Underwater cutting equipment for concrete lining panel of water network channel and cutting method of underwater cutting equipment
By using the combination of frame components, position detection components and drive components in the underwater cutting machine, it is ensured that the cutting surface is perpendicular to the plane of the panel to be cut, and the precise movement of the cutting parts is achieved through the movable adjustment part and the four-degree of freedom adjustment mechanism, the problems of poor cutting accuