Hydropower station dam repairing robot and repairing method

Abstract

The invention relates to a hydropower station dam repairing robot and method, and the robot comprises an underwater robot which is provided with a mounting cavity; the repairing mechanism comprises an adjusting part, a repairing part and a cleaning part, the adjusting part is mounted in the mounting cavity, the repairing part and the cleaning part are both mounted on the adjusting part, and the adjusting part is used for adjusting the positions of the repairing part and the cleaning part; the driving mechanism is mounted on the underwater robot and is used for driving the underwater robot to move or lift; the monitoring mechanism is mounted on the underwater robot and is used for acquiring a position needing to be repaired; and the monitoring mechanism is in communication connection with the driving mechanism and the repairing mechanism. The underwater part repairing device has the advantages that the underwater part of the dam can be repaired, and the repairing effect is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of hydropower station dams, and specifically relates to a hydropower station dam repair robot and a repair method. Background Art

[0002] Hydropower station dams are an important part of water conservancy project construction. Their main functions are to retain water and prevent floods, and to generate hydroelectric power.

[0003] After a period of use, the hydropower station dam will develop some cracks due to the impact of water flow. If it is not repaired in time, the dam will be damaged. However, the current repair equipment can only repair the upper edge of the dam, but cannot repair some damage at the bottom of the dam. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects in the prior art, thereby providing a hydropower station dam repair robot and a repair method.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A hydropower station dam repair robot, comprising:

[0007] An underwater robot having a mounting cavity;

[0008] The repair mechanism comprises an adjusting part, a repairing part and a cleaning part, wherein the adjusting part is installed in the installation cavity, the repairing part and the cleaning part are both installed on the adjusting part, and the adjusting part is used to adjust the positions of the repairing part and the cleaning part;

[0009] A driving mechanism, installed on the underwater robot, for driving the underwater robot to move or rise and fall;

[0010] A monitoring mechanism is installed on the underwater robot and is used to obtain a position that needs to be repaired; the monitoring mechanism is in communication connection with the driving mechanism and the repairing mechanism.

[0011] Preferably, the adjustment part comprises a mounting seat and a rotating frame, and the mounting seat is provided with an adjustment driving unit for driving the rotating frame to rotate;

[0012] The upper end of the rotating frame is symmetrically provided with notches, wherein a repair angle adjustment shaft is rotatably installed in the notch on one side, and a cleaning angle adjustment shaft is rotatably installed in the notch on the other side;

[0013] The repair angle adjustment shaft is connected to the repair part to adjust the inclination angle of the repair part by rotation;

[0014] The cleaning angle adjustment shaft is connected to the cleaning portion so as to adjust the inclination angle of the cleaning portion by rotation.

[0015] Preferably, the repair part includes a repair electric push rod, a repair box, a repair drainage pump, a first repair adjustment component, a second repair adjustment component, an injection component and a flattening component;

[0016] The repair electric push rod is fixedly connected to the repair angle adjustment shaft;

[0017] The repair box is fixedly arranged at one end of the repair electric push rod away from the repair angle adjustment shaft;

[0018] The repair drainage pump is fixed on the repair box and communicated with the inner cavity of the repair box to discharge water in the inner cavity;

[0019] The first repair adjustment component is arranged on the repair box, and the second repair adjustment component is arranged on the first repair adjustment component and is connected with the repair injection nozzle and the injection electric push rod of the injection component;

[0020] The flattening assembly is installed on the repair box.

[0021] Preferably, the cleaning part includes a cleaning electric push rod, a cleaning block, a cleaning motor, a cleaning turntable, and a plurality of cleaning brush rods installed at the lower end of the cleaning turntable;

[0022] The cleaning electric push rod is fixedly connected to the cleaning angle adjustment shaft, the cleaning block is fixedly arranged at the lower end of the cleaning electric push rod, the cleaning motor is installed in the cleaning block, and the cleaning turntable is connected to the driving shaft of the cleaning motor;

[0023] An annular channel is provided in the cleaning turntable, the upper end of the annular channel is connected to a cleaning and flushing pump, the input end of the cleaning and flushing pump is fixedly connected to a water storage cover, the lower part of the annular channel is evenly connected to a plurality of flushing pipes, and a one-way valve is provided at the port of the flushing pipe.

[0024] Preferably, it also includes an auxiliary mechanism;

[0025] The auxiliary mechanism includes a moving plate, a push-out nut plate, a push-out screw rod, a first direction adjustment component and a second direction adjustment component;

[0026] The movable plate is slidably installed in the installation cavity through the ejection nut plate;

[0027] The push-out nut plates are symmetrically and fixedly mounted on both sides of the moving plate, and each of the push-out nut plates is threadedly connected to one of the push-out screw rods;

[0028] The push-out screw rod is rotatably mounted on the end side wall of the mounting cavity;

[0029] The first direction adjustment component is arranged on the movable plate, and the second direction adjustment component is arranged on the first direction adjustment component and connected to the mounting seat;

[0030] The first direction adjusting component and the second direction adjusting component are arranged perpendicular to each other.

