Crack detection and grouting repair device for underwater concrete

Abstract

The invention discloses a crack detection and grouting repair system for underwater concrete, which comprises a visual operation system and an underwater robot controlled by the visual operation system, the underwater robot comprises a bearing plate, a multifunctional converter arranged below the edge of the bearing plate, and a power assembly, a camera shooting assembly, a detection assembly, a crack repairing assembly and a control circuit which are arranged in corresponding areas of the bearing plate. The detection assembly comprises an ink jet head arranged on the multifunctional converter, the ink jet head is used for carrying out ink jet treatment on the suspected crack area, and the ink jet head is connected with a corresponding ink storage box; the crack repairing assembly comprises a high polymer spray head arranged on the multifunctional converter and a pinhole grouting head arranged below the base, the high polymer spray head and the pinhole grouting head are communicated with a micro grouting machine, the high polymer spray head is used for narrow crack grouting repairing, and the pinhole grouting head is used for wide crack grouting repairing. The invention aims to realize crack detection and repair of underwater concrete.

Description

Technical Field

[0001] The invention relates to the technical field of concrete structure repair, and in particular to a crack detection and grouting repair device for underwater concrete. Background Art

[0002] At present, with the long-term operation of domestic water conservancy and hydropower facilities, underwater concrete structures are affected by water flow pressure for a long time, and concrete structures often have multiple cracks and serious leakage problems, which seriously affect the service life of the structure. The existing repair measures mainly use divers for underwater repair, which has great safety hazards, and some dangerous and complex underwater areas are not suitable for divers to perform underwater repair. And the invention patent with patent publication number CN111663560A discloses an underwater injection sealing system using expanded polymers and its sealing method, which uses expanded polymers for underwater injection sealing of offshore platform pile foundations, first fixes two sealing strips at the bottom of the sleeve to form an underwater closed cavity, injects expanded polymers into the cavity, and forms a seal after underwater expansion. This expanded polymer has good rapid bonding performance, can block the seepage channel at the same time, has good plugging effect, and has strong sealing performance, which can ensure that the grouting liquid will not leak out, and can also resist the penetration of seawater. Although it can achieve a sealing effect, it cannot repair cracks and is also affected by water depth. Therefore, there is an urgent need to propose crack detection and grouting repair equipment for underwater concrete. Summary of the invention

[0003] The main purpose of the present invention is to provide a crack detection and grouting repair device for underwater concrete, aiming to solve the technical problem that existing devices cannot realize crack detection and repair for underwater concrete.

[0004] To achieve the above-mentioned object, the present invention provides a crack detection and grouting repair system for underwater concrete, the system comprising a visual operating system and an underwater robot controlled by the visual operating system;

[0005] The underwater robot comprises a carrying plate, a multifunctional converter arranged below the edge of the carrying plate, and a power assembly, a camera assembly, a detection assembly, a crack repair assembly, and a control circuit arranged in a corresponding area of ​​the carrying plate;

[0006] The control circuit is connected to the visual operating system by electrical signals, and the power component, camera component, detection component, and crack repair component are respectively connected to the control circuit by electrical signals;

[0007] The camera assembly is used to obtain image data obtained by the underwater robot under the drive of the power assembly and transmit it to the visual operating system through the control circuit;

[0008] The detection component is used to determine the crack position according to the area corresponding to the image data obtained by the camera component under the control of the visual operating system, so that the visual operating system controls the crack repair component to perform a repair operation;

[0009] The detection component includes an inkjet head disposed on the multifunctional converter, the inkjet head is used to perform inkjet processing on the suspected crack area, so that the visual operating system determines the crack position according to the image data after inkjet, and the inkjet head is connected to the corresponding ink storage box;

[0010] The crack repair component includes a polymer nozzle arranged on a multifunctional converter and a pinhole grouting head arranged under a base. The polymer nozzle and the pinhole grouting head are respectively connected to a micro grouting machine. The polymer nozzle is used for grouting repair of narrow cracks, and the pinhole grouting head is used for grouting repair of wide cracks.

