Dam concrete structure surface cleaning and coating system and operation method thereof

Abstract

According to the dam concrete structure surface cleaning and coating system and the operation method thereof, a mechanical arm, a spraying system and a cleaning system are all installed on a vehicle-mounted platform, a winding device is installed on the mechanical arm, a supply cable is installed on the winding device in a winding mode, and one end of the supply cable is used for being connected with the spraying system or the cleaning system; the walking robot is connected to the end, stretching out of the mechanical arm, of the supply cable, a cleaning device or a spraying device is installed on the walking robot, and the cleaning device or the spraying device is connected with the cleaning system or the spraying system through the supply cable. The mechanical arm extends and pulls the supply cable, the weight of the supply cable is borne by the mechanical arm when the winding device, the measuring wheel set and the cable winding and unwinding wheel set are matched, and therefore tension control over the supply cable is achieved in the state that the working face is an inclined face, and the working stability of the walking robot on the inclined face is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of dam concrete protection, in particular to a dam concrete structure surface cleaning and coating system and an operation method thereof. Background Art

[0002] The dam is a concrete gravity dam. It was white when it was first completed, but after a few years of operation, the color of the dam body turned dark black.

[0003] It is generally believed that the main reasons for the discoloration of concrete dams are the deterioration of the concrete itself and the attachment of dirt on the surface. For concrete, the aggregate, which accounts for the largest proportion, generally does not change color over time, while the main color of cement is white, so the blackening of the dam body cannot be regarded as the deterioration of the concrete itself, but is caused by the attachment of dirt on the surface. The substances that cause the discoloration of concrete dams are carried by water and air. When the surface of concrete is uneven, it is easy to attach to it. Therefore, the discoloration of concrete dams is closely related to the surface properties of concrete. In fact, it has been confirmed by outdoor exposure tests of wall decoration materials or indoor dirt rapid tests that the rougher the surface, the more serious the discoloration. Concrete discoloration is mostly due to the attachment of dirt to the surface. According to x-ray analysis, the non-biological particles in the attachments are mostly soil particles and soot, and the biological ones are mainly algae and fungi.

[0004] Due to structural defects such as cracks and pits caused by aging of the concrete surface of the dam structure, regular inspection, surface cleaning and painting are required to ensure its safe operation. However, the steep slope of the dam makes it difficult for people to stand, and inspecting vertical surfaces and other difficult-to-access places is a very challenging task. The current manual inspection is time-consuming and costly, and often requires the use of a large amount of scaffolding, which poses a great safety risk.

[0005] Chinese patent document CN117531624A, publication (announcement) date: 2024.02.09, discloses a spraying system and use method for dam concrete surface protection, including a spraying robot, a winch, an air compressor, a paint storage tank, a high-pressure sprayer and a control system, wherein an umbilical cable is wound around the winch, the umbilical cable is connected to the spraying robot, and the control system is electrically connected to the spraying robot, the winch, the air compressor and the high-pressure sprayer, wherein the control system is electrically connected to the spraying robot through the umbilical cable, the air compressor and the high-pressure sprayer are respectively connected to the spraying robot through pipes, and the high-pressure sprayer is connected to the paint storage tank through a pipe. Its characteristic is that the surface protection operation of the dam slope concrete is mechanized by the spraying robot, which effectively reduces the safety risk of the operation, and the surface protection treatment adopts the air-assisted high-pressure airless spraying process, which has the advantages of high operation efficiency and good coating adhesion performance. Its disadvantage is that when the working surface is an inclined surface, the umbilical cable will contact the inclined surface, and the tension of the umbilical cable cannot be effectively controlled. Summary of the invention

[0006] In order to solve the current technical problems, the main purpose of the present invention is to provide a dam concrete structure surface cleaning and coating system and its operation method. The supply rope is extended and pulled by a mechanical arm. In cooperation with a winch device, a measuring wheel group and a rope-retracting and releasing wheel group, the weight of the supply rope is borne by the mechanical arm, thereby realizing tension control of the supply rope when the working surface is an inclined surface, thereby ensuring the stability of the walking robot operating on the inclined surface.

[0007] The technical solution adopted by the present invention is: a dam concrete structure surface cleaning and coating system, including a vehicle-mounted platform, a mechanical arm, a supply cable, a walking robot, a spraying system, a cleaning system, and a controller. The mechanical arm, the spraying system, and the cleaning system are all installed on the vehicle-mounted platform. A winch device is installed on the mechanical arm. The supply cable is wound and installed on the winch device. One end of the supply cable is used to connect with the spraying system or the cleaning system, and the other end of the supply cable extends outward through the mechanical arm. The walking robot is connected to the end of the supply cable extending from the mechanical arm. A cleaning device or a spraying device is installed on the walking robot, and the cleaning device or the spraying device is connected to the cleaning system or the spraying system through a supply cable; a measuring wheel group is installed on the end of the robotic arm close to the vehicle-mounted platform, and a retractable cable wheel group is installed on the end of the robotic arm away from the vehicle-mounted platform, the supply cable passes through the measuring wheel group and the retractable cable wheel group, and a rangefinder is installed on the lower part of the end of the robotic arm away from the vehicle-mounted platform; the robotic arm, the walking robot, the spraying system, the cleaning system, the measuring wheel group, the retractable cable wheel group and the rangefinder are electrically connected to the controller respectively.

[0008] The mechanical arm includes a base, a swivel seat, a main arm, a support seat, a fixed arm and a telescopic arm. The base is fixedly mounted on the vehicle-mounted platform, the swivel seat is rotatably mounted on the base, the lower end of the main arm is hinged to the swivel seat, and the upper end is hinged to the support seat, a first oil cylinder is installed between the swivel seat and the main arm, a second oil cylinder is installed between the main arm and the support seat, one end of the fixed arm is fixedly mounted on the support seat, and the other end is internally mounted with the telescopic arm, the measuring wheel group is mounted on the support seat or the fixed arm, the retractable rope wheel group and the rangefinder are mounted on the telescopic arm, and a support wheel is installed on the fixed arm and the telescopic arm between the measuring wheel group and the retractable rope wheel group, and the supply rope passes through the measuring wheel group, the support wheel and the retractable rope wheel group.