[0031] Preferably, the monitoring mechanism comprises a plane angle adjustment component, an elevation angle adjustment component and a monitoring camera;

[0032] The plane angle adjustment component is installed on the underwater robot, the elevation angle adjustment component is installed on the plane angle adjustment component, and the monitoring camera is connected to the elevation angle adjustment component.

[0033] Preferably, the driving mechanism comprises a motion support frame symmetrically arranged at the lower part of the underwater robot; each end of the motion support frame is fixedly connected to a motion frame, a motion gear cavity is provided in the motion frame, and at least one driving gear is installed in the motion gear cavity;

[0034] A toothed belt is arranged on the upper part of the moving frame, and the toothed belt is meshed with the driving gear for transmission; a plurality of moving plates are arranged on the outer surface of the toothed belt.

[0035] Preferably, the driving mechanism comprises a water storage tank mounting frame, a water storage tank, a lifting water pump and a lifting drainage pump;

[0036] The water storage tank is installed on the water storage tank mounting frame;

[0037] The input end of the water storage tank is connected to the lifting water pump;

[0038] The output end of the water storage tank is connected to the lifting drainage pump.

[0039] Preferably, the driving mechanism comprises a driving shaft, a driving motor, a propeller and a protective cover;

[0040] The driving shaft is rotatably mounted on the underwater robot, one end of which is connected to the driving motor, and the other end of which is fixedly connected to the propeller;

[0041] The protective cover is fixedly connected to the underwater robot and is arranged around the propeller.

[0042] A hydropower station dam repair method, based on the above-mentioned hydropower station dam repair robot, comprises the following steps:

[0043] The repair robot is driven to move underwater by a driving mechanism, and the position of the dam that needs to be repaired is monitored and obtained in real time by a monitoring mechanism;

[0044] Adjust and clean the parts of the dam that need repair and clean them;

[0045] The adjusting part is used to adjust the repairing part to align with the position of the dam that needs to be repaired, and the repair is completed.

[0046] Compared with the prior art, the beneficial effect of the present invention is that the present invention provides a hydropower station dam repair robot, which can realize the repair of some damages at the bottom of the dam (underwater part) by cooperating with the monitoring mechanism, repair mechanism, and driving mechanism arranged on the underwater robot. Specifically, the movement of the entire repair robot can be realized by the driving mechanism, and the monitoring mechanism can obtain the position of the dam that needs to be repaired during the operation of the repair robot underwater. Furthermore, the repair mechanism is provided with an adjustment part, a repair part and a cleaning part, wherein the repair part can meet the repair requirements, and the cleaning part can clean the position that needs to be repaired to prevent affecting the repair effect. Correspondingly, the hydropower station dam repair method based on the above-mentioned hydropower station dam repair robot can realize the repair of the loss at the bottom of the dam (underwater part) and can ensure the repair effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a structural schematic diagram of one example of the present invention.

[0049] Figure 2 for Figure 1 Schematic diagram of the structure from another perspective.

[0050] Figure 3 1 is a cross-sectional view (front view).

[0051] Figure 4 for Figure 2 Schematic diagram of the structure of the repair mechanism and auxiliary mechanism.

[0052] Figure 5 for Figure 3 A magnified schematic diagram of the D1 position in the figure.

[0053] Figure 6 for Figure 4 Schematic diagram of the structure of the middle repair part.

[0054] Figure 7 for Figure 6Schematic diagram of the enlarged D2 position.

[0055] Figure 8 for Figure 6 A magnified schematic diagram of the D3 position in the figure.

[0056] Fig. 9 for Figure 3 A magnified schematic diagram of the D4 position in the figure.

[0057] Fig.10 for Figure 2 A magnified schematic diagram of the D5 position in the figure.

[0058] Fig.11 for Figure 3 Schematic diagram of the enlarged D6 position in the figure.

[0059] Fig.12 for Figure 1 A partial cutaway diagram from another perspective.

[0060] Description of reference numerals:

