An integrated maintenance device and working method for a submarine tunnel

Abstract

The invention relates to an integrated maintenance device and working method for an undersea tunnel, which belongs to the technical field of undersea tunnel maintenance and solves the defect that multiple devices are needed for existing tunnel maintenance. The invention comprises a traveling vehicle, a mechanical arm is installed on the traveling vehicle, a spraying pump is arranged in front of the mechanical arm, an air compressor is arranged on one side of the spraying pump, storage boxes are arranged on both sides of the mechanical arm, a water tank is fixed on the top surface of the storage box, a paint bucket is arranged in the storage box on one side, and the paint bucket is connected to the spraying pump, a gas tank is arranged at the rear of the mechanical arm, the gas tank is connected to the air compressor, a grouting pump is arranged at the rear of the gas tank, slurrying mechanisms are arranged on both sides of the area where the gas tank and the grouting pump are located, the slurrying mechanism is connected to the water tank through a water pipe and a water pump, the slurrying mechanism is connected to the grouting pump through a slurry pipe, and also comprises a clamping mechanism and a nozzle mechanism, the clamping mechanism and the nozzle mechanism can be detachably connected to the end of the mechanical arm, the maintenance device of the invention has high integration and saves labor.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine tunnel maintenance, and in particular to an integrated submarine tunnel maintenance device and a working method. Background Art

[0002] The statements herein merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Subsea tunnels face complex and harsh marine environments such as unlimited seawater replenishment, complex and changeable geological structures, strong high-salinity and high-permeability erosion, and active earthquakes. Tunnel diseases / disasters occur frequently, and structural functions are constantly lost. Long-term safe operation faces severe challenges. Subsea tunnel disease prevention and maintenance methods include grouting, spraying, etc., and treatment equipment includes grouting equipment, grouting preparation, and spraying equipment. Current tunnel maintenance and treatment equipment mostly uses traditional equipment with only a single function, such as grouting equipment, grouting equipment, and spraying equipment, which require manual operation and construction. The traditional single-function tunnel maintenance equipment mainly has the following problems:

[0004] 1. The pulping, grouting and spraying equipment only have a single function. Each device relies heavily on engineering experience and needs to be manually operated. The grouting slurry is mostly prepared manually, with complicated operation steps, high labor demand and long time consumption.

[0005] 2. Each piece of equipment needs to be transported to the construction site manually. The equipment is large in size and weight, making it difficult to synchronize with changes at the construction site, which is time-consuming and costly.

[0006] 3. During spraying operations, manual handheld spraying devices are often used for spraying. The spraying angle, height, and area are limited, and intelligent and precise spraying cannot be achieved. In addition, when manual handheld spraying is used, the spraying materials are easily harmful to the human body. Summary of the invention

[0007] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an integrated maintenance device and working method for an undersea tunnel, which integrates the functions of slurry making, grouting and spraying, reduces the labor demand and improves construction efficiency.

[0008] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0009] In the first aspect, an embodiment of the present invention provides an integrated maintenance device for a submarine tunnel, comprising a traveling vehicle, a mechanical arm mounted on the traveling vehicle, a spraying pump mounted on the traveling vehicle body is provided in front of the mechanical arm, an air compressor is provided on one side of the spraying pump, storage boxes are provided on both sides of the mechanical arm, a water tank is fixed on the top surface of the storage box, a paint bucket is provided in the storage box on one side, the paint bucket is connected to the spraying pump through a pump body and a feed pipe, a gas tank is provided at the rear of the mechanical arm, the gas tank is connected to the air compressor through an air pipe, a grouting pump is provided at the rear of the gas tank, slurrying mechanisms are provided on both sides of the area where the gas tank and the grouting pump are located, the slurrying mechanism is connected to the water tank through a water pipe and a water pump, and the slurrying mechanism is connected to the grouting pump through a slurry pipe;

[0010] It also includes a clamping mechanism and a nozzle mechanism. The clamping mechanism is used to fix the grouting pipe connected to the grouting pump, and the nozzle mechanism is used to connect with the gas tank and the spraying pump. The clamping mechanism and the nozzle mechanism can be detachably connected to the end of the mechanical arm.

[0011] Optionally, the slurry making mechanism includes a stirring barrel, which is provided with a stirring mechanism. The stirring barrel is connected to a water tank located on the same side through a water pipe and a water pump, and the discharge port of the stirring barrel is connected to a grouting pump through a slurry pipe. A quantitative delivery barrel is provided above the stirring barrel, and a conveying mechanism is provided in the quantitative delivery barrel. The end of the conveying mechanism is connected to the stirring barrel, and a storage bin is provided above the quantitative delivery barrel for storing dry materials.

[0012] Optionally, a pressure detection element is provided between the mixing barrel and the quantitative delivery barrel to detect the weight of the quantitative delivery barrel and the storage bin.

[0013] Optionally, the robotic arm includes a base, which is connected to a rotating drive mechanism to achieve rotation around a vertical axis, the base is connected to the bottom end of the first telescopic arm, the top end of the first telescopic arm is rotatably connected to one end of a first swing arm, the first swing arm is hinged to one end of the first telescopic member, the other end of the first telescopic member is hinged to the telescopic part of the first telescopic arm, the other end of the first swing arm is rotatably connected to one end of the second telescopic arm, the first swing arm is hinged to one end of the second telescopic member, the other end of the second telescopic member is hinged to a fixed part of the second telescopic arm, the end of the telescopic part of the second telescopic arm is connected to the second swing arm through a swinging drive member, and the end of the second swing arm is used to connect a clamping mechanism or a nozzle mechanism.