[0009] The supply rope includes cables, pipes, and steel cables. The cables are used to supply power to the walking robot, the pipes are used to provide high-pressure water to the cleaning device, or to provide high-pressure paint to the spraying device, and the steel cables are used to provide tensile strength. The cleaning device and the spraying device share a pipe.

[0010] The walking robot includes a shell, a closing block and a closing pulley, the lower side of the shell is open, and flexible closing blocks are respectively provided at the front and rear ends of the shell, passive wheels are installed at the front end of the left and right sides of the shell, and a driving wheel is installed at the rear end, and closed pulleys are mounted on the passive wheels and the driving wheels on both sides, a motor is installed between the passive wheel and the driving wheel of the shell, the motor is connected to the driving wheel by transmission, the closing blocks on the front and rear sides and the closed pulleys on the left and right sides are combined to form a closed cavity at the bottom of the shell, a negative pressure fan is installed on the top of the shell, and the air intake of the negative pressure fan is connected to the closed cavity, a lifting ring is installed at the rear end of the shell, and the lifting ring is connected to the steel cable in the supply cable, and the upper side of the front end of the shell is used for installing a cleaning system or a spraying system.

[0011] The spraying system includes a storage tank, a spray pump and a cleaning tank. The storage tank is used to store paint. The feed port of the spray pump is connected to the storage tank through a pipeline. The cleaning tank is used to store cleaning fluid for cleaning the pipeline. During the spraying operation, the discharge port of the spray pump is connected to the pipeline in the supply cable. The cleaning system includes a cleaning water tank and a high-pressure water pump. The cleaning water tank is used to store cleaning fluid. The water inlet of the high-pressure water pump is connected to the cleaning water tank through a pipeline. During the cleaning operation, the water outlet of the high-pressure water pump is connected to the pipeline in the supply cable.

[0012] The measuring wheel group includes a first wheel frame, in which two first grooved wheels are rotatably installed, the two first grooved wheels are installed opposite to each other and clamp the supply rope, and a connecting sleeve is installed on the outside of the first wheel frame corresponding to one of the first grooved wheels, an encoder is installed in the connecting sleeve, the central rotating shaft of the encoder is connected for transmission with the corresponding first grooved wheel, and the encoder is electrically connected to the controller.

[0013] The retractable rope wheel group includes a second wheel frame, in which two second grooved wheels are rotatably installed, the two second grooved wheels are relatively installed and clamp the supply rope, and a servo motor is installed on the outside of the second wheel frame corresponding to one of the second grooved wheels, the output shaft of the servo motor is connected to the corresponding second grooved wheel for transmission, and the servo motor is electrically connected to the controller.

[0014] The cleaning device includes a counterweight seat and a cavitation jet cleaning head. The cavitation jet cleaning head is installed above the counterweight seat. A channel is provided in the counterweight seat. The high-pressure water flow ejected downward from the cavitation jet cleaning head passes through the channel. One end of the counterweight seat is connected to the walking robot through a connecting piece, and the other end is installed with a second support wheel. The walking robot is also installed with a first support wheel at the end away from the second support wheel.

[0015] The spraying device includes a first support arm and a paint nozzle. A support is installed on the top of the walking robot. One end of the first support arm is hinged to the support, and the other end is installed with the paint nozzle. A push rod device is installed between the support and the first support arm. The angle of the first support arm is adjusted by the push rod device, thereby adjusting the distance and angle between the paint nozzle and the working surface.

[0016] The operating method of the dam concrete structure surface cleaning coating system comprises the following steps: S1. Drive the vehicle-mounted platform to the top of the dam to be operated, install the cleaning device on the walking robot, connect and fix the supply cable to the walking robot, electrically connect the cable in the supply cable to the walking robot, and connect the pipe in the supply cable to the cleaning device; S2. Connect the other end of the supply cable pipe to the cleaning system; S3. The robot arm rotates and extends out of the vehicle-mounted platform, so that the distance meter extends out of the side wall of the top of the dam body. At this time, the walking robot is suspended on the robot arm, and the distance from the robot arm to the working surface of the dam body is measured by the distance meter, and the data is fed back to the controller. The controller controls the hoisting device and the retractable cable wheel group to start releasing the supply cable according to the height data. The walking robot falls close to the side wall until it is placed on the working surface. At this time, the hoisting device and the retractable cable wheel group stop, and the supply cable is in a suspended state; S4. The cleaning system is started, and high-pressure water enters the cleaning device through the pipeline of the supply cable, and high-pressure water is ejected from the cleaning device to perform high-pressure washing on the working surface; S5. During the cleaning operation, the cleaning device is in front and the walking robot is in the back. The walking robot walks from top to bottom. The walking speed of the walking robot is controlled by the controller. At the same time, the mechanical arm is controlled to extend. The speed of the supply rope is detected by the measuring wheel group. The lateral speed V1 of the walking robot is the same as the extension speed of the mechanical arm. The hoisting device and the retracting and releasing rope wheel group are controlled to release the supply rope. In this process, the weight of the supply rope is borne by the mechanical arm. S6. After cleaning a certain distance from top to bottom, the hoisting device and the retractable cable wheel group retract the supply cable, lift the walking robot, rotate the robot arm by an angle, or move the vehicle-mounted platform for a certain distance, move the walking robot sideways, and retract the robot arm to return the walking robot to the top position, and then repeat S5; S7. Repeat the steps in S6 to perform high-pressure cleaning on the working surface from top to bottom; after the cleaning is completed, the hoisting device and the retractable cable pulley group recover the supply cable and lift the walking robot back to the top of the dam; S8. After the work surface is dry, replace the spray system; S9. The robot arm rotates and extends out of the vehicle-mounted platform, so that the distance meter extends out of the dam body. The distance from the robot arm to the bottom of the working surface of the dam body is measured by the distance meter, and the data is fed back to the controller. The controller controls the hoisting device and the retractable cable wheel group to start releasing the supply cable according to the height data. The walking robot is placed at the bottom of the working surface. At this time, the hoisting device and the retractable cable wheel group stop, and the supply cable is in a suspended state; S10. The control spray system is started, the paint enters the spray system through the pipe of the supply cable, and the paint is sprayed from the spray device to spray the work surface; S11. During the spraying operation, the walking robot is in front and the spraying device is behind. The walking robot walks from bottom to top. The walking speed of the walking robot is controlled by the controller, and the mechanical arm is controlled to retract at the same time. The speed of the supply rope is detected by the measuring wheel group, so that the lateral speed V1 of the walking robot is the same as the retraction speed of the mechanical arm, and the hoisting device and the retracting rope wheel group are controlled to retract the supply rope. In this process, the weight of the supply rope is borne by the mechanical arm; S12. After spraying a certain distance from bottom to top, the winch device and the retractable cable wheel group recover the supply cable, lift the walking robot, rotate the robot arm by an angle, or move the vehicle platform for a certain distance, move the walking robot sideways, and then extend the robot arm, and then release the supply cable (300), so that the walking robot returns to the bottom position, and then repeat S11; S13. Repeat the steps in S12 to spray the working surface from bottom to top in sequence; after the spraying is completed, the hoisting device and the retractable rope wheel group recover the supply rope, lift the walking robot and recover it to the top of the dam body, and rotate the robot arm back to the vehicle-mounted platform.