[0061] 1. Underwater robot; 11. Mounting cavity; 2. Repair mechanism; 201. Bevel gear cavity; 202. Active bevel gear shaft; 203. Conversion motor; 204. Active bevel gear; 205. Driven bevel gear; 206. Driven bevel gear shaft; 21. Adjustment unit; 211. Mounting seat; 212. Rotating frame; 213. Notch; 214. Repair angle adjustment shaft; 215. Cleaning angle adjustment shaft; 22. Repair unit; 221. Repair electric push rod; 222. Repair box; 223. Repair drainage pump; 224. First repair adjustment assembly; 2241. First repair chute; 2242. First repair electric screw rod; 2243. First repair screw Mother block; 225, second repair adjustment component; 2251, repair moving frame; 2252, second repair chute; 2253, second repair electric screw; 2254, second repair nut block; 226, injection component; 2261, repair injection nozzle; 2262, injection electric push rod; 2263, telescopic hose; 2264, feed pump; 2265, storage cavity; 2266, feed pipe; 2267, adding channel; 2268, injection valve; 227, flattening component; 2271, compaction chute; 2272, compaction electric screw; 2273, compaction nut block; 2274, compaction shaft; 2275, compaction cylinder; 2276, solid Fixed plate; 2277, drying electric heating tube; 23, cleaning part; 231, cleaning electric push rod; 232, cleaning block; 233, cleaning motor; 234, cleaning turntable; 235, cleaning brush rod; 236, annular channel; 237, cleaning flushing pump; 238, water storage cover; 239, flushing pipe; 3, driving mechanism; 301, driving shaft; 302, driving motor; 303, propeller; 304, protective cover; 31, moving support frame; 32, moving frame; 33, moving gear cavity; 34, driving gear; 35, toothed belt; 351, moving plate; 36, water storage tank mounting frame; 37, water storage tank; 38, lifting water pump; 39, lifting Drain pump; 4. Monitoring mechanism; 41. Plane angle adjustment component; 411. Direction adjustment gear chamber; 412. Direction adjustment motor; 413. Driving gear; 414. Driven gear; 42. Elevation angle adjustment component; 421. Groove frame; 422. Elevation angle adjustment shaft; 43. Monitoring camera; 5. Auxiliary mechanism; 51. Moving plate; 52. Push-out nut plate; 53. Push-out screw rod; 54. First direction adjustment component; 541. First slide groove; 542. First screw rod; 543. First nut block; 55. Second direction adjustment component; 551. Position adjustment frame; 552. Second slide groove; 553. Second screw rod; 554. Second nut block. DETAILED DESCRIPTION

[0062] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0063] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0064] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] See also Figures 1 to 12 The embodiment of the present invention provides a hydropower station dam repair robot, including an underwater robot 1, a repair mechanism 2, a driving mechanism 3 and a monitoring mechanism 4. Specifically, the underwater robot 1 has an installation cavity 11. The repair mechanism 2 includes an adjusting part 21, a repair part 22 and a cleaning part 23. The adjusting part 21 is installed in the installation cavity 11. The repair part 22 and the cleaning part 23 are both installed on the adjusting part 21. The adjusting part 21 is used to adjust the positions of the repair part 22 and the cleaning part 23. The driving mechanism 3 is installed on the underwater robot 1, and is used to drive the underwater robot 1 to move or rise and fall; the monitoring mechanism 4 is installed on the underwater robot 1, and is used to obtain the position that needs to be repaired; the monitoring mechanism 4 is communicatively connected with the driving mechanism 3 and the repair mechanism 2.

[0066] In the above scheme, by cooperating with each other, the monitoring mechanism 4, the repair mechanism 2, and the driving mechanism 3 provided on the underwater robot 1, some damages at the bottom of the dam (underwater part) can be repaired. Specifically, the driving mechanism 3 can realize the movement of the entire repair robot, and the monitoring mechanism 4 can obtain the position of the dam that needs to be repaired during the operation of the repair robot underwater. Furthermore, the repair mechanism 2 is provided with an adjustment part 21, a repair part 22, and a cleaning part 23, wherein the repair part 22 can meet the repair requirements, and the cleaning part 23 can clean the position that needs to be repaired to prevent affecting the repair effect.

[0067] See also Figures 3 to 5 In this embodiment, the adjusting portion 21 includes a mounting seat 211 and a rotating frame 212, and the mounting seat 211 is provided with an adjusting driving unit for driving the rotating frame 212 to rotate; the upper end of the rotating frame 212 is symmetrically provided with slots 213, wherein a repair angle adjustment shaft 214 is rotatably installed in the slot 213 on one side, and a cleaning angle adjustment shaft 215 is rotatably installed in the slot 213 on the other side; the repair angle adjustment shaft 214 is connected to the repairing portion 22 to adjust the inclination angle of the repairing portion 22 by rotation; the cleaning angle adjustment shaft 215 is connected to the cleaning portion 23 to adjust the inclination angle of the cleaning portion 23 by rotation.

[0068] Specifically, in the present embodiment, the adjustment driving unit comprises a bevel gear cavity 201 arranged in a mounting seat 211, an active bevel gear shaft 202 is rotatably connected to the end wall of the bevel gear cavity 201, the active bevel gear shaft 202 is power-connected to a conversion motor 203, the conversion motor 203 is fixedly mounted in the mounting seat 211, an active bevel gear 204 is fixedly connected to the end of the active bevel gear shaft 202, the active bevel gear 204 is meshed with a driven bevel gear 205, the driven bevel gear 205 is fixedly mounted on the lower end of a driven bevel gear shaft 206, the driven bevel gear shaft 206 penetrates and is rotatably mounted on the upper end wall of the bevel gear cavity 201, and a rotating frame 212 is fixedly connected to the outer surface of the driven bevel gear shaft 206,

[0069] Furthermore, a stabilizing ring is connected between the rotating frame 212 and the mounting seat 211 to facilitate the stable rotation of the rotating frame 212.