[0014] Optionally, the nozzle mechanism includes a nozzle and an ultraviolet lamp, which is mounted on a support frame. The support frame is detachably connected to the end of the robotic arm, and a mobile driving mechanism is provided on the support frame. The mobile driving mechanism is connected to the nozzle, and the nozzle is connected to the gas tank through a gas pipeline, and the nozzle is connected to the spray pump through a paint pipeline.

[0015] Optionally, the water tank is provided with a float liquid level switch, and the water pipe connected to the water outlet of the water tank is provided with an electric-controlled ball valve to adjust the water output.

[0016] Optionally, the grout outlet of the grouting pump is provided with a flow detection element and a pressure detection element.

[0017] Optionally, the traveling vehicle includes a vehicle body, a plurality of road traveling mechanisms and a plurality of track traveling mechanisms are installed at the bottom of the vehicle body, the road traveling mechanism is connected to a first traveling drive mechanism installed on the vehicle body, the track traveling mechanism is installed on a lifting frame and connected to a second traveling drive mechanism on the lifting frame, and the lifting frame is connected to a lifting mechanism installed on the vehicle body.

[0018] Optionally, at least one road running mechanism is connected to a first running drive mechanism installed on the vehicle body as an active running mechanism, and the remaining road running mechanisms serve as driven running mechanisms, and at least one road running mechanism serving as a driven running mechanism is connected to a steering mechanism.

[0019] In a second aspect, an embodiment of the present invention provides a working method of an integrated maintenance device for a submarine tunnel:

[0020] The grouting pipe is connected to the grouting outlet of the grouting pump, the grouting mechanism and the grouting pump are started, the grouting mechanism prepares the slurry, and the grouting pump delivers the slurry prepared by the grouting mechanism into the grouting pipe. For the first maintenance area, the mechanical arm drives the grouting pipe to move through the clamping mechanism, and sequentially inserts it into the grouting holes pre-constructed in the first maintenance area to perform grouting in the first maintenance area. For the second maintenance area, the grouting pipe is directly inserted into the grouting holes pre-constructed in the second maintenance area to perform grouting;

[0021] The height of the first maintenance area is higher than the height of the second maintenance area;

[0022] After the grouting is completed, the clamping mechanism is removed and the nozzle mechanism is installed. The spray pump, air compressor and nozzle mechanism are started. The robotic arm drives the nozzle mechanism to move and spray the coating on the maintenance area.

[0023] The beneficial effects of the present invention are as follows:

[0024] 1. The integrated maintenance device of the present invention has a mechanical arm, a spray pump, an air compressor, a gas tank, a slurry making mechanism and a grouting pump installed on the traveling vehicle. The end of the mechanical arm can be connected to a clamping mechanism or a nozzle mechanism. The clamping mechanism, the slurry making mechanism and the grouting pump can be used to realize grouting operations in the tunnel maintenance area. The spraying operations in the tunnel maintenance area can be realized through the spray pump, the air compressor and the nozzle mechanism, so that the grouting, slurry making and spraying used for the maintenance of the submarine tunnel are integrated into one device. The grouting, slurry making and spraying can work together, which reduces the number of workers required for maintenance, reduces labor costs, and improves construction efficiency. At the same time, the equipment required for grouting, slurry making and spraying can be delivered to the construction site at one time, which saves time and reduces construction costs.

[0025] 2. The integrated maintenance device of the present invention has a spray pump in front of the robot arm, and a gas tank and a grouting pump are arranged in sequence at the rear, pulping mechanisms are arranged on both sides of the area where the gas tank and the grouting pump are located, storage boxes are arranged on both sides of the robot arm, and water tanks are arranged above the storage boxes. A paint bucket is arranged in the storage box on one side, and an air compressor is arranged on one side of the spray pump. All equipment is reasonably arranged on the traveling vehicle, which makes the structure of the traveling vehicle compact. While integrating pulping, grouting and spraying equipment on the same set of equipment, the volume of the entire device is minimized, making the device more flexible, easy to operate, and highly adaptable to the site.

[0026] 3. The integrated maintenance device of the present invention has a mechanical arm with a first telescopic arm, a second telescopic arm, a first swing arm, and a second swing arm. Compared with the traditional mechanical arm, the first telescopic arm and the second telescopic arm are added. For tunnels of any contour shape and size, the moving range of the end of the mechanical arm can cover any area that needs maintenance, and the spraying height, angle and spraying area can be adjusted intelligently and accurately, which ensures the maintenance effect and improves the applicability of the integrated maintenance device. The spraying construction will not cause personal injury to the construction workers.