[0017] The present invention has the following beneficial effects: 1. The vehicle-mounted platform of the present invention is used to carry a mechanical arm, a spraying system, a cleaning system and a controller; the mechanical arm is used to extend and pull the supply rope; the walking robot is used to walk on the working surface; the cleaning system cooperates with the cleaning device to clean the working surface; the spraying system cooperates with the spraying device to spray the working surface; the measuring wheel group is used to measure the length of the supply rope released and retracted; the retracting rope wheel group is used to accurately retract and release the supply rope; the controller is used to control the mechanical arm, the walking robot, the spraying system, the cleaning system, the hoisting device and the retracting rope wheel group to operate in sequence and in coordination. The mechanical arm extends and pulls the supply rope, and the hoisting device, the measuring wheel group and the retracting rope wheel group cooperate, and the weight of the supply rope is borne by the mechanical arm, so as to realize the tension control of the supply rope when the working surface is an inclined surface, and ensure the stability of the walking robot's operation and movement on the inclined surface.

[0018] 2. The present invention is used for operations on the surface of dam concrete structures, and has the functions of cleaning and coating the dam concrete surface. It can realize operations on the vertical wall surface and the positive slope wall surface of the dam body, and has an operation positioning feedback function. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] Figure 1 It is a schematic diagram of the present invention under the spraying working state.

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the cleaning and coating system of the present invention.

[0022] Figure 3 It is a schematic diagram of the overall structure of the cleaning and coating system of the present invention.

[0023] Figure 4 It is a schematic diagram of the structure of the mechanical arm of the present invention.

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of the walking robot of the present invention.

[0025] Figure 6 It is a schematic diagram of the bottom structure of the walking robot of the present invention.

[0026] Figure 7 This is a schematic diagram of the structure of the walking robot after the cleaning device is installed in the present invention.

[0027] Figure 8 This is a schematic diagram of the structure of the walking robot of the present invention after the spraying device is installed.

[0028] Fig. 9 It is a schematic diagram of the three-dimensional structure of the measuring wheel set of the present invention.

[0029] Fig.10 It is a schematic diagram of the three-dimensional structure of the retractable cable wheel assembly of the present invention.

[0030] Fig.11 This is a schematic diagram of the present invention in the cleaning working state.

[0031] Fig.12 This is the moving direction diagram in the cleaning working state.

[0032] Fig.13 It is the moving direction diagram in the spraying working state.

[0033] In the figure: Vehicle-mounted platform 100; Mechanical arm 200, base 201, swivel seat 202, main arm 203, support seat 204, first oil cylinder 205, second oil cylinder 206, fixed arm 207, telescopic arm 208, support wheel 209, measuring wheel group 210, first wheel frame 211, first grooved wheel 212, connecting sleeve 213, encoder 214, retractable cable wheel group 220, second wheel frame 221, second grooved wheel 222, servo motor 223, rangefinder 230; Supply cable 300; Walking robot 400, shell 401, closed cavity 402, closed block 403, passive wheel 404, active wheel 405, closed pulley 406, motor 407, negative pressure fan 408, lifting ring 410, first supporting wheel 411, cleaning device 420, counterweight seat 421, cavitation jet cleaning head 422, connecting piece 423, second supporting wheel 424, spraying device 430, first supporting arm 431, paint spray head 432, support 433, push rod device 434, baffle 435; Spraying system 500, storage tank 501, spraying pump 502, cleaning tank 503; Cleaning system 600, cleaning water tank 601, high pressure water pump 602; Hoisting device 700; Controller 800; Dam body 900 , working surface 901 , side wall 902 . DETAILED DESCRIPTION

[0034] Embodiment 1: See also Figure 1-13As shown, a dam concrete structure surface cleaning and coating system includes a vehicle-mounted platform 100, a mechanical arm 200, a supply cable 300, a walking robot 400, a spraying system 500, a cleaning system 600, and a controller 800. The mechanical arm 200, the spraying system 500, and the cleaning system 600 are all installed on the vehicle-mounted platform 100. The mechanical arm 200 is equipped with a hoisting device 700. The supply cable 300 is wound and installed on the hoisting device 700. One end of the supply cable 300 is used to connect with the spraying system 500 or the cleaning system 600, and the other end of the supply cable 300 extends outward through the mechanical arm 200. The walking robot 400 is connected to the end of the supply cable 300 extending from the mechanical arm 200. The walking robot 400 is equipped with a cleaning system 600. A cleaning device 420 or a spraying device 430 is provided, and the cleaning device 420 or the spraying device 430 is connected to the cleaning system 600 or the spraying system 500 through a supply cable 300; a measuring wheel group 210 is installed on the end of the robot arm 200 close to the vehicle-mounted platform 100, and a retractable cable wheel group 220 is installed on the end of the robot arm 200 away from the vehicle-mounted platform 100, the supply cable 300 passes through the measuring wheel group 210 and the retractable cable wheel group 220, and a rangefinder 230 is installed on the lower part of the end of the robot arm 200 away from the vehicle-mounted platform 100; the robot arm 200, the walking robot 400, the spraying system 500, the cleaning system 600, the measuring wheel group 210, the retractable cable wheel group 220 and the rangefinder 230 are electrically connected to the controller 800 respectively.

[0035] The vehicle-mounted platform 100 is used to load the robotic arm 200, the spraying system 500, the cleaning system 600 and the controller 800; the robotic arm 200 is used to extend and pull the supply rope 300; the walking robot 400 is used to walk on the working surface; the cleaning system 600 cooperates with the cleaning device 420 to clean the working surface; the spraying system 500 cooperates with the spraying device 430 to spray the working surface; the measuring wheel group 210 is used to measure the length of the supply rope 300 released and retracted; the retractable rope wheel group 220 is used to accurately retract and release the supply rope 300; the controller 800 is used to control the robotic arm 200, the walking robot 400, the spraying system 500, the cleaning system 600, the hoisting device 700 and the retractable rope wheel group 220 to operate in sequence and in coordination. The supply rope is extended and pulled by the robot arm 200. With the cooperation of the winch device 700, the measuring wheel group 210 and the rope-retracting and releasing wheel group 220, the weight of the supply rope 300 is borne by the robot arm 200, thereby realizing the tension control of the supply rope 300 when the working surface is an inclined surface, thereby ensuring the stability of the walking robot 400 when working and moving on the inclined surface.

[0036] See also Figure 4The robot arm 200 includes a base 201, a swivel seat 202, a main arm 203, a support seat 204, a fixed arm 207 and a telescopic arm 208. The base 201 is fixedly mounted on the vehicle-mounted platform 100, the swivel seat 202 is rotatably mounted on the base 201, the lower end of the main arm 203 is hinged to the swivel seat 202, and the upper end is hinged to the support seat 204. A first oil cylinder 205 is installed between the swivel seat 202 and the main arm 203, and a second oil cylinder 206 is installed between the main arm 203 and the support seat 204. One end of the arm 207 is fixedly mounted on the support seat 204, and a telescopic arm 208 is installed inside the other end. The measuring wheel group 210 is installed on the support seat 204 or the fixed arm 207, and the retractable rope wheel group 220 and the rangefinder 230 are installed on the telescopic arm 208. A support wheel 209 is installed on the fixed arm 207 and the telescopic arm 208 between the measuring wheel group 210 and the retractable rope wheel group 220, and the supply rope 300 passes through the measuring wheel group 210, the support wheel 209 and the retractable rope wheel group 220. The base 201 is installed on the chassis beam of the vehicle-mounted platform 100 by bolts, and the slewing seat 202 is rotatably installed on the base 201, and the slewing seat 202 is driven to rotate by the turbine worm structure. The worm is driven by a hydraulic motor, so that the fixed arm 207 swings, and the pitch angle of the fixed arm 207 is adjusted by the coordinated control of the first oil cylinder 205 and the second oil cylinder 206. The telescopic arm 208 is slidably installed on the fixed arm 207, and an oil cylinder is installed in the fixed arm 207. The piston rod of the oil cylinder is connected to the telescopic arm 208, so that the telescopic arm 208 is driven to extend and retract by the oil cylinder. In this embodiment, the telescopic arm 208 has multiple sections, and the multiple sections of the telescopic arm 208 are connected and extended in sequence. The above mechanism can realize the telescopic, amplitude-changing, and rotational actions of the mechanical arm 200 to meet the requirements of different operating ranges, and the support wheel 209 has a guiding and supporting function for the umbilical cable 3.

[0037] In a preferred embodiment, the supply cable 300 includes a cable, a pipe, and a steel cable to form a cylindrical structure. The cable is used to supply power to the walking robot 400, the pipe is used to provide high-pressure water to the cleaning device 420, or to provide high-pressure paint to the spraying device 430, and the steel cable is used to provide tensile strength. When in use, the steel cable is connected to the lifting ring 410 of the walking robot 400, and the cleaning device 420 and the spraying device 430 share a pipe.

[0038] See also Figure 5 , 6The walking robot 400 includes a shell 401, a closing block 403 and a closing pulley 406. The lower side of the shell 401 is open, and flexible closing blocks 403 are respectively provided at the front and rear ends of the shell 401. The left and right sides of the shell 401 are provided with passive wheels 404 at the front end, and a driving wheel 405 at the rear end. The passive wheels 404 and the driving wheels 405 on both sides are provided with closing pulleys 406. The shell 401 is provided with a motor 407 between the passive wheels 404 and the driving wheels 405. The motor 407 is connected to the driving wheel 405 in a transmission manner. The closed blocks 403 on the front and rear sides and the closed pulleys 406 on the left and right sides are combined to form a closed cavity 402 at the bottom of the housing 401. A negative pressure fan 408 is installed on the top of the housing 401. The air inlet of the negative pressure fan 408 is connected to the closed cavity 402. A lifting ring 410 is installed at the rear end of the housing 401. The lifting ring 410 is connected to the steel cable in the supply cable 300. The upper front end of the housing 401 is used to install the cleaning system 600 or the spraying system 500. The output shaft of the motor 407 is installed with a driving sprocket. The outside of the driving wheel 405 is installed with a driven sprocket. The driving sprocket and the driven sprocket are connected and driven by a chain. The rotation of the motor 407 drives the closed pulley 406 to rotate, thereby driving the shell 401 to move on the working surface. The closed blocks 403 on the front and rear sides and the closed pulleys 406 on the left and right sides are combined at the bottom of the shell 401 to form a closed cavity 402. The negative pressure fan 408 draws air from the closed cavity 402 to generate negative pressure in the closed cavity 402, so that it can be better adsorbed on the working surface, thereby improving the stability of the walking robot 400 when working on the inclined surface.

[0039] Specifically, the closing block 403 is made of a flexible material, such as an EPDM foam block or a sponge. The closing pulley 406 is a layer of flexible material with a certain thickness arranged on the outer circumference of the synchronous belt.

[0040] See also Figure 1 The spraying system 500 includes a storage tank 501, a spraying pump 502 and a cleaning tank 503. The storage tank 501 is used to store paint. The feed port of the spraying pump 502 is connected to the storage tank 501 through a pipeline. The cleaning tank 503 is used to store cleaning liquid for cleaning the pipeline. During the spraying operation, the discharge port of the spraying pump 502 is connected to the pipeline in the supply cable 300. After the spraying operation is completed, the pipeline is taken out of the storage tank 501, and then the pipeline is connected to the cleaning tank 503. The cleaning liquid in the cleaning tank 503 is used to clean the pipeline and the paint nozzle 432 of the spraying device 430.

[0041] The cleaning system 600 includes a cleaning water tank 601 and a high-pressure water pump 602. The cleaning water tank 601 is used to store cleaning liquid. The water inlet of the high-pressure water pump 602 is connected to the cleaning water tank 601 through a pipeline. During the cleaning operation, the water outlet of the high-pressure water pump 602 is connected to the pipeline in the supply rope 300.

[0042] See also Fig. 9 The measuring wheel group 210 includes a first wheel frame 211, in which two first grooved wheels 212 are rotatably mounted, and the two first grooved wheels 212 are mounted opposite to each other and clamp the supply rope 300. A connecting sleeve 213 is mounted on the outside of the first wheel frame 211 corresponding to the first grooved wheel 212 at the lower side, and an encoder 214 is mounted in the connecting sleeve 213. The central rotating shaft of the encoder 214 is connected and transmitted with the corresponding first grooved wheel 212, and the encoder 214 is electrically connected with the controller 800. The first grooved wheel 212 is driven to rotate by the supply rope 300, and the central rotating shaft of the encoder 214 is driven to rotate by the first grooved wheel 212, so that the number of revolutions of the encoder 214 is calculated, and at the same time, the retracted length of the supply rope 300 is measured by the encoder 214 in combination with the working diameter of the first grooved wheel 212.

[0043] See also Fig.10 The retractable cable wheel assembly 220 includes a second wheel frame 221, in which two second grooved wheels 222 are rotatably mounted, and the two second grooved wheels 222 are mounted opposite to each other and clamp the supply cable 300. A servo motor 223 is mounted on the outside of the second wheel frame 221 corresponding to one of the second grooved wheels 222, and the output shaft of the servo motor 223 is connected to the corresponding second grooved wheel 222 for transmission, and the servo motor 223 is electrically connected to the controller 800. Since the supply cable 300 is wound on the hoisting drum of the hoisting device 700, and since the supply cable 300 is wound on the hoisting drum in multiple layers, and the circumference of each layer is different, the retractable length of the supply cable 300 cannot be measured by the hoisting device 700, so it is necessary to use the retractable cable wheel assembly 220. The second wheel frame 221 is driven to rotate by the servo motor 223. Since the two second wheel frames 221 are against each other, the supply rope 300 is clamped for retraction and release, so that the supply rope 300 can be retracted and released more accurately. In this embodiment, the hoisting device 700 adopts a winch free-fall hook damping mechanism and a winch structure disclosed in CN207713313U. Since the winch drum can idle, the speed inconsistency between the hoisting device 700 and the retracting and releasing rope wheel group 220 is avoided.

[0044] See also Figure 7The cleaning device 420 includes a counterweight seat 421 and a cavitation jet cleaning head 422. The cavitation jet cleaning head 422 is installed above the counterweight seat 421. A channel is provided in the counterweight seat 421. The high-pressure water flow ejected downward from the cavitation jet cleaning head 422 passes through the channel. One end of the counterweight seat 421 is connected to the walking robot 400 through a connector 423, and the other end is provided with a second support wheel 424. The walking robot 400 is also provided with a first support wheel 411 at one end away from the second support wheel 424. The above structure ensures that when the cavitation jet cleaning head 422 is in operation, the walking robot 400 can operate stably under the reaction force of the cavitation jet cleaning head 422.

[0045] The high-pressure water pump is driven by a hydraulic piston motor, which is provided with a hydraulic oil source by a variable piston pump. The high-pressure water pump can achieve stepless speed regulation. Through speed regulation, the output flow of the high-pressure water pump can be continuously changed. When the nozzle throttling area is fixed, the output pressure of the water circuit can be continuously adjusted. The high-pressure water source required by the cavitation jet cleaning head 422 is delivered and supplied by the supply cable 300.

[0046] See also Figure 8 The spraying device 430 includes a first support arm 431 and a paint nozzle 432. A support 433 is installed on the top of the walking robot 400. One end of the first support arm 431 is hinged to the support 433, and the paint nozzle 432 is installed on the other end. A push rod device 434 is installed between the support 433 and the first support arm 431. The angle of the first support arm 431 is adjusted by the push rod device 434, thereby adjusting the distance and angle between the paint nozzle 432 and the working surface.

[0047] The spraying system 500 is a coating compression device. It uses a hydraulic motor to drive a high-pressure plunger pump to draw the coating from the storage tank 501 through the suction pipe and apply high pressure, so that the coating is transported to the spraying device 430 carried by the walking robot 400 through the supply cable 300 and sprayed from the coating nozzle 432. The moment the coating leaves the coating nozzle 432, it collides violently with the air at high speed, causing the coating to be continuously broken into particles. Thus, the coating is atomized and adheres to the concrete surface of the dam, thereby protecting the surface of the dam.

