation of the water conveyance tunnel.

[0017] The present invention can complete repair tasks in different modes for different defects, and adopts an integrated repair method of "surface cleaning and internal grouting" to achieve underwater multi-task integrated repair operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the operating mechanism of the robot for repairing defects in a water conveyance tunnel;

[0019] Figure 2 It is a schematic diagram of the structure of a group of working parts;

[0020] Figure 3 A schematic diagram of an operating mechanism of a water conveyance tunnel defect repair robot installed on the robot;

[0021] Figure 4 The present invention is a flow chart of the operation method of the operation mechanism of the water conveyance tunnel defect repair robot.

[0022] Roller brush 1, grouting part 2, light 3, camera 4, support frame 5, control cabin 6, telescopic rod 7, rotary actuator 8, connecting frame 9, working bracket 10, grouting plug 11, barrel A 12, barrel B 13, grouting nozzle 14, robot 15, working mechanism 16. DETAILED DESCRIPTION

[0023] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0024] Specific implementation method 1: refer to Figures 1 to 3 Specifically describing this embodiment, the operating mechanism of the robot for repairing defects in a water conveyance tunnel described in this embodiment includes: a support frame 5, a control cabin 6, a rotary actuator 8, a connecting frame 9 and three groups of operating parts, each group of operating parts includes: a roller brush 1, a light 3, a camera 4, a telescopic rod 7, an operating bracket 10 and at least two groups of barrels.

[0025] The support frame 5 is annular and is used to fix the rotary actuator 8 on the robot 15. The control cabin 6 is fixed on the support frame 5. The control cabin 6 is a pressure-resistant watertight cabin and has a control panel inside. The control panel is used to drive the rotary actuator 8 to start or stop, and also to drive the connection part to rotate or retract. It can be connected to the robot body through the watertight connector on the end face to realize the control and monitoring of the entire operating mechanism.

[0026] The connecting frame 9 includes three connecting rods, which are located in the same plane and intersect at one end at a point. The power output end of the rotary actuator 8 is connected to the intersection of the connecting frame 9 and can drive the connecting frame 9 to rotate in its plane. The three groups of working parts are respectively fixed to the other ends of the three connecting rods.

[0027] One end of the telescopic rod 7 is fixedly connected to one end of the corresponding connecting rod, and the other end of the telescopic rod 7 is connected to the working bracket 10. The roller brush 1, the grouting part 2, the lamp 3 and the camera 4 are all fixed on the working bracket 10, and the working bracket 10 can respectively drive the roller brush 1 and the grouting part 2 to rotate. The roller brush 1 and the grouting part 2 are connected to the supporting part through a connecting part. The grouting part 2 is used to grout the defects on the surface of the tunnel, and the roller brush 1 is used to clean the surface of the tunnel or apply grouting materials. The grouting part 2 includes a barrel for storing repair materials, and a grouting plug 11 and a grouting nozzle 14 are respectively provided at both ends of the barrel. The grouting plug 11 pushes the repair material in the barrel to the other end, so that the repair material is squeezed out from the grouting nozzle 14.

[0028] In this embodiment, the repair material has strong anti-dispersion and good fluidity, realizes self-leveling and self-compacting of underwater concrete, inhibits the dispersion of cement and aggregate during underwater construction, and does not pollute the construction water area. Therefore, the repair material in this embodiment is a water-oil mixed polyurethane and a catalyst, and the polyurethane and the catalyst are stored in barrel A11 and barrel B12 respectively. When used, the two repair materials are transported to the grouting nozzle 14 through the grouting plug 11 for fusion, and sprayed to the defect through the grouting nozzle 14. The two repair materials can solidify quickly after chemical reaction and adhere to the concrete defects to achieve the purpose of rapid repair.

[0029] The operating mechanism 16 described in this embodiment can be flexibly installed on the underwater robot according to needs to supplement the original robot functions.

[0030] Specific implementation method 2: refer to Figure 4 Specifically describing this embodiment, the operation method of the operation mechanism of the water conveyance tunnel defect repair robot described in this embodiment includes the following steps:

[0031] S1: Mechanism installation: The repair operation mechanism is installed on the underwater robot carrier platform, where the carrier platform is equipped with various necessary sensors and has the capabilities of autonomous navigation, navigation positioning, environmental perception, intelligent detection, and in-situ hovering;

[0032] S2, cruise detection, the robot autonomously navigates along the set route through the intelligent control system, and uses the onboard sonar, underwater camera and other detection sensors for detection;

[0033] S3, defect positioning. When a defect is detected, the robot determines the location of the defect in the tunnel based on its own navigation and positioning system, and determines the relative position of the defect from the robot based on the visual information captured by the onboard camera;

[0034] S4, hovering in place: the robot drives each propeller according to the acquired position information and visual information through the control instructions output by the intelligent control system, so that the robot can keep hovering in place and the defect can be within the visual range of the operating mechanism;

[0035] S5, unfold the working platform, determine the defect type and location information based on the visual inspection results, extend the rotatable bracket, move the working platform to the defect by adjusting the position of the rotatable bracket and the telescopic rod device, and the camera mounted on the bracket is responsible for monitoring the working platform and the defect position;

[0036] S6, rapid repair, adjusts the action of the operating platform based on visual image information, plans, integrates and optimizes the repair actions in the operation task, improves the efficiency and applicability of the repair operation, and realizes rapid emergency repair of different types of underwater disease defects;

[0037] S7. Repair is completed. After the repair is completed, the unfolded working platform is retracted, and the robot continues to navigate out of the hole autonomously along the planned route to complete the inspection and repair task.