[0011] Optionally, the camera assembly includes a main camera arranged above the edge of the carrier plate and a bottom camera arranged below the middle of the carrier plate, and image data acquired by the main camera and / or the bottom camera are transmitted to the visual operating system through the control circuit.

[0012] Optionally, the detection component further comprises a dredging head arranged on the multifunctional converter, and the dredging head is used for dredging the area after inkjet.

[0013] Optionally, a plurality of rollers are further provided under the bearing plate, and both ends of the plurality of rollers are connected to one end of a corresponding first hydraulic telescopic rod through a corresponding roller connecting rod, and the other end of each first hydraulic telescopic rod is fixed under the bearing plate.

[0014] Optionally, the pinhole grouting head is arranged through a gasket, a second hydraulic telescopic rod is arranged between the gasket and the base, the base is arranged below the middle of the bearing plate, and the gasket is used to fit the crack.

[0015] Optionally, a shell is further provided on the surface of the carrier plate, and the micro grouting machine, ink storage box, and control circuit are all arranged in a cavity formed by the shell and the surface of the carrier plate.

[0016] Optionally, the power assembly includes a plurality of Mecanum wheels and a plurality of spiral stabilizers mounted on the outer shell, the plurality of Mecanum wheels are respectively arranged under the supporting plate and controlled by corresponding motors, and the plurality of Mecanum wheels cooperate with the plurality of spiral stabilizers to control the underwater robot to run according to a target trajectory set by the visual operating system.

[0017] Optionally, corresponding underwater searchlights are also provided on both sides of the main control camera.

[0018] Optionally, the pinhole grouting head is connected to the micro grouting machine through a retractable grouting pipe and a polymer transmission pipeline in sequence, and the polymer nozzle is connected to the micro grouting machine through a polymer transmission pipeline.

[0019] Optionally, the multifunctional converter is rotatable and integrated with the inkjet head, the dredging head, and the polymer nozzle.

[0020] Beneficial effects:

[0021] (1) This system uses a visual operating system to remotely control underwater robots to detect and repair underwater cracks, avoiding the safety hazards of divers working underwater.

[0022] (2) The power unit uses a Mecanum wheel, which allows the equipment to move 360° flexibly underwater. The inkjet detection technology and polymer grouting technology are integrated on the equipment, realizing the integrated mechanization of underwater crack detection and grouting repair.

[0023] (3) The setting of the camera component can effectively improve the efficiency of obtaining images of the actual underwater concrete situation and monitor the grouting repair situation in real time, so as to know the grouting progress and ensure effective feedback during the grouting process.

[0024] (4) The detection component can effectively improve the accuracy of crack location through inkjet and inkjet-dredging detection, thereby improving the efficiency of crack repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of an underwater robot in one embodiment of a crack detection and grouting repair system for underwater concrete of the present invention;

[0027] Figure 2 for Figure 1 Top view of the structure shown

[0028] Figure 3 for Figure 1 a left side view of the structure shown;

[0029] Figure 4 for Figure 1 A front view of the structure shown;

[0030] Figure 5 for Figure 1 A schematic diagram of the interior of the structure shown;

[0031] Figure 6 A schematic diagram of the relevant structure for inkjet detection and spray rolling;

[0032] Figure 7 Schematic diagram of the relevant structure for grouting repair using a pinhole grouting head.

[0033] Description of Figure Numbers:

[0034] Label name Label name 1 Loading plate 2 shell 3 Mecanum wheel 4 Spiral stabilizer 5 Main camera 6 Underwater searchlight 7 Bottom camera 8 Inkjet Head 9 Dredging head 10 Multi-function converter 11 Polymer nozzle 12 Scroll Wheel 13 Roller connecting rod 14 First hydraulic telescopic rod 15 Second hydraulic telescopic rod 16 Gasket 17 Retractable grouting pipe 18 Pinhole Grouting Head 19 Base 20 Micro Grouting Machine 21 Transmission pipeline 22 Ink cartridge 23 Control Circuit 24 Traction ring 25 Narrow crack 26 Wide crack

[0035] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with the implementation methods and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0036] The following will be combined with the 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, not 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 are within the scope of protection of the present invention.