[0027] 4. In the integrated maintenance device of the present invention, a weight sensor is provided between the mixing barrel and the quantitative delivery barrel, which can control the physical weight entering the mixing barrel. At the same time, an electric control valve is provided at the water outlet of the water tank to adjust the water output. The weight sensor and the electric control valve can work together to realize intelligent slurry mixing, without the need for manual slurry mixing, simple operation, and reduce the labor intensity of construction personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0029] Figure 1 This is a front view of the overall structure of Example 1 of the present invention;

[0030] Figure 2 is a top view of the overall structure of Example 1 of the present invention;

[0031] Figure 3 This is a front view of the mechanical arm of Embodiment 1 of the present invention;

[0032] Figure 4 This is a front view of the first telescopic arm of Example 1 of the present invention;

[0033] Figure 5 This is a front view of the first pulping mechanism of Example 1 of the present invention;

[0034] Figure 6 The structure of the grouting pump of embodiment 1 of the present invention is shown in FIG. Figure 1 ;

[0035] Figure 7 The structure of the grouting pump of embodiment 1 of the present invention is shown in FIG. Figure 2 ;

[0036] Figure 8 is a schematic diagram of the vehicle body structure of embodiment 1 of the present invention;

[0037] Among them, 1. vehicle body, 2. mechanical arm, 3. spray pump, 4. grouting pump, 5. gas tank, 6. storage box, 7. water tank, 8. electric box, 9. diaphragm pump, 10. air compressor, 11. first pulping mechanism, 12. second pulping mechanism, 13. nozzle mechanism, 14. control cabinet, 15. display screen, 16. rear road running wheel, 17. connecting shaft, 18. rear axle mechanism, 19. battery box, 20. front road running wheel, 21. wheel frame, 22. fixed frame, 23. synchronous shaft, 24. steering cylinder, 25. track wheel, 26. track wheel axle, 27. lifting frame;

[0038] 201. base, 202. rotation drive motor, 203. gear ring, 204. gear, 205. first telescopic arm, 206. first swing arm, 207. first electric cylinder, 208. second telescopic arm, 209. swing drive motor, 210. second swing arm, 211. second electric cylinder;

[0039] 401. inlet, 402. slurry outlet pipe, 403. tee, 404. flow detection element, 405. pressure detection element, 406. grouting pump motor, 407. grouting pump reducer;

[0040] 1101. stirring barrel, 1102. stirring drive motor, 1103. quantitative conveying barrel, 1104. conveying drive motor, 1105. discharge pipe, 1106. storage bin, 1107. weight sensor, 1108. stirring cover;

[0041] 1301. support frame, 1302. nozzle, 1303. ultraviolet irradiation lamp;

[0042] 20501. Fixed part, 20502. Telescopic part, 20503. Lead screw, 20504. Chain transmission mechanism, 20505. First telescopic driving motor, 20506. Pulley. DETAILED DESCRIPTION

[0043] Example 1

[0044] This embodiment provides an integrated maintenance device for a submarine tunnel. Figure 1-Figure 2As shown, the traveling vehicle includes a vehicle body 1. The bottom surface of the vehicle body 1 is provided with a plurality of road traveling mechanisms and a plurality of track traveling mechanisms. When the ground surface in the submarine tunnel is a road surface, the road traveling mechanism is used to drive the traveling vehicle to move. When the ground surface in the submarine tunnel is provided with a track, the track traveling mechanism is used to cooperate with the track to drive the traveling vehicle to move. A mechanical arm 2, a spraying pump 3, a grouting pump 4, a slurry making mechanism, a gas tank 5, a storage box 6, a water tank 7, an electric box 8, an air compressor 10 and other equipment are installed on the top surface of the traveling vehicle.

[0045] The mechanical arm 2 is arranged in the middle of the top surface of the vehicle body 1. A spray pump 3 is arranged in front of the mechanical arm 2. In this embodiment, the spray pump 3 adopts an airless spray pump. A gas tank 5 is arranged behind the mechanical arm 2, and a grouting pump 4 is arranged behind the gas tank 5. Storage boxes 6 are arranged on both sides of the mechanical arm 2 for storing construction tools. A water tank 7 is fixed on the top surface of the storage box 6. A paint bucket is arranged in the storage box 6 on one side. The paint bucket is connected to the pump body through a pipeline. The pump body is fixed on the outer side of the box wall of the storage box 6. The paint bucket is connected to the spray pump 3 through the pump body and the feed pipe. The pump body adopts a diaphragm pump 9, and the diaphragm pump 9 can drive the paint in the paint bucket into the spray pump 3.

[0046] The gas tank 5 is connected to the air compressor 10 through an air pipe. The air compressor 10 is a screw air compressor, which is used to inject air into the gas tank 5 to pressurize the gas tank 5. The air compressor 10 is arranged on one side of the spray pump 3, and the electric box 8 is located on both sides of the spray pump 3 respectively.

[0047] Both sides of the area where the gas tank 5 and the grouting pump 4 are located are provided with slurrying mechanisms, and the slurrying mechanisms on both sides are respectively the first slurrying mechanism 11 and the second slurrying mechanism 12. The first slurrying mechanism 11 and the second slurrying mechanism 12 are connected to the grouting pump 4 through a slurry pipe, and the grouting pump 4 can drive the slurry prepared by the first slurrying mechanism 11 and the second slurrying mechanism 12 to flow.

[0048] The first pulping mechanism 11 is connected to the water tank 7 on the same side through a water pump and a water pipe, and the second pulping mechanism 12 is connected to the water tank 7 on the same side through a water pump and a water pipe.