[0070] It should be understood that when the cleaning part 23 and the repairing part 22 need to be switched, the conversion motor 203 can be started to drive the active bevel gear shaft 202 to rotate, and then drive the active bevel gear 204 to rotate, and the active bevel gear 204 and the driven bevel gear 205 are meshed and driven, thereby driving the driven bevel gear shaft 206 to rotate, and further driving the rotating frame 212 to rotate, so as to achieve the adjustment of the positions of the cleaning part 23 and the repairing part 22. And because the notches 213 are symmetrically arranged, the positions of the cleaning part 23 and the repairing part 22 after rotation are interchanged, and no secondary alignment is required, which can simplify the adjustment operation to a certain extent and increase the efficiency of dam repair.

[0071] See also Figure 3 , Figure 4 as well as Figures 6 to 8 The repair part 22 includes a repair electric push rod 221, a repair box 222, a repair drainage pump 223, a first repair adjustment component 224, a second repair adjustment component 225, an injection component 226 and a flattening component 227; the repair electric push rod 221 is fixedly connected to the repair angle adjustment shaft 214; the repair box 222 is fixedly arranged at one end of the repair electric push rod 221 away from the repair angle adjustment shaft 214; the repair drainage pump 223 is fixedly arranged on the repair box 222 and is connected to the inner cavity of the repair box 222 for discharging water in the inner cavity; the first repair adjustment component 224 is arranged on the repair box 222, and the second repair adjustment component 225 is arranged on the first repair adjustment component 224 and is connected to the injection component 226; the flattening component 227 is installed on the repair box 222.

[0072] It should be understood that the first repair adjustment component 224 and the second repair adjustment component 225 can achieve planar adjustment of the injection component 226, while the repair electric push rod 221 can achieve longitudinal adjustment.

[0073] Specifically, the first repair adjustment component 224 includes a first repair chute 2241, a first repair electric screw 2242 and a first repair nut block 2243. The first repair chute 2241 is arranged on the upper end surface of the inner cavity of the repair box 222, the first repair electric screw 2242 is threadedly connected with the first repair nut block 2243, and the first repair nut block 2243 is slidably installed between the end walls of the first repair chute 2241.

[0074] Specifically, the second repair adjustment assembly 225 includes a repair movable frame 2251, a second repair chute 2252, a second repair electric screw 2253 and a second repair nut block 2254. The repair movable frame 2251 is fixedly installed at the lower end of the first repair nut block 2243, the repair movable frame 2251 is provided with a second repair chute 2252, the second repair electric screw 2253 is rotatably connected between the end walls of the second repair chute 2252, the second repair electric screw 2253 is threadedly connected to the second repair nut block 2254, and the second repair nut block 2254 is slidably installed between the end walls of the second repair chute 2252.

[0075] Specifically, the injection assembly 226 includes a repair injection nozzle 2261, an injection electric push rod 2262, a telescopic hose 2263, a feed pump 2264, a storage chamber 2265, a feed pipe 2266, a feed channel 2267 and an injection valve 2268, wherein the injection electric push rod 2262 is fixedly connected to the lower part of the second repair nut block 2254; the lower end of the injection electric push rod 2262 is fixedly connected to the repair injection nozzle 226 1. A retractable hose 2263 is connected to the repair injection nozzle 2261. The end of the retractable hose 2263 away from the repair injection nozzle 2261 is fixedly connected to a feed pump 2264. The feed pump 2264 is fixedly installed on the end wall of a storage chamber 2265. The storage chamber 2265 is processed in the underwater robot 1. A feed pipe 2266 is fixedly connected to the feed pump 2264, and the feed pipe 2266 extends to the bottom wall of the storage chamber 2265.

[0076] Furthermore, in order to realize the feeding, a feeding channel 2267 is processed on the upper part of the storage chamber 2265, and an injection valve 2268 is installed between the end walls of the feeding channel 2267.

[0077] Specifically, the flattening assembly 227 includes a compacting chute 2271, a compacting electric screw 2272, a compacting nut block 2273, a compacting shaft 2274, a compacting cylinder 2275, a fixing plate 2276 and a drying electric heating tube 2277, wherein the compacting chute 2271 is arranged on the bottom wall of the repair box 222, and the compacting electric screw 2272 is symmetrically rotated between the end walls of the compacting chute 2271, and the compacting electric screw 2272 and the compacting nut block 2273 are connected to each other. The nut block 2273 is threadedly connected, and the compacting nut block 2273 is slidably connected to the end wall of the compacting slide groove 2271. A compacting shaft 2274 is rotatably connected between the compacting nut blocks 2273. A compacting cylinder 2275 is fixedly connected to the outer surface of the compacting shaft 2274. A fixing plate 2276 is fixedly connected between the compacting nut blocks 2273 on one side of the compacting cylinder 2275, and a drying electric heating tube 2277 is fixedly connected to the lower part of the fixing plate 2276.