[0048] Furthermore, in order to prevent the paint from contaminating the walking robot 400 , a baffle 435 is installed on the first arm 431 .

[0049] Embodiment 2: See also Figure 1 , 11 -13, an operation method using the above-mentioned dam concrete structure surface cleaning coating system comprises the following steps: See also Fig.11, S1. Drive the vehicle-mounted platform 100 to the top of the dam to be operated, install the cleaning device 420 on the walking robot 400, connect and fix the supply cable 300 to the walking robot 400, electrically connect the cable in the supply cable 300 to the walking robot 400, and connect the pipe in the supply cable 300 to the cleaning device 420.

[0050] S2. Connect the other end of the pipe in the supply cable 300 to the cleaning system 600.

[0051] S3. The robot arm 200 rotates and extends out of the vehicle-mounted platform 100 by a distance of L1, so that the distance meter 230 extends out of the side wall 902 at the top of the dam body 900. At this time, the walking robot 400 is suspended on the robot arm 200, and the distance L2 from the robot arm 200 to the working surface 901 of the dam body 900 is measured by the distance meter 230, and the data is fed back to the controller 800. The controller controls the winch device 700 and the retractable rope wheel group 220 to start releasing the supply rope 300 according to the height data. The walking robot 400 falls close to the side wall 902 until it is placed on the working surface 901. At this time, the winch device 700 and the retractable rope wheel group 220 stop, and the supply rope 300 is in a suspended state.

[0052] S4. The cleaning system 600 is controlled to start, and high-pressure water enters the cleaning device 420 through the pipeline of the supply cable 300, and the high-pressure water is ejected from the cleaning device 420 to perform high-pressure flushing on the working surface.

[0053] S5. During cleaning, refer to Fig.12 The cleaning device 420 is in front and the walking robot 400 is in the back. The walking robot 400 walks from top to bottom. The walking speed of the walking robot 400 is controlled by the controller 800. At the same time, the mechanical arm 200 is controlled to extend. The speed of the supply rope 300 is detected by the measuring wheel group 210, so that the lateral speed V1 of the walking robot 400 is the same as the extension speed of the mechanical arm 200, and the winch device 700 and the retractable rope wheel group 220 are controlled to release the supply rope 300. In this process, the weight of the supply rope 300 is borne by the mechanical arm 200.

[0054] S6. After cleaning a distance from top to bottom, the hoisting device 700 and the retractable rope wheel group 220 recover the supply rope 300, lift the walking robot 400, rotate the robot arm 200 by an angle, or move the vehicle-mounted platform 100 for a distance, move the walking robot 400 sideways, and retract the robot arm 200 to return the walking robot 400 to the top position, and repeat S5.

[0055] S7. Repeat the steps in S6 to perform high-pressure cleaning on the working surface 901 from top to bottom. After cleaning, the hoisting device 700 and the retractable cable wheel assembly 220 recover the supply cable 300 and lift the walking robot 400 to the top of the dam body 900.

[0056] S8. After the work surface is dry, replace the spray system 500.

[0057] S9. See Figure 1 , the robotic arm 200 rotates and extends a distance L3 from the vehicle-mounted platform 100, so that the rangefinder 230 extends out of the dam body 900, and the distance L4 from the robotic arm 200 to the bottom of the working surface 901 of the dam body 900 is measured by the rangefinder 230, and the data is fed back to the controller 800. The controller controls the winch device 700 and the retractable rope wheel group 220 to start releasing the supply rope 300 according to the height data, and the walking robot 400 is placed at the bottom of the working surface 901. At this time, the winch device 700 and the retractable rope wheel group 220 stop, and the supply rope 300 is in a suspended state.

[0058] S10. The spraying system 500 is controlled to start, and the paint enters the spraying system 500 through the pipeline of the supply cable 300, and the paint is sprayed out from the spraying device 430 to spray the work surface.

[0059] S11. When spraying, refer to Fig.13 The walking robot 400 is in front and the spraying device 430 is behind. The walking robot 400 walks from bottom to top. The walking speed of the walking robot 400 is controlled by the controller 800. At the same time, the robotic arm 200 is controlled to retract. The speed of the supply rope 300 is detected by the measuring wheel group 210, so that the lateral speed V1 of the walking robot 400 is the same as the retraction speed of the robotic arm 200, and the winch device 700 and the retracting rope wheel group 220 are controlled to retract the supply rope 300. In this process, the weight of the supply rope 300 is borne by the robotic arm 200.

[0060] S12. After spraying a certain distance from bottom to top, the hoisting device 700 and the retractable rope wheel group 220 recover the supply rope 300, lift the walking robot 400, rotate the robot arm 200 by an angle, or move the vehicle-mounted platform 100 for a certain distance to move the walking robot 400 sideways, then extend the robot arm 200, release the supply rope 300, and return the walking robot 400 to the bottom position, and repeat S11.

[0061] S13. Repeat the steps in S12 to spray the working surface 901 from bottom to top; after the spraying is completed, the hoisting device 700 and the retractable cable wheel group 220 recover the supply cable 300, lift the walking robot 400 and recover it to the top of the dam body 900, and rotate the robot arm 200 back to the vehicle-mounted platform 100.

[0062] This method adopts cleaning first and then spraying, and the cleaning device 420 and the spraying device 430 are connected and installed on the walking robot 400 through bolts. The wall-climbing robot serves as a carrier of the cavitation jet cleaning device and the spraying device. When the cavitation jet cleaning operation is performed, the wall-climbing robot crawls down along the surface of the dam concrete structure, and when the dam surface is painted, the wall-climbing robot crawls up along the surface of the dam concrete structure.