[0037] It should be noted that all directional indications (such as up, down, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0039] Furthermore, the technical solutions between the various embodiments of the present invention may be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in the field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] See also Figures 1 to 7 The present invention provides a structural schematic diagram of an embodiment of a crack detection and grouting repair system for underwater concrete, wherein the system includes a visual operating system and an underwater robot controlled by the visual operating system. Figure 1The figure shows a schematic diagram of the three-dimensional structure of an underwater robot, wherein the underwater robot comprises a carrier plate 1, a multifunctional converter 10 arranged below the edge of the carrier plate 1, and a power assembly, a camera assembly, a detection assembly, a crack repair assembly, and a control circuit 23 arranged in the corresponding area of ​​the carrier plate 1. The control circuit 23 is electrically connected to the visual operating system, and the power assembly, the camera assembly, the detection assembly, and the crack repair assembly are electrically connected to the control circuit 23 respectively. The camera assembly is used to obtain the image data obtained by the underwater robot under the drive of the power assembly and transmit it to the visual operating system through the control circuit 23. The detection assembly is used to determine the crack position according to the area corresponding to the image data obtained by the camera assembly under the control of the visual operating system, so that the visual operating system controls the crack repair assembly to perform a repair operation. The visual operating system has a display screen, an operation interface and a processing and analysis module. The operation interface can be a physical operation key or a touch screen operation interface integrated in the display screen. The processing and analysis module is used to receive image data transmitted by the control circuit 23 of the underwater robot for analysis and feedback on the display screen, so that the operating technician can control the various components in the underwater robot through the operation interface according to the image situation to perform corresponding operations, thereby realizing remote control of the operation of the underwater robot.

[0041] Furthermore, if Figure 2 As shown, a shell 2 is provided on the surface of the supporting plate 1, and a traction ring 24 is provided on the top of the shell 2. When the underwater robot needs to be started to work, the traction rope is tied to the traction ring 24, thereby realizing effective recovery of the underwater robot.

[0042] Furthermore, the power assembly includes a plurality of Mecanum wheels 3 and a plurality of spiral stabilizers 4 mounted on the housing 2. The plurality of Mecanum wheels 3 are respectively arranged below the carrier plate 1 and are controlled by corresponding motors. Each motor is electrically connected to the control circuit 23. The plurality of Mecanum wheels 3 cooperate with the plurality of spiral stabilizers 4 to control the underwater robot to run according to the target trajectory set by the visual operating system. Preferably, the power device uses four Mecanum wheels 3 and four spiral stabilizers 4 mounted on the housing 2, that is, the Mecanum wheels 3 are divided into two left-handed wheels and two right-handed wheels. The two left-handed wheels are mounted at the left rear and right front of the carrier plate 1, and the two right-handed wheels are mounted at the right rear and left front, and are respectively controlled by four motors. For details, see Figure 2 As shown, four spiral stabilizers 4 are welded on four positions of the housing 2, so that the underwater robot can rely on the water flow reaction force generated by the rotation of the propeller to keep the device close to the structure and maintain stability. Among them, the Mecanum wheel can make the underwater robot move 360 ​​degrees flexibly underwater, thereby avoiding the safety hazards of divers entering the water.

[0043] Furthermore, the detection component includes an inkjet head 8 arranged on the multi-functional converter 10, and the inkjet head 8 is used to perform inkjet processing on the suspected crack area so that the visual operating system can determine the crack position according to the image data after inkjet. The inkjet head 8 is connected to the corresponding ink storage box 22, and the ink storage box 22 is arranged in a cavity formed by the outer shell 2 and the surface of the carrier plate 1, and the ink storage box 22 is fixed above the carrier plate 1 by screws, and the inkjet head 8 is connected to the ink storage box 22 by an ink delivery pipeline.