[0078] It is not difficult to understand that after the entire repair part 22 moves to the position to be repaired and the repair box 222 is facing the corresponding position to be repaired, the specific movement process of the repair part 22 is as follows: first, the repair electric push rod 221 moves downward, thereby driving the repair box 222 to move downward, and the position to be repaired is covered in the repair box 222, and the repair drainage pump 223 is started to discharge the water in the repair box 222. After discharge, the feed pump 2264 is started to extract the repair in the storage chamber 2265, and enter the repair injection nozzle 2261 through the telescopic hose 2263, so that the injection electric push rod 2262 moves downward, thereby driving the repair injection nozzle 2261 to move downward close to the repair position, and the repair injection nozzle 2261 is started to spray the repair material in the repair injection nozzle 2261, and spray it on When the repair position needs to adapt to a certain curve, the first repair electric screw 2242 is rotated, thereby driving the first repair nut block 2243 to move, thereby driving the repair movable frame 2251 to move, and at the same time, the second repair electric screw 2253 is rotated, thereby driving the second repair nut block 2254 to move, thereby driving the repair injection nozzle 2261 to move, so as to adapt to a certain crack curve for repair. After the repair, the compaction electric screw 2272 is rotated, thereby driving the compaction nut block 2273 to move, thereby driving the compaction cylinder 2275 to move to compact and compact the repair position, and at the same time, the drying electric heating tube 2277 is turned on to dry and solidify the compacted repair position. If it is necessary to adapt to some slope position repairs, the repair angle adjustment shaft 214 is rotated, thereby driving the repair electric push rod 221 to rotate.

[0079] It can be understood that in the above scheme, the repair electric push rod 221, the repair box 222 and the repair drainage pump 223 cooperate with each other, so that during the repair, a relatively closed waterless space can be formed in the repair box 222, creating a waterless environment for the repair process and facilitating the repair; and the first repair adjustment component 224 and the second repair adjustment component 225 cooperate with each other to achieve the repair of cracks of different shapes, with strong adaptability; the flattening component 227 can realize the compaction and drying of the repair material after the repair, so that the material at the repair position can be better solidified and integrated with the bottom of the dam, thereby enhancing the repair effect.

[0080] See also Figure 3 , Figure 4 and Fig. 9In this embodiment, the cleaning part 23 includes a cleaning electric push rod 231, a cleaning block 232, a cleaning motor 233, a cleaning turntable 234 and a plurality of cleaning brush rods 235 installed at the lower end of the cleaning turntable 234; the cleaning electric push rod 231 is fixedly connected to the cleaning angle adjustment shaft 215, the cleaning block 232 is fixedly arranged at the lower end of the cleaning electric push rod 231, the cleaning motor 233 is installed in the cleaning block 232, and the cleaning turntable 234 is connected to the driving shaft of the cleaning motor 233; an annular channel 236 is arranged in the cleaning turntable 234, a cleaning and flushing pump 237 is connected to the upper end of the annular channel 236, a water storage cover 238 is fixedly connected to the input end of the cleaning and flushing pump 237, a plurality of flushing pipes 239 are evenly connected to the lower part of the annular channel 236, and a one-way valve is arranged at the port of the flushing pipe 239.

[0081] It is easy to understand that when working, the cleaning electric push rod 231 moves downward, thereby driving the cleaning block 232 to move downward, thereby driving the cleaning turntable 234 to move downward, thereby driving the cleaning brush rod 235 to move downward and contact the repaired position, and starting the cleaning motor 233, thereby driving the cleaning turntable 234 to rotate, thereby driving the cleaning brush rod 235 to rotate to clean the repaired position. At the same time, the cleaning flushing pump 237 can also be started, so that water passes through the water storage cover 238 and the cleaning flushing pump 237 into the annular channel 236, and is sprayed out through the flushing pipe 239, thereby realizing the cleaning of the repaired position. By brushing and flushing, the cleaning is more thorough, and the one-way valve set at the end of the flushing pipe 239 can prevent mud and sand from entering the flushing pipe 239.

[0082] See also Figures 3 to 5 , this embodiment also includes an auxiliary mechanism 5; the auxiliary mechanism 5 includes a moving plate 51, a push-out nut plate 52, a push-out screw 53, a first direction adjustment component 54 and a second direction adjustment component 55; the moving plate 51 is slidably installed in the installation cavity 11 through the push-out nut plate 52; the push-out nut plates 52 are symmetrically and fixedly installed on both sides of the moving plate, and each push-out nut plate 52 is threadedly connected with a push-out screw 53; the push-out screw 53 is rotatably installed on the end side wall of the installation cavity 11; the first direction adjustment component 54 is arranged on the moving plate 51, and the second direction adjustment component 55 is arranged on the first direction adjustment component 54, and is connected to the mounting seat 211; the first direction adjustment component 54 and the second direction adjustment component 55 are arranged perpendicular to each other.