[0049] In this embodiment, Figure 3As shown, the robotic arm 2 includes a base 201, which is connected to a rotary drive mechanism. The rotary drive mechanism can drive the base 201 to rotate around a vertical axis. In this embodiment, the base 201 is connected to a rotating component, and the rotating component is rotationally connected to the vehicle body 1. A ring gear 203 is provided on the outer periphery of the rotating component, and the ring gear is meshed with a gear 204. The gear 204 is connected to the output shaft of a reducer installed on the vehicle body 1, and the reducer is connected to the output shaft of a rotary drive motor 202. The rotary drive motor 202 can drive the gear 204 to rotate, thereby driving the base 201 to rotate around the vertical axis under the meshing action of the gear 204 and the ring gear 203.

[0050] The base 201 is provided with a first telescopic arm 205 , and the first telescopic arm 205 can output a telescopic movement in the vertical direction.

[0051] In this embodiment, Figure 4 As shown, the first telescopic arm 205 includes a fixed portion 20501, the fixed portion 20501 is provided with a telescopic portion 20502 telescopically connected thereto, a plurality of pulleys 20506 are provided at the bottom of the telescopic portion 20502, and the pulleys 20506 cooperate with the inner side surface of the fixed portion 20501 to guide the telescopic movement of the telescopic portion 20502. Figure 4 In order to show the pulley 20506, the lower part of the fixed part 20501 is omitted, and the fixed part 20501 is sleeved on the outer periphery of the telescopic part 20502. The telescopic part 20502 is slidably connected to the fixed part 20501 through a slider and a guide rail, and is threadedly connected to the lead screw 20503 vertically arranged to the axis, and the bottom end of the lead screw 20503 is connected to the output end of the chain transmission mechanism 20504, and the input end of the chain transmission mechanism 20504 is connected to the output shaft of the reducer installed on the base 201, and the reducer is connected to the first telescopic drive motor 20505. The first telescopic drive motor 20505 drives the lead screw 20503 to rotate through the chain transmission mechanism 20504, thereby driving the telescopic part 20502 to perform vertical telescopic movement.

[0052] The top end of the telescopic part of the first telescopic arm 205 is rotatably connected to the first swing arm 206, and the first swing arm 206 can swing around the connection position with the first telescopic arm 205. A first telescopic member is provided between the first swing arm 206 and the telescopic part 20502 of the first telescopic arm 205. One end of the first telescopic member is hinged to the first swing arm 206, and the other end is hinged to the telescopic part 20502 of the first telescopic arm 205. The telescopic movement of the first telescopic member can drive the first swing arm 206 to swing.

[0053] Preferably, the first telescopic member adopts the first electric cylinder 207. It is understandable that the first telescopic member may also adopt other devices capable of outputting telescopic motion, such as a hydraulic cylinder or an electric telescopic rod.

[0054] One end of the first swing arm 206 is rotatably connected to the top of the telescopic part 20502 of the first telescopic arm 205, and the other end is rotatably connected to one end of the second telescopic arm 208. The second telescopic arm 208 also includes a fixed part and a telescopic part telescopically connected to the fixed part. The fixed part is sleeved on the outer periphery of the telescopic part and is slidably connected to the telescopic part through a slider and a guide rail. A second telescopic member is provided between the fixed part of the second telescopic arm 208 and the first swing arm 206. The second telescopic member adopts a second electric cylinder 211. One end of the second electric cylinder 211 is hinged to the fixed part of the second telescopic arm 208, and the other end is hinged to the first swing arm 206. A second telescopic drive motor is provided at the end of the fixed part of the second telescopic arm 208. The second telescopic drive motor is connected to the lead screw through a reducer. The lead screw is threadedly connected to the telescopic part of the second telescopic arm 208. The second telescopic drive motor can drive the lead screw to rotate, thereby driving the telescopic part and the fixed part of the second telescopic arm 208 to produce telescopic movement.

[0055] A swing drive member is provided at the end of the second telescopic arm 208, and the swing drive member adopts a swing drive motor 209. The output shaft of the swing drive motor 209 is perpendicular to the second telescopic arm 208. The output shaft of the swing drive motor 209 is vertically connected to one end of the second swing arm 210, which can drive the second swing arm 210 to swing.

[0056] The other end of the second swing arm 210 is used for detachably connecting the clamping jaw mechanism or the nozzle mechanism 13 .

[0057] When used for grouting construction, the end of the second swing arm 210 is detachably connected to a clamping claw mechanism, and when used for spraying construction, the end of the second swing arm 210 is detachably connected to a nozzle mechanism 13.

[0058] The clamp mechanism can be an existing electric clamp, and its specific structure will not be described in detail here. The electric clamp can be detachably connected to the end of the second swing arm 210 through a mounting plate and bolts.

[0059] The nozzle mechanism 13 includes a support frame 1301, which can be detachably connected to the end of the second swing arm 210 by bolts. A mobile drive mechanism is provided on the support frame 1301, and the output movement direction of the mobile drive mechanism is perpendicular to the second swing arm 210. The mobile drive mechanism is connected to the nozzle fixing seat, and the nozzle 1302 is fixed to the nozzle fixing seat.

[0060] The support frame 1301 is also provided with an ultraviolet irradiation lamp 1303 for curing the coating formed by spraying.

[0061] In this embodiment, the mobile driving mechanism adopts a belt transmission mechanism installed on the support frame 1301, the transmission belt of the belt transmission mechanism is connected to the nozzle fixing seat, and the nozzle fixing seat is slidably connected to the support frame 1301.

[0062] The robot arm 2 of the present embodiment is provided with a first telescopic arm 205, a second telescopic arm 208, a first swing arm 206, and a second swing arm 210, so that the moving range of the end of the robot arm 2 can cover any area that needs maintenance, and the spraying height, angle and spraying area can be intelligently and accurately adjusted, thereby ensuring the maintenance effect and improving the applicability of the integrated maintenance device. The end of the second swing arm 210 is provided with a detachable connecting jaw mechanism or nozzle mechanism 13, and the same set of equipment can realize both grouting construction and spraying construction.

[0063] A spray pump 3 is provided in front of the robotic arm 2. In the present embodiment, the spray pump 3 adopts an existing airless spray pump, which is fixed to the vehicle body 1 through a spray pump bracket. The inlet of the airless spray pump is connected to the paint bucket fixed in the storage box 6 through a feed pipe and a diaphragm pump 9, and its outlet can be connected to the paint inlet of the nozzle 1302 through a paint pipeline. A flexible tube is used for the paint pipeline between the airless spray pump and the nozzle 1302 to meet the movement requirements of the nozzle 1302.

[0064] The gas inlet of the nozzle 1302 is connected to one end of the gas pipeline, and the other end of the gas pipeline can be connected to the outlet of the gas tank 5. The gas tank 5 can input the gas of set pressure into the nozzle 1302 through the gas pipeline. In this embodiment, the gas pipeline adopts a flexible tube to meet the movement requirements of the nozzle. A valve is provided at the gas outlet of the gas tank 5 to control the switching of the opening and closing states of the gas outlet of the gas tank 5. Preferably, the valve adopts an electrically controlled valve.

[0065] An air compressor 10 is provided on one side of the spray pump 3, and an electric box 8 is provided on the other side. The electric box 8 is used to distribute power to the electrical equipment of the maintenance device of this embodiment. The electric box 8 is connected to a battery box 19 arranged in the middle position inside the vehicle body 1, and the battery box 19 is used to supply power.

[0066] The first slurrying mechanism 11 and the second slurrying mechanism 12 have the same structure, wherein the first slurrying mechanism 11 is used to prepare cement slurry, and the second slurrying mechanism 12 is used to prepare water glass slurry. The specific structure is described by taking the first slurrying mechanism 11 as an example:

[0067] like Figure 5 As shown, the first slurrying structure includes a stirring barrel 1101, which is fixed on the vehicle body 1. A stirring mechanism is arranged in the stirring barrel 1101. The stirring mechanism includes a stirring shaft in the stirring barrel. A stirring blade is arranged on the stirring shaft. One end of the stirring shaft extends to the outside of the stirring barrel and is connected to a reducer fixed at the end of the stirring barrel. The reducer is connected to a stirring drive motor 1102.

[0068] In this embodiment, the power of the stirring drive motor 1102 is 2 kW, the power of the reducer connected thereto is 1.1 kW, and a sealing gasket is provided between the output shaft of the reducer and the stirring barrel 1101 to prevent slurry leakage.

[0069] A quantitative delivery barrel 1103 is fixed above the mixing barrel 1101, and the quantitative delivery barrel 1103 is provided with a conveying mechanism, which includes a spiral conveying shaft, one end of the spiral conveying shaft is connected to a reducer fixed on one side of the quantitative delivery barrel 1103, and the reducer is connected to a conveying drive motor 1104. A discharge pipe 1105 is provided at the other side of the quantitative delivery barrel 1103, and the discharge pipe 1105 cooperates with the internal space of the mixing barrel 1101 to deliver cement dry material into the mixing barrel 1101.

[0070] The power of the conveying drive motor 1104 is 2 kW, and the power of the reducer connected thereto is 0.37 kW. The spiral conveying shaft is rotatably connected to the end barrel wall of the quantitative conveying barrel 1103 through a self-aligning bearing and is sealed with a TC skeleton oil seal.

[0071] A storage bin 1106 is provided above the quantitative delivery barrel 1103 , and the storage bin 1106 is used to store dry materials. The storage bin 1106 of the first pulping mechanism 11 is used to store dry cement. The bottom end of the storage bin 1106 is connected to the quantitative delivery barrel 1103 for feeding dry cement into the quantitative delivery barrel 1103 .

[0072] Furthermore, a pressure detection element is provided between the quantitative delivery barrel 1103 and the mixing barrel 1101. In this embodiment, the pressure detection element adopts an existing weight sensor 1107 for detecting the weight of the quantitative delivery barrel 1103 and the storage bin 1106 to achieve quantitative delivery.

[0073] The mixing barrel 1101 is also connected to the water tank 7 via a water pipe and a water pump, and the water pump can deliver water in the water tank 7 into the mixing barrel 1101 to prepare cement.

[0074] Furthermore, a float liquid level switch is provided in the water tank 7. When the amount of water in the water tank 7 is less than a set value, the float liquid level switch closes the bottom water outlet of the water tank. The water outlet at the bottom of the water tank 7 is connected to a water pipe, and a ball valve is provided on the water pipe to adjust the water outlet of the water tank. Preferably, the ball valve is an electrically controlled ball valve.

[0075] Furthermore, a stirring cover 1108 is provided at the open top of the stirring barrel 1101 . The stirring cover 1108 is rotatably connected to the stirring barrel 1101 via a conical hinge to realize opening and closing of the inner space of the stirring barrel 1101 , thereby facilitating cleaning of the interior of the stirring barrel 1101 .

[0076] The cement dry material enters the quantitative conveying barrel 1103 from the storage bin 1106 under the action of its own gravity. The spiral conveying shaft in the quantitative conveying barrel 1103 rotates to convey the cement dry material and send the cement dry material into the mixing barrel 1101. Under the action of the water pump, the water in the water tank 7 enters the mixing barrel 1101 in a quantitative manner according to a preset ratio, and is mixed and stirred with the cement dry material in the mixing barrel 1101 to form cement.

[0077] The structure of the second pulping mechanism 12 is the same as that of the first pulping mechanism 11, and will not be described again. The dry material stored in the storage bin of the second pulping mechanism 12 is water glass dry material, and the second pulping mechanism 12 is used to prepare water glass slurry.

[0078] In this embodiment, the slurry ratio and slurry quantity can be manually input according to the needs of the on-site project, or the slurry ratio and slurry quantity required for the formation can be calculated by the cloud-based intelligent control system based on a large amount of engineering case data.

[0079] like Figure 6-Figure 7 As shown, the grouting pump 4 adopts the existing double-cylinder piston grouting pump, has two piston cylinders, and has a grouting pump motor 406 and a grouting pump reducer 407, and the existing equipment can be used. Its specific structure is not described in detail here. The double-cylinder piston grouting pump is installed inside the metal shell, and its two piston cylinders respectively have an inlet 401 and an outlet, with a total of two inlets 401 and two outlets, one of the inlets 401 is connected to the stirring barrel 1101 of the first pulping mechanism 11 through a slurry pipe, and the other inlet 401 is connected to the stirring barrel of the second pulping mechanism 12 through a slurry pipe, and the two outlets are merged through a tee 403 in the grouting pump 4, and the tee 403 is connected to a slurry outlet pipe 402, and the slurry outlet pipe 402 extends to the metal shell to form a slurry outlet.

[0080] A flow detection element 404 and a pressure detection element 405 are installed on the slurry outlet pipe 402, which are used to detect the slurry flow and pressure of grouting respectively. The flow detection element 404 can be a flow meter, and the pressure detection element 405 can be a pressure gauge, which will not be described in detail here.

[0081] A control cabinet 14 is provided in front of the spray pump 3, and a control system is provided inside the control cabinet 14. The control system is connected to the air compressor 10, the spray pump 3, the diaphragm pump 9, the stirring drive motor 1102, the conveying drive motor 1104, the robotic arm 2 and other electronic control equipment to control their operations. The flow meter, the pressure gauge and the weight sensor 1107 are connected to the control system and can transmit the detected information to the control system. A display screen 15 is also provided on the control cabinet 14. The display screen 15 is connected to the control system for human-computer interaction. A display screen cover is provided on the periphery of the display screen 15.

[0082] like Figure 8 As shown, a plurality of road running mechanisms and a plurality of track running mechanisms are installed at the bottom of the vehicle body 1. In this embodiment, a group of road running mechanisms and a group of track running mechanisms are provided at the front end of the bottom of the vehicle body, and a group of road running mechanisms and a group of track running mechanisms are provided at the rear end of the bottom of the vehicle body 1.

[0083] The road travel mechanism at the rear end serves as an active travel mechanism, including two rear road travel wheels 16, which are connected by a connecting shaft 17, and the connecting shaft 17 is connected to a road travel drive motor through a rear axle mechanism 18. The road travel drive motor is installed on the vehicle body 1, and the rear axle mechanism 18 can adopt existing technology, which will not be described in detail here. The road travel drive motor can drive the connecting shaft 17 to rotate, and then drive the two rear road travel wheels 16 to rotate, so as to realize the movement of the vehicle body.

[0084] The front end road running mechanism serves as a driven running mechanism, including two front road running wheels 20, which are rotatably connected to a wheel frame 21 via a wheel axle, and can rotate around its own axis, and the wheel frame 21 is rotatably connected to a fixed frame 22, and a synchronization shaft 23 is provided between the wheel frames 21 on both sides, so that the wheel frames 21 on both sides rotate synchronously, and one side of the wheel frame 21 is connected to a steering mechanism, and the steering mechanism adopts a steering electric cylinder 24, one end of the steering electric cylinder 24 is hinged to the wheel frame 21, and the other end is hinged to the fixed frame 22, and the telescopic movement of the steering electric cylinder 24 can drive the front road running wheel 20 to steer, thereby realizing the change of the travel direction of the vehicle body 1.

[0085] The track travel mechanism includes two track wheels 25, which are connected by a track wheel axle 26. The track wheel axle 26 is rotatably connected to a lifting frame 27. The lifting frame 27 is connected to a lifting mechanism installed on the vehicle body 1. The lifting mechanism adopts a lifting electric cylinder. One end of the lifting electric cylinder is connected to the vehicle body 1, and the other end is connected to the lifting frame 27 to drive the lifting frame to perform lifting movements.