Claims

1. A dam concrete structure surface cleaning coating system, characterized by: The invention comprises a vehicle-mounted platform (100), a mechanical arm (200), a supply rope (300), a walking robot (400), a spraying system (500), a cleaning system (600), and a controller (800), wherein the mechanical arm (200), the spraying system (500), and the cleaning system (600) are all mounted on the vehicle-mounted platform (100), a winch device (700) is mounted on the mechanical arm (200), the supply rope (300) is wound around the winch device (700), and one end of the supply rope (300) is used to The supply cable (300) is connected to a spraying system (500) or a cleaning system (600), the other end of the supply cable (300) extends outward through the mechanical arm (200), the walking robot (400) is connected to the end of the supply cable (300) extending outward from the mechanical arm (200), the walking robot (400) is installed with a cleaning device (420) or a spraying device (430), and the cleaning device (420) or the spraying device (430) is connected to the cleaning system (600) or the spraying system (500) through the supply cable (300); A measuring wheel group (210) is installed on the end of the mechanical arm (200) close to the vehicle-mounted platform (100), a retractable cable wheel group (220) is installed on the end of the mechanical arm (200) away from the vehicle-mounted platform (100), a supply cable (300) passes through the measuring wheel group (210) and the retractable cable wheel group (220), and a distance meter (230) is installed on the lower part of the end of the mechanical arm (200) away from the vehicle-mounted platform (100); the mechanical arm (200), the walking robot (400), the spraying system (500), the cleaning system (600), the measuring wheel group (210), the retractable cable wheel group (220), and the distance meter (230) are respectively electrically connected to the controller (800).

2. A dam concrete structure surface cleaning coating system according to claim 1, characterized in that: The mechanical arm (200) comprises a base (201), a swivel seat (202), a main arm (203), a support seat (204), a fixed arm (207) and a telescopic arm (208); the base (201) is fixedly mounted on the vehicle-mounted platform (100); the swivel seat (202) is rotatably mounted on the base (201); the lower end of the main arm (203) is hinged to the swivel seat (202); the upper end is hinged to the support seat (204); a first oil cylinder (205) is mounted between the swivel seat (202) and the main arm (203); and a second oil cylinder (206) is mounted between the main arm (203) and the support seat (204). One end of the fixed arm (207) is fixedly mounted on the support seat (204), and the other end is internally mounted with a telescopic arm (208); the measuring wheel group (210) is mounted on the support seat (204) or the fixed arm (207); the retractable cable wheel group (220) and the rangefinder (230) are mounted on the telescopic arm (208); a supporting wheel (209) is mounted on the fixed arm (207) and the telescopic arm (208) between the measuring wheel group (210) and the retractable cable wheel group (220); and the supply cable (300) passes through the measuring wheel group (210), the supporting wheel (209) and the retractable cable wheel group (220).

3. A dam concrete structure surface cleaning coating system according to claim 1, characterized in that: The supply cable (300) comprises a cable, a pipe, and a steel cable; the cable is used to supply power to the walking robot (400); the pipe is used to supply high-pressure water to the cleaning device (420) or to supply high-pressure paint to the spraying device (430); and the steel cable is used to provide tensile strength; the cleaning device (420) and the spraying device (430) share a pipe.

4. A dam concrete structure surface cleaning coating system according to claim 1, characterized in that: The walking robot (400) comprises a shell (401), a closing block (403) and a closing pulley (406); the lower side of the shell (401) is open; flexible closing blocks (403) are respectively provided at the front and rear ends of the shell (401); passive wheels (404) are installed at the front end and driving wheels (405) are installed at the rear end on the left and right sides of the shell (401); the closed pulleys (406) are mounted on the passive wheels (404) and the driving wheels (405) on both sides; and a motor (407) is installed between the passive wheels (404) and the driving wheels (405) on the shell (401). The motor (407) is connected to the driving wheel (405) in a transmission manner. The front and rear closing blocks (403) and the left and right closing pulleys (406) are combined at the bottom of the shell (401) to form a closed cavity (402). A negative pressure fan (408) is installed on the top of the shell (401). The air intake of the negative pressure fan (408) is connected to the closed cavity (402). A lifting ring (410) is installed at the rear end of the shell (401). The lifting ring (410) is connected to the steel cable in the supply cable (300). The upper front end of the shell (401) is used to install a cleaning system (600) or a spraying system (500).

5. A dam concrete structure surface cleaning coating system according to claim 1, characterized in that: The spraying system (500) comprises a storage tank (501), a spraying pump (502) and a cleaning tank (503); the storage tank (501) is used to store paint, the feed port of the spraying pump (502) is connected to the storage tank (501) through a pipeline, and the cleaning tank (503) is used to store cleaning liquid for cleaning the pipeline; during the spraying operation, the discharge port of the spraying pump (502) is connected to the pipeline in the supply cable (300); the cleaning system (600) comprises a cleaning water tank (601) and a high-pressure water pump (602); the cleaning water tank (601) is used to store cleaning liquid, the water inlet of the high-pressure water pump (602) is connected to the cleaning water tank (601) through a pipeline, and during the cleaning operation, the water outlet of the high-pressure water pump (602) is connected to the pipeline in the supply cable (300).

6. A dam concrete structure surface cleaning coating system according to claim 1, characterized in that: The measuring wheel assembly (210) comprises a first wheel frame (211), two first grooved wheels (212) are rotatably mounted in the first wheel frame (211), the two first grooved wheels (212) are mounted opposite to each other and clamp the supply rope (300), a connecting sleeve (213) is mounted on the outside of the first wheel frame (211) corresponding to one of the first grooved wheels (212), an encoder (214) is mounted in the connecting sleeve (213), a central rotating shaft of the encoder (214) is connected to the corresponding first grooved wheel (212) for transmission, and the encoder (214) is electrically connected to the controller (800).

7. A dam concrete structure surface cleaning coating system according to claim 1, characterized in that: The retractable rope wheel assembly (220) comprises a second wheel frame (221), two second grooved wheels (222) are rotatably mounted in the second wheel frame (221), the two second grooved wheels (222) are mounted opposite to each other and clamp the supply rope (300), a servo motor (223) is mounted on the outside of the second wheel frame (221) corresponding to one of the second grooved wheels (222), an output shaft of the servo motor (223) is connected to the corresponding second grooved wheel (222) for transmission, and the servo motor (223) is electrically connected to the controller (800).