[0083] Specifically, the first direction adjustment component 54 includes a first slide groove 541, a first screw rod 542 and a first nut block 543; wherein the first slide groove 541 is arranged on the end surface of the movable plate 51 and extends along the sliding direction of the movable plate 51, the first screw rod 542 is rotatably connected between the end walls of the first slide groove 541, the first screw rod 542 is threadedly connected with the first nut block 543, and the first nut block 543 is slidably installed in the first slide groove 541. The second direction adjustment component 55 includes a position adjustment frame 551, a second slide groove 552, a second screw rod 553 and a second nut block 554, the position adjustment frame 551 is fixedly installed on the first nut block 543, the second slide groove 552 is arranged on the position adjustment frame 551, and the extension direction of the second slide groove 552 is perpendicular to the extension direction of the first slide groove 541, the second screw rod 553 is rotatably installed between the end walls of the second slide groove 552, and the second screw rod 553 is threadedly connected with the second nut block 554.

[0084] It can be known that when it is needed, the push-out screw rod 53 can be driven to rotate, thereby driving the push-out nut plate 52 and the moving plate 51 to slide synchronously, and at the same time, the first screw rod 542 can be driven to rotate, thereby driving the first nut block 543 to move, so that the mounting seat 211 (i.e., the repair mechanism 2) moves out of the mounting cavity 11. After moving out of the mounting cavity 11, the second screw rod 553 is rotated, thereby driving the second screw rod 553 to move, thereby driving the rotating frame 212 to move, thereby adjusting the position, so that the repair mechanism 2 moves to the repair position. In addition, the push-out screw rod 53, the first screw rod 542, and the second screw rod 553 can be driven by a motor.

[0085] See also Figure 2 , Figure 3 ,as well as Fig.10 and Fig.11 In this embodiment, the monitoring mechanism 4 includes a plane angle adjustment component 41, an elevation angle adjustment component 42 and a monitoring camera 43; wherein the plane angle adjustment component 41 is mounted on the underwater robot 1, the elevation angle adjustment component 42 is mounted on the plane angle adjustment component 41, and the monitoring camera 43 is connected to the elevation angle adjustment component 42. It is not difficult to understand that the plane angle adjustment component 41 can synchronously adjust the deflection angle of the elevation angle adjustment component 42 and the monitoring camera 43 in the horizontal direction, and adjusting the elevation angle adjustment component 42 can further adjust the elevation angle of the monitoring camera 43, thereby increasing the monitorable range.

[0086] Specifically, the plane angle adjustment component 41 includes a direction adjustment gear chamber 411, a direction adjustment motor 412, a driving gear 413, a driven gear 414 and a groove frame 421, wherein the driving gear 413 and the driven gear 414 are rotatably installed in the direction adjustment gear chamber 411 through a rotating shaft and meshingly transmitted, and the direction adjustment motor 412 is connected to the rotating shaft of the driving gear 413. The elevation adjustment component 42 includes a groove frame 421 and an elevation adjustment shaft 422, the groove frame 421 is fixedly connected to the rotating shaft of the driven gear 414, the elevation adjustment shaft 422 is rotatably installed on the groove frame 421, and the monitoring camera 43 is fixedly installed on the elevation adjustment shaft 422.

[0087] It can be known that, when working, the direction adjustment motor 412 is started to drive the driving gear 413 to rotate, and the driving gear 413 is meshed with the driven gear 414 for transmission, which further drives the groove frame 421 and the monitoring camera 43 to rotate to the corresponding position, and the elevation adjustment shaft 422 is rotated (which can be driven by the corresponding motor), thereby adjusting the elevation angle of the monitoring camera 43. In addition, it can be known that the monitoring camera 43 monitors and determines the position that needs to be repaired, and sends a signal to the control processor, which sends a signal to the corresponding electrical component (such as the motor involved in this application, etc.) after processing, so that the corresponding electrical component moves, and the specific control process is not repeated.

[0088] See also Figure 1 , Figure 2 and Fig.12 In this embodiment, the driving mechanism 3 includes a motion support frame 31 symmetrically arranged at the lower part of the underwater robot 1; each end of the motion support frame 31 is fixedly connected to a motion frame 32, and a motion gear cavity 33 is arranged in the motion frame 32, and at least one driving gear 34 is installed in the motion gear cavity 33; a toothed belt 35 is arranged on the upper side of the motion frame 32, and the toothed belt 35 is meshed with the driving gear 34 for transmission; and a plurality of moving plates 351 are arranged on the outer surface of the toothed belt 35. It is not difficult to understand that when the driving gear 34 (such as driven by a motor) is running, the toothed belt 35 and the moving plate 351 arranged thereon are driven to run synchronously, thereby realizing the driving of the entire repair robot, and specifically moving along the X1 direction and the X2 direction.

[0089] Specifically, the driving mechanism 3 includes a water tank mounting frame 36, a water tank 37, a lifting pump 38, and a lifting drainage pump 39; the water tank 37 is mounted on the water tank mounting frame 36; the input end of the water tank 37 is connected to the lifting pump 38, and the output end of the water tank 37 is connected to the lifting drainage pump 39. It is easy to understand that the water volume in the water tank 37 can be controlled by the cooperation between the water tank 37 and the lifting pump 38, and then the lifting and lowering of the entire repair robot can be controlled, that is, the movement along the Y1 direction and the Y2 direction.