[0086] The track wheel axle 26 at the rear is connected to a track wheel driving motor installed on the lifting frame 27 , and the track wheel driving motor drives the track wheel 25 to rotate through the track wheel axle 26 , thereby realizing the movement of the vehicle body 1 along the track.

[0087] In this embodiment, the switching of the working states of the rail wheel 25 and the road wheel can be achieved through the lifting mechanism.

[0088] The integrated undersea tunnel maintenance device of this embodiment integrates the grouting, slurry making and spraying used for undersea tunnel maintenance into one device. The grouting, slurry making and spraying can work together, reducing the number of manpower required for maintenance, reducing labor costs and improving construction efficiency. At the same time, the equipment required for grouting, slurry making and spraying can be delivered to the construction site at one time, which saves time and reduces construction costs. Moreover, all equipment is reasonably arranged on the traveling vehicle, making the structure of the traveling vehicle compact, minimizing the volume of the entire device, making the device more flexible, easy to operate and highly adaptable to the site.

[0089] Example 2

[0090] This embodiment provides a working method of the integrated submarine tunnel maintenance device described in Embodiment 1:

[0091] First, the clamp mechanism is installed at the end of the second swing arm 210, the slurry inlet end of the grouting pipe is connected to the slurry outlet of the grouting pump 4, the first slurry making mechanism 11 and the second slurry making mechanism 12 are in operation, the grouting pump 4 is in operation, the first slurry making mechanism 11 prepares cement slurry, and the second slurry making mechanism 12 prepares water glass slurry. When the first slurry making mechanism 11 and the second slurry making mechanism 12 are in operation, the weight sensor 1107 is used to control the weight of the material fed into the mixing barrel 1101, and the water output of the water tank 7 is controlled by the electric control ball valve on the water pipe, thereby realizing the automatic intelligent slurry mixing of the slurry. The cement slurry and the water glass slurry are driven by the grouting pump 4 through the three-way 4 03 enters the slurry outlet pipe 402 for mixing, and then enters the grouting pipe through the slurry outlet. First, grouting is performed on the first maintenance area in the tunnel wall which is high and inconvenient to insert the grouting pipe manually. The grouting pipe is connected to the clamping mechanism at the end of the mechanical arm 2. The mechanical arm 2 drives the grouting pipe into the grouting hole pre-opened on the tunnel wall, and grouting is performed on the soil outside the tunnel wall for reinforcement. The same method is used to perform grouting reinforcement on multiple grouting holes in the first maintenance area in turn. During the grouting reinforcement process, the grouting pressure and grouting flow are adjusted to meet the process requirements by adjusting the working parameters of the grouting pump 4 with the assistance of the flow meter and the pressure gauge.

[0092] Then, when grouting reinforcement is performed on the second maintenance area with lower stratum and tunnel wall heights, the grouting inlet end of the grouting pipe is connected to the grouting outlet of the grouting pump 4, and the grouting outlet end is directly inserted into the pre-constructed grouting hole, and then the grouting reinforcement is performed using the grouting pump 4.

[0093] In this embodiment, the specific heights of the first maintenance area with a higher height and the second maintenance area with a lower height can be set according to actual working conditions. The height of the first maintenance area is higher than that of the second maintenance area. The first maintenance area with a higher height is not convenient for manual grouting on the ground, while the second maintenance area with a lower height is convenient for manual grouting directly on the ground.

[0094] When grouting reinforcement is performed on the second maintenance area with lower stratum and tunnel wall heights, spraying operations can be performed on the maintenance area with higher heights simultaneously. Specifically, the robot arm 2 returns to its initial position, the clamping mechanism is removed, the nozzle mechanism 13 is installed at the end of the second swing arm 210, the paint inlet of the nozzle 1302 is connected to the airless spray pump through the paint pipeline, the gas inlet of the nozzle 1302 is connected to the gas tank 5 through the gas pipeline, the air compressor 10 and the airless spray pump are started, the robot arm 2 and the mobile drive mechanism drive the nozzle 1302 to move, the paint is sprayed through the nozzle 1302 to the tunnel maintenance area to form a coating, the ultraviolet irradiation lamp 1303 uses ultraviolet rays to irradiate the coating to accelerate the curing of the coating, and while spraying the coating, the sprayed paint is used to spray and repair the grouting holes that have been blocked by the slurry. After the grouting reinforcement of the maintenance area with lower tunnel wall height is completed, the robot arm 2 is used to drive the nozzle 1302 to move, and the maintenance area after grouting is completed is sprayed.

[0095] Through the clamping mechanism, the nozzle mechanism 13 and the mechanical arm 2, the coordinated operation of grouting, slurry making and spraying is realized, thereby improving the efficiency of tunnel maintenance construction.

[0096] In this embodiment, a robot arm 2 is used to drive the nozzle mechanism 13 to move and spray the maintenance area of ​​the tunnel. The spraying height, angle, and spraying area can be adjusted intelligently, realizing intelligent and precise spraying without causing personal injury to construction workers.