[0038] This implementation method can complete repair tasks in different modes for different defects. For surface cleaning operations, the repair platform is adjusted to select a roller brush tool to perform the cleaning task. For crack defect types in water transfer tunnels, a grouting mode is used to determine the defect trajectory through visual information, and the position of the grouting nozzle in the field of view is adjusted to place it at the crack defect trajectory. The underwater anti-dispersion grouting repair material is transmitted through the grouting plug, and the grouting material is filled into the crack defect through the grouting nozzle. The repair material is evenly covered with the defect through the auxiliary method of brush application, and the position of the grouting nozzle is adjusted to move along the crack trajectory to achieve the crack defect repair task.

[0039] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. An operating mechanism for a water tunnel defect repair robot, characterized in that: include: A support part, a control cabin (6), a rotary actuator (8) and three sets of operating parts; The support part is used to support the control cabin (6), the rotary actuator (8) and the three groups of working parts, the control cabin (6) is a pressure-resistant watertight cabin and a control panel is arranged inside the control cabin, the three groups of working parts are evenly distributed along the circumferential direction, and the rotary actuator (8) is used to drive the three groups of working parts to rotate along the circumferential direction formed by them; Each set of working parts comprises: a roller brush (1) and a grouting part (2), wherein the roller brush (1) and the grouting part (2) are connected to the supporting part via a connecting part, the grouting part (2) is used for grouting defects on the tunnel surface, and the roller brush (1) is used for cleaning the tunnel surface or applying grouting material; The control panel is used to drive the rotary actuator (8) to start or stop, and is also used to drive the connection part to rotate or extend; The support portion comprises a support frame (5) and a connecting frame (9), The support frame (5) is annular and is used to fix the rotary actuator (8) on the robot (15). The connecting frame (9) comprises three connecting rods, the three connecting rods are located in the same plane and one end of the three connecting rods intersects at a point, the three groups of working parts are respectively fixed to the other ends of the three connecting rods, The power output end of the rotary actuator (8) is connected to the intersection of the connecting frame (9) and can drive the connecting frame (9) to rotate within its plane.

2. The operating mechanism of the water tunnel defect repair robot according to claim 1, characterized in that: The connecting part comprises: a telescopic rod (7) and an operating bracket (10); one end of the telescopic rod (7) is fixedly connected to one end of a corresponding connecting rod; the other end of the telescopic rod (7) is connected to the operating bracket (10); the roller brush (1) and the grouting part (2) are both fixed to the operating bracket (10); and the operating bracket (10) can respectively drive the roller brush (1) and the grouting part (2) to rotate.

3. The operating mechanism of the water conveyance tunnel defect repair robot according to claim 2, characterized in that: The working part also includes a lamp (3) and a camera (4), and the lamp (3) and the camera (4) are both fixed on the working support (10).

4. The operating mechanism of the water conveyance tunnel defect repair robot according to claim 1, 2 or 3, characterized in that: The grouting part (2) comprises at least two groups of barrels, the barrels are used to store repair materials, and grouting plugs (11) and grouting nozzles (14) are respectively provided at two ends of the barrels. The grouting plugs (11) push the repair materials in the barrels toward the other end, so that the repair materials are squeezed out from the grouting nozzles (14).

5. The operating mechanism of the water conveyance tunnel defect repair robot according to claim 4, characterized in that: The repair material is a water-oil mixed polyurethane and a catalyst, and the polyurethane and the catalyst are respectively located in different barrels.

6. The operating method of the operating mechanism of the water conveyance tunnel defect repair robot according to any one of claims 1 to 5, characterized in that: When the robot detects that there are defects on the surface of the water conveyance tunnel, the control panel is used to adjust the postures of the rotary actuator (8) and the three groups of working parts so that the roller brush (1) contacts the defective part on the surface of the water conveyance tunnel, and then the roller brush (1) is driven to clean the surface of the water conveyance tunnel; The control panel is used to adjust the postures of the rotary actuator (8) and the three groups of working parts so that the grouting part (2) is aligned with the defective part on the surface of the water conveyance tunnel and extrude the repair material; The control panel is used to adjust the postures of the rotary actuator (8) and the three groups of operating parts so that the roller brush (1) contacts the defective part on the surface of the water conveyance tunnel, and then the roller brush (1) is driven to spread the repair material on the defective part on the surface of the water conveyance tunnel evenly.

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