[0090] Specifically, the driving mechanism 3 includes a driving shaft 301, a driving motor 302, a propeller 303 and a protective cover 304; the driving shaft 301 is rotatably mounted on the underwater robot 1, one end of which is connected to the driving motor 302, and the other end of which is fixedly connected to the propeller 303; the protective cover 304 is fixedly connected to the underwater robot 1 and is arranged around the propeller 303. It is not difficult to understand that when the driving motor 302 drives the driving shaft 301 to operate, it will synchronously drive the propeller 303 to rotate, thereby driving the entire repair robot to move.

[0091] In addition, it should be understood that the structures of the electrical components involved in this embodiment (such as the driving motor 302, the cleaning electric push rod 231, etc.) are all installed in a sealed manner to avoid affecting the electrical components during underwater operation.

[0092] The embodiment of the present invention provides a hydropower station dam repair method based on the above hydropower station dam repair robot, comprising the following steps:

[0093] The repair robot is driven to move underwater by the driving mechanism 3, and the position of the dam that needs to be repaired is monitored and obtained in real time by the monitoring mechanism 4. Specifically, the underwater robot 1 is placed in the water of the hydropower dam, and the water is pumped into the water storage tank 37 by the lifting pump 38 of the driving mechanism 3, thereby increasing the weight of the entire repair robot and causing it to descend. During the descent, the propeller 303 of the driving mechanism 3 is operated, and the entire repair robot moves underwater. If the entire repair robot descends to the bottom of the dam, the toothed belt 35 and the moving plate 351 of the driving mechanism 3 are operated to drive the entire repair robot. During the entire process of the movement of the repair robot, the position of the dam that needs to be repaired is monitored and obtained in real time by the monitoring mechanism 4.

[0094] Adjust the cleaning part 23 to the position of the dam that needs to be repaired and clean it. Specifically, when the position that needs to be repaired is obtained, the position of the repair mechanism 2 is preliminarily adjusted through the auxiliary mechanism 5, and then the relative position of the cleaning part 23 and the repair part 22 is further adjusted through the adjustment part 21. Finally, the rotating shaft 215 and the cleaning electric push rod 231 of the cleaning part 23 itself are adjusted through the cleaning angle of the adjustment part 21, so that the cleaning part 23 is aligned with the position to be repaired, and the position to be repaired is cleaned (coordinated by brushing and water flushing).

[0095] The adjustment part 21 is used to adjust the repair part 22 to align with the position of the dam that needs to be repaired, and the repair is completed. Specifically, after the cleaning is completed, the relative position of the cleaning part 23 and the repair part 22 is adjusted again by the adjustment part 21, and finally the repair angle of the adjustment part 21 is adjusted to adjust the rotating shaft 214 and the repair electric push rod 221 of the repair part 22 itself, so that the repair part 22 is aligned with the position to be repaired, and the position to be repaired is repaired. The repair process specifically includes drainage before repair, injection repair along the defect path, flattening and drying after repair.

[0096] It should be understood that after one repair location is repaired, the above steps can be repeated again to obtain other locations of the dam to be repaired and then clean and repair them.

[0097] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A hydropower station dam repair robot, characterized in that: include: An underwater robot (1) having a mounting cavity (11); The repair mechanism (2) comprises an adjusting portion (21), a repairing portion (22) and a cleaning portion (23), wherein the adjusting portion (21) is installed in the installation cavity (11), the repairing portion (22) and the cleaning portion (23) are both installed on the adjusting portion (21), and the adjusting portion (21) is used to adjust the positions of the repairing portion (22) and the cleaning portion (23); A driving mechanism (3) is installed on the underwater robot (1) and is used to drive the underwater robot (1) to move or rise and fall; A monitoring mechanism (4) is installed on the underwater robot (1) and is used to obtain a position that needs to be repaired; the monitoring mechanism (4) is communicatively connected with the driving mechanism (3) and the repair mechanism (2).

2. A hydropower station dam repair robot according to claim 1, characterized in that: The adjusting portion (21) comprises a mounting seat (211) and a rotating frame (212); the mounting seat (211) is provided with an adjusting driving unit for driving the rotating frame (212) to rotate; The upper end of the rotating frame (212) is symmetrically provided with slots (213), wherein a repair angle adjustment shaft (214) is rotatably installed in the slot (213) on one side, and a cleaning angle adjustment shaft (215) is rotatably installed in the slot (213) on the other side; The repair angle adjustment shaft (214) is connected to the repair portion (22) so as to adjust the inclination angle of the repair portion (22) by rotation; The cleaning angle adjustment shaft (215) is connected to the cleaning portion (23) so as to adjust the inclination angle of the cleaning portion (23) by rotation.