[0097] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An integrated maintenance device for a submarine tunnel, characterized in that: It comprises a traveling vehicle, on which a mechanical arm is mounted, a spraying pump mounted on the traveling vehicle body is arranged in front of the mechanical arm, an air compressor is arranged on one side of the spraying pump, storage boxes are arranged on both sides of the mechanical arm, a water tank is fixed on the top surface of the storage box, a paint bucket is arranged in the storage box on one side, the paint bucket is connected to the spraying pump through a pump body and a feeding pipe, an air tank is arranged at the rear of the mechanical arm, the air tank is connected to the air compressor through an air pipe, a grouting pump is arranged at the rear of the air tank, slurrying mechanisms are arranged on both sides of the area where the air tank and the grouting pump are located, the slurrying mechanism is connected to the water tank through a water pipe and a water pump, and the slurrying mechanism is connected to the grouting pump through a slurry pipe; It also includes a clamping claw mechanism and a nozzle mechanism, wherein the clamping claw mechanism is used to fix the grouting pipe connected to the grouting pump, and the nozzle mechanism is used to connect with the gas tank and the spraying pump, and the clamping claw mechanism and the nozzle mechanism can be detachably connected to the end of the mechanical arm; The robotic arm includes a base, which is connected to a rotating drive mechanism to achieve rotation around a vertical axis, the base is connected to the bottom end of the first telescopic arm, the top end of the first telescopic arm is rotatably connected to one end of a first swing arm, the first swing arm is hinged to one end of the first telescopic member, the other end of the first telescopic member is hinged to the telescopic portion of the first telescopic arm, the other end of the first swing arm is rotatably connected to one end of the second telescopic arm, the first swing arm is hinged to one end of the second telescopic member, the other end of the second telescopic member is hinged to the fixed portion of the second telescopic arm, the end of the telescopic portion of the second telescopic arm is connected to the second swing arm through a swinging drive member, and the end of the second swing arm is used to connect a clamping mechanism or a nozzle mechanism.

2. The integrated maintenance device for a submarine tunnel according to claim 1, characterized in that: The pulping mechanism includes a stirring barrel, which is provided with a stirring mechanism. The stirring barrel is connected to a water tank located on the same side through a water pipe and a water pump. The discharge port of the stirring barrel is connected to a grouting pump through a slurry pipe. A quantitative delivery barrel is provided above the stirring barrel, and a conveying mechanism is provided in the quantitative delivery barrel. The end of the conveying mechanism is connected to the stirring barrel. A storage bin is provided above the quantitative delivery barrel for storing dry materials.

3. The integrated maintenance device for a submarine tunnel according to claim 2, characterized in that: A pressure detection element is provided between the stirring barrel and the quantitative delivery barrel to detect the weight of the quantitative delivery barrel and the storage bin.

4. The integrated maintenance device for a submarine tunnel according to claim 1, characterized in that: The nozzle mechanism includes a nozzle and an ultraviolet irradiation lamp. The ultraviolet irradiation lamp is installed on a support frame. The support frame is detachably connected to the end of the mechanical arm. A mobile driving mechanism is provided on the support frame. The mobile driving mechanism is connected to the nozzle. The nozzle is connected to the gas tank through a gas pipeline, and the nozzle is connected to the spray pump through a paint pipeline.

5. The integrated maintenance device for a submarine tunnel according to claim 1, characterized in that: The water tank is provided with a float liquid level switch, and the water pipe connected to the water outlet of the water tank is provided with an electric-controlled ball valve to adjust the water output.

6. The integrated maintenance device for a submarine tunnel according to claim 1, characterized in that: The grout outlet of the grouting pump is provided with a flow detection element and a pressure detection element.

7. The integrated maintenance device for a submarine tunnel according to claim 1, characterized in that: The traveling vehicle comprises a vehicle body, a plurality of road traveling mechanisms and a plurality of track traveling mechanisms are installed at the bottom of the vehicle body, the road traveling mechanism is connected to a first traveling driving mechanism installed on the vehicle body, the track traveling mechanism is installed on a lifting frame and connected to a second traveling driving mechanism on the lifting frame, and the lifting frame is connected to a lifting mechanism installed on the vehicle body.

8. The integrated maintenance device for a submarine tunnel according to claim 7, characterized in that: At least one road running mechanism is connected to the first running drive mechanism installed on the vehicle body as an active running mechanism, and the other road running mechanisms are driven running mechanisms. At least one road running mechanism as a driven running mechanism is connected to the steering mechanism.

9. A working method of the integrated maintenance device for a submarine tunnel according to any one of claims 1 to 8, characterized in that: The grouting pipe is connected to the grouting outlet of the grouting pump, the grouting mechanism and the grouting pump are started, the grouting mechanism prepares the slurry, and the grouting pump delivers the slurry prepared by the grouting mechanism into the grouting pipe. For the first maintenance area, the mechanical arm drives the grouting pipe to move through the clamping mechanism, and sequentially inserts it into the grouting holes pre-constructed in the first maintenance area to perform grouting in the first maintenance area. For the second maintenance area, the grouting pipe is directly inserted into the grouting holes pre-constructed in the second maintenance area to perform grouting; The height of the first maintenance area is higher than the height of the second maintenance area; After the grouting is completed, the clamping mechanism is removed and the nozzle mechanism is installed. The spray pump, air compressor and nozzle mechanism are started. The robotic arm drives the nozzle mechanism to move and spray the coating on the maintenance area.

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