8. A dam concrete structure surface cleaning coating system according to claim 1, characterized in that: The cleaning device (420) comprises a counterweight seat (421) and a cavitation jet cleaning head (422); the cavitation jet cleaning head (422) is installed above the counterweight seat (421); a channel is provided in the counterweight seat (421); a high-pressure water flow ejected downward from the cavitation jet cleaning head (422) passes through the channel; one end of the counterweight seat (421) is connected to the walking robot (400) via a connecting piece (423); and the other end is provided with a second support wheel (424); and the walking robot (400) is further provided with a first support wheel (411) at an end away from the second support wheel (424).

9. A dam concrete structure surface cleaning coating system according to claim 1, characterized in that: The spraying device (430) comprises a first support arm (431) and a paint spray head (432); a support (433) is installed on the top of the walking robot (400); one end of the first support arm (431) is hinged to the support (433), and the other end is installed with the paint spray head (432); a push rod device (434) is installed between the support (433) and the first support arm (431); the angle of the first support arm (431) is adjusted by the push rod device (434), thereby adjusting the distance and angle between the paint spray head (432) and the working surface.

10. An operating method using a dam concrete structure surface cleaning coating system according to any one of claims 1 to 9, comprising the following steps: S1. The vehicle-mounted platform (100) is driven to the top of the dam to be operated, the cleaning device (420) is installed on the walking robot (400), the supply cable (300) is connected and fixed to the walking robot (400), the cable in the supply cable (300) is electrically connected to the walking robot (400), and the pipeline in the supply cable (300) is connected to the cleaning device (420); S2. The other end of the pipe in the supply cable (300) is connected to the cleaning system (600); S3. The mechanical arm (200) rotates and extends out of the vehicle-mounted platform (100), so that the distance meter (230) extends out of the side wall (902) at the top of the dam body (900). At this time, the walking robot (400) is suspended on the mechanical arm (200), and the distance from the mechanical arm (200) to the working surface (901) of the dam body (900) is measured by the distance meter (230), and the data is fed back to the controller (800). The controller controls the hoisting device (700) and the retractable cable wheel group (220) to start releasing the supply cable (300) according to the height data. The walking robot (400) falls close to the side wall (902) until it is placed on the working surface (901). At this time, the hoisting device (700) and the retractable cable wheel group (220) stop, and the supply cable (300) is in a suspended state; S4. The cleaning system (600) is controlled to start, and high-pressure water enters the cleaning device (420) through the pipeline of the supply cable (300), and the high-pressure water is ejected from the cleaning device (420) to perform high-pressure washing on the working surface; S5. During the cleaning operation, the cleaning device (420) is in front and the walking robot (400) is in the back. The walking robot (400) walks from top to bottom. The walking speed of the walking robot (400) is controlled by the controller (800). At the same time, the mechanical arm (200) is controlled to extend. The speed of the supply rope (300) is detected by the measuring wheel group (210). The lateral speed V1 of the walking robot (400) is made the same as the extension speed of the mechanical arm (200). The hoisting device (700) and the retracting and releasing rope wheel group (220) are controlled to release the supply rope (300). In this process, the weight of the supply rope (300) is borne by the mechanical arm (200). S6. After cleaning a certain distance from top to bottom, the hoisting device (700) and the retractable cable wheel assembly (220) retract the supply cable (300), lift the walking robot (400), rotate the mechanical arm (200) by an angle, or move the vehicle-mounted platform (100) by a certain distance, move the walking robot (400) sideways, and retract the mechanical arm (200) to return the walking robot (400) to the top position, and then repeat S5; S7. Repeat the steps in S6 to perform high-pressure cleaning on the working surface (901) from top to bottom. After the cleaning is completed, the hoisting device (700) and the retractable cable wheel assembly (220) recover the supply cable (300), and lift the walking robot (400) to the top of the dam body (900); S8. After the work surface is dry, replace the spray system (500); S9. The mechanical arm (200) rotates and extends out of the vehicle-mounted platform (100), so that the distance meter (230) extends out of the dam body (900), and the distance from the mechanical arm (200) to the bottom of the working surface (901) of the dam body (900) is measured by the distance meter (230), and the data is fed back to the controller (800). The controller controls the hoisting device (700) and the retractable cable wheel group (220) to start releasing the supply cable (300) according to the height data, and the walking robot (400) is placed at the bottom of the working surface (901). At this time, the hoisting device (700) and the retractable cable wheel group (220) stop, and the supply cable (300) is in a suspended state; S10. The control spraying system (500) is started, the paint enters the spraying system (500) through the pipeline of the supply cable (300), and the paint is sprayed from the spraying device (430) to spray the work surface; S11. During the spraying operation, the walking robot (400) is in front and the spraying device (430) is in the back. The walking robot (400) walks from bottom to top. The walking speed of the walking robot (400) is controlled by the controller (800). At the same time, the mechanical arm (200) is controlled to retract. The speed of the supply rope (300) is detected by the measuring wheel group (210). The lateral speed V1 of the walking robot (400) is made the same as the retraction speed of the mechanical arm (200). The hoisting device (700) and the retracting rope wheel group (220) are controlled to retract the supply rope (300). In this process, the weight of the supply rope (300) is borne by the mechanical arm (200). S12. After spraying a certain distance from bottom to top, the hoisting device (700) and the cable retracting and releasing wheel group (220) retract the supply cable (300), lift the walking robot (400), rotate the mechanical arm (200) by an angle, or move the vehicle-mounted platform (100) for a certain distance, move the walking robot (400) sideways, then extend the mechanical arm (200), release the supply cable (300), and return the walking robot (400) to the bottom position, and repeat S11; S13. Repeat the steps in S12, spraying the working surface (901) from bottom to top; After the spraying is completed, the hoisting device (700) and the retractable rope wheel group (220) retract the supply rope (300), lift the walking robot (400) and retract it to the top of the dam body (900), and rotate the robot arm (200) back to the vehicle-mounted platform (100).

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