3. A hydropower station dam repair robot according to claim 2, characterized in that: The repair part (22) comprises a repair electric push rod (221), a repair box (222), a repair drainage pump (223), a first repair adjustment component (224), a second repair adjustment component (225), a material injection component (226) and a flattening component (227); The repair electric push rod (221) is fixedly connected to the repair angle adjustment shaft (214); The repair box (222) is fixedly mounted on one end of the repair electric push rod (221) away from the repair angle adjustment shaft (214); The repair drainage pump (223) is fixedly mounted on the repair box (222) and is connected to the inner cavity of the repair box (222) for draining water from the inner cavity; The first repair adjustment component (224) is arranged on the repair box (222), and the second repair adjustment component (225) is arranged on the first repair adjustment component (224) and is connected to the repair injection nozzle (2261) and the injection electric push rod (2262) of the injection component (226); The flattening assembly (227) is installed on the repair box (222).

4. A hydropower station dam repair robot according to claim 2, characterized in that: The cleaning part (23) comprises a cleaning electric push rod (231), a cleaning block (232), a cleaning motor (233), a cleaning turntable (234), and a plurality of cleaning brush rods (235) mounted at the lower end of the cleaning turntable (234); The cleaning electric push rod (231) is fixedly connected to the cleaning angle adjustment shaft (215), the cleaning block (232) is fixedly arranged at the lower end of the cleaning electric push rod (231), the cleaning motor (233) is installed in the cleaning block (232), and the cleaning turntable (234) is connected to the driving shaft of the cleaning motor (233); An annular channel (236) is provided in the cleaning turntable (234); the upper end of the annular channel (236) is connected to a cleaning and flushing pump (237); the input end of the cleaning and flushing pump (237) is fixedly connected to a water storage cover (238); the lower part of the annular channel (236) is evenly connected to a plurality of flushing pipes (239); and a one-way valve is provided at the port of each flushing pipe (239).

5. A hydropower station dam repair robot according to claim 2, characterized in that: Also includes an auxiliary mechanism (5); The auxiliary mechanism (5) comprises a moving plate (51), a nut ejecting plate (52), a screw ejecting rod (53), a first direction adjusting component (54) and a second direction adjusting component (55); The movable plate (51) is slidably installed in the installation cavity (11) through the ejecting nut plate (52); The ejection nut plates (52) are symmetrically and fixedly mounted on both sides of the movable plate, and each ejection nut plate (52) is threadedly connected to one of the ejection screw rods (53); The ejection screw rod (53) is rotatably mounted on the end side wall of the mounting cavity (11); The first direction adjustment component (54) is arranged on the movable plate (51), and the second direction adjustment component (55) is arranged on the first direction adjustment component (54) and is connected to the mounting seat (211); The first direction adjustment component (54) and the second direction adjustment component (55) are arranged perpendicular to each other.

6. A hydropower station dam repair robot according to claim 2, characterized in that: The monitoring mechanism (4) comprises a plane angle adjustment component (41), an elevation angle adjustment component (42) and a monitoring camera; The plane angle adjustment component (41) is installed on the underwater robot (1), the elevation angle adjustment component (42) is installed on the plane angle adjustment component (41), and the monitoring camera (43) is connected to the elevation angle adjustment component (42).

7. A hydropower station dam repair robot according to any one of claims 1 to 6, characterized in that: The driving mechanism (3) comprises a motion support frame (31) symmetrically arranged at the bottom of the underwater robot (1); each end of the motion support frame (31) is fixedly connected to a motion frame (32), a motion gear cavity (33) is provided in the motion frame (32), and at least one driving gear (34) is installed in the motion gear cavity (33); A toothed belt (35) is provided on the moving frame (32), and the toothed belt (35) is meshed with the driving gear (34) for transmission; a plurality of moving plates (351) are provided on the outer surface of the toothed belt (35).

8. A hydropower station dam repair robot according to any one of claims 1 to 6, characterized in that: The driving mechanism (3) comprises a water storage tank mounting frame (36), a water storage tank (37), a lifting water pump (38) and a lifting drainage pump (39); The water storage tank (37) is mounted on the water storage tank mounting frame (36); The input end of the water storage tank (37) is connected to the lifting water pump (38); The output end of the water storage tank (37) is connected to the lifting drainage pump (39).

9. A hydropower station dam repair robot according to any one of claims 1 to 6, characterized in that: The driving mechanism (3) comprises a driving shaft (301), a driving motor (302), a propeller (303) and a protective cover (304); The driving shaft (301) is rotatably mounted on the underwater robot (1), one end of which is connected to the driving motor (302) and the other end of which is fixedly connected to the propeller (303); The protective cover (304) is fixedly connected to the underwater robot (1) and is arranged around the propeller (303).

10. A method for repairing a dam of a hydropower station, based on a dam repairing robot of a hydropower station as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: The repair robot is driven to move underwater by a driving mechanism (3), and the position of the dam that needs to be repaired is monitored and obtained in real time by a monitoring mechanism (4); Adjusting and cleaning the cleaning part (23) to the position of the dam that needs to be repaired, and cleaning it; The repairing part (22) is adjusted by using the adjusting part (21) to align with the position of the dam that needs to be repaired, and the repair is completed.

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