[0044] Furthermore, the crack repair component includes a polymer nozzle 11 disposed on the multifunctional converter 10 and a pinhole grouting head 18 disposed under the base 19, the polymer nozzle 11 and the pinhole grouting head 18 are respectively connected to a micro grouting machine 20, the micro grouting machine 20 is disposed in a cavity formed by the housing 2 and the surface of the carrier plate 1, and the polymer nozzle 11 is used for grouting repair of narrow cracks, and the pinhole grouting head 18 is used for grouting repair of wide cracks. The main shaft of the multifunctional converter 10 is fixed below the edge of the carrier plate 1 by screws, preferably, the multifunctional converter 10 is disposed on the main control camera 5; the multifunctional converter 10 is rotatable, and the inkjet head 8 and the polymer nozzle 11 are integrated on the multifunctional converter 10, and then the inkjet head 8 or the polymer nozzle 11 is controlled to perform corresponding operations through the rotation of the multifunctional converter 10, thereby effectively reducing the number of components and realizing the integration of crack detection and grouting repair.

[0045] Furthermore, if Figure 4 As shown, the camera assembly includes a main camera 5 arranged above the edge of the carrier plate 1 and a bottom camera 7 arranged below the middle of the carrier plate 1. The image data obtained by the main camera 5 and / or the bottom camera 7 are transmitted to the visual operating system through the control circuit 23. Preferably, an underwater searchlight 6 is fixed by screws on both sides of the main control camera 5 to meet the underwater lighting requirements. In addition, corresponding lighting lamps can be arranged near the bottom camera 7 according to actual needs to improve the brightness of the acquired image. The main camera 5 and the bottom camera 7 are both fixed to the corresponding areas of the carrier plate by screws. The main control camera 5 observes the situation in front of the machine equipment and the working conditions of dredging, inkjetting, and spray rolling to repair cracks. The bottom camera 7 observes the crack conditions and the docking conditions between the pinholes and the cracks, and monitors the sealing pinhole grouting work.

[0046] Preferably, the camera 5 and the bottom camera 7 can also rotate 0-360 degrees, thereby avoiding the situation where some blind spots of underwater concrete cannot be effectively acquired, thereby improving the efficiency of acquiring the actual image of underwater concrete.

[0047] Furthermore, if Figure 4As shown, the detection component also includes a dredging head 9 arranged on the multifunctional converter 10, and the dredging head 9 is used to perform dredging operations on the area after inkjet. Preferably, the dredging head 9 is a dredging head that can be electrically rotated, and a plurality of brush heads are arranged at the end, so as to realize rotational dredging of the target area, thereby improving the accuracy of determining the crack position. Preferably, the dredging head 9 can also be integrated on the multifunctional converter 10.

[0048] Furthermore, if Figure 6 As shown, a plurality of rollers 12 are further provided below the edge of the bearing plate 1, and both ends of the plurality of rollers 12 are connected to one end of the corresponding first hydraulic telescopic rod 14 through corresponding roller connecting rods 13, and the other end of each first hydraulic telescopic rod 14 is fixed below the bearing plate 1, so that the operation of the first hydraulic telescopic rod 14 drives the plurality of rollers 12. In practical applications, the operation of the rollers is combined with the polymer spray head grouting repair, that is, the multi-functional converter 10 is adjusted to the polymer spray head 11, so that the polymer material is sprayed toward the narrow crack 25 after being stretched. At this time, the first hydraulic telescopic rod 14 is controlled to stretch, so that the roller 12 is lowered, and the roller 12 is used for rolling and flattening. The first hydraulic telescopic rod 14 provides appropriate pressure for the rolling of the roller 12, so as to achieve the rolling treatment of the crack area, thereby improving the spraying repair effect. Preferably, the three circular rollers 12 arranged side by side are connected on both sides by roller connecting rods 13 , on which three central axes are fixed by screws, and the three rollers 12 are sleeved on the three central axes and welded to the bottom of the bearing plate 1 through hydraulic telescopic rods 14 .

[0049] Furthermore, if Figure 3 As shown in or 7, the pinhole grouting head 18 is arranged through the gasket 16, and a second hydraulic telescopic rod 15 is arranged between the gasket 16 and the base 19, and the base 19 is arranged below the middle of the bearing plate 1, and the gasket 16 is used to seal and fit with the crack. In actual application, for wider cracks, the position of the pinhole grouting head 18 is adjusted by the bottom camera 7, so that the pinhole grouting head 18 enters the wide crack 26, and the second hydraulic telescopic rod 15 is extended to fit the gasket 16 tightly with the wide crack 26 to make it sealed, and finally the wide crack 26 is poured with polymer.

[0050] Furthermore, if Figure 5 As shown, the control circuit 23 is arranged in a cavity formed by the housing 2 and the surface of the carrier plate 1, and the control circuit 23 is waterproof and sealed as a whole to ensure normal operation underwater, provide power and control corresponding components.

[0051] Furthermore, if Figure 3 , Figure 5As shown, the pinhole grouting head 18 is connected to the micro grouting machine 20 through the retractable grouting pipe 17 and the polymer transmission pipeline in sequence, and the polymer nozzle 11 is connected to the micro grouting machine 20 through the polymer transmission pipeline, that is, the polymer nozzle 11 and the pinhole grouting head 18 are connected to the micro grouting machine 20 through the same polymer transmission pipeline, and the corresponding polymer repair method is selected according to the crack width.

[0052] Furthermore, if Figure 5 As shown, the polymer delivery pipeline and the ink delivery pipeline are both integrated in the transmission pipeline 21.

[0053] In the above embodiments, those skilled in the art may adopt the existing technology for software control. The present invention only protects the structure of a crack detection and grouting repair system for underwater concrete and the mutual connection relationship.

[0054] In addition, in order to better illustrate the corresponding structure in this embodiment, the specific operations in actual use are as follows:

[0055] (1) When the system needs to be started to work, the towing rope is tied to the towing ring 24, and then the underwater robot is put into the water. The operator remotely controls the robot and starts the power components, including the Mecanum wheel 3 and the spiral stabilizer 4. The Mecanum wheel 3 can achieve 360° free and flexible movement underwater, and the propeller of the spiral stabilizer 4 rotates to generate a water flow reaction force, so that the robot can be stably attached to the underwater structure.

[0056] (2) Observe the underwater situation through the main control camera 5 and two underwater searchlights 6. After finding a suspected crack area, start the detection component detection, adjust the multi-function converter 10 to the retractable inkjet head 8, and spray ink on the suspected crack area. The operator finds the crack position according to the leakage situation. Start the dredging operation, adjust the multi-function converter 10 to the dredging head 9, and after the dredging head 9 descends to fit the crack surface, it is powered on and rotated to dredge the crack position and expose the crack.

[0057] (3) After the cracks are exposed, the operator observes the crack width through the water surface control system. For narrow cracks, such as Figure 6 As shown, the multifunctional converter 10 is adjusted to the polymer spray head 11, so that it is stretched and then sprayed toward the narrow crack 25. At this time, the first hydraulic telescopic rod 14 is stretched to make the roller 12 descend, and the roller 12 is used to roll and flatten. The hydraulic telescopic rod 14 provides appropriate pressure for the roller 12 to roll. For wider cracks, such as Figure 7 As shown, the position of the pinhole grouting head 18 is adjusted by the bottom camera 7 so that the pinhole grouting head 18 enters the wide crack 26 , and the second hydraulic telescopic rod 15 is extended to fit the gasket 16 tightly to the wide crack 26 to make it sealed, and finally the polymer is poured into the wide crack 26 .

[0058] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A crack detection and grouting repair system for underwater concrete, characterized in that: The system includes a visual operating system and an underwater robot controlled by the visual operating system; The underwater robot comprises a carrying plate (1), a multifunctional converter (10) arranged below the edge of the carrying plate (1), and a power component, a camera component, a detection component, a crack repair component, and a control circuit (23) arranged in a corresponding area of ​​the carrying plate (1); The control circuit (23) is electrically connected to the visual operating system, and the power component, camera component, detection component, and crack repair component are electrically connected to the control circuit (23) respectively; The camera assembly is used to obtain image data obtained by the underwater robot under the drive of the power assembly and transmit the image data to the visual operating system through the control circuit (23); The detection component is used to determine the crack position according to the area corresponding to the image data obtained by the camera component under the control of the visual operating system, so that the visual operating system controls the crack repair component to perform a repair operation; The detection component comprises an inkjet head (8) arranged on a multifunctional converter (10), the inkjet head (8) being used to perform inkjet processing on a suspected crack area so that a visual operating system can determine the crack position according to image data after inkjet, and the inkjet head (8) is connected to a corresponding ink storage box (22); The crack repair component comprises a polymer nozzle (11) arranged on a multifunctional converter (10) and a pinhole grouting head (18) arranged below a base (19); the polymer nozzle (11) and the pinhole grouting head (18) are respectively connected to a micro grouting machine (20); the polymer nozzle (11) is used for grouting repair of narrow cracks, and the pinhole grouting head (18) is used for grouting repair of wide cracks.

2. The crack detection and grouting repair system for underwater concrete according to claim 1, characterized in that: The camera assembly comprises a main camera (5) arranged above the edge of the carrier plate (1) and a bottom camera (7) arranged below the middle of the carrier plate (1); image data acquired by the main camera (5) and / or the bottom camera (7) are transmitted to a visual operating system via a control circuit (23).

3. The crack detection and grouting repair system for underwater concrete according to claim 1, characterized in that: The detection component further comprises a dredging head (9) arranged on the multifunctional converter (10), and the dredging head (9) is used for performing a dredging operation on the area after inkjet.

4. The crack detection and grouting repair system for underwater concrete according to claim 1, characterized in that: A plurality of rollers (12) are also provided below the edge of the bearing plate (1), and both ends of the plurality of rollers (12) are connected to one end of a corresponding first hydraulic telescopic rod (14) via a corresponding roller connecting rod (13), and the other end of each first hydraulic telescopic rod (14) is fixed below the bearing plate (1).

5. The crack detection and grouting repair system for underwater concrete according to claim 1, characterized in that: The pinhole grouting head (18) is arranged through the gasket (16), a second hydraulic telescopic rod (15) is arranged between the gasket (16) and the base (19), the base (19) is arranged below the middle of the bearing plate (1), and the gasket (16) is used to fit the crack.

6. The crack detection and grouting repair system for underwater concrete according to claim 1, characterized in that: The surface of the carrier plate (1) is also provided with a shell (2), and the micro-grouting machine (20), the ink storage box (22), and the control circuit (23) are all arranged in a cavity formed by the shell (2) and the surface of the carrier plate (1).

7. The crack detection and grouting repair system for underwater concrete according to claim 6, characterized in that: The power assembly comprises a plurality of Mecanum wheels (3) and a plurality of spiral stabilizers (4) mounted on a housing (2); the plurality of Mecanum wheels (3) are respectively arranged below a carrier plate (1) and are controlled by corresponding motors; the plurality of Mecanum wheels (3) cooperate with the plurality of spiral stabilizers (4) to control the underwater robot to run according to a target trajectory set by a visual operating system.

8. The crack detection and grouting repair system for underwater concrete according to claim 2, characterized in that: Corresponding underwater searchlights (6) are also arranged on both sides of the main control camera (5).

9. The crack detection and grouting repair system for underwater concrete according to claim 1, characterized in that: The pinhole grouting head (18) is connected to the micro grouting machine (20) via a telescopic grouting pipe (17) and a polymer transmission pipeline in sequence; the polymer nozzle (11) is connected to the micro grouting machine (20) via a polymer transmission pipeline.

10. The crack detection and grouting repair system for underwater concrete according to claim 3, characterized in that: The multifunctional converter (10) is rotatable and is integrated with the inkjet head (8), the dredging head (9) and the polymer nozzle (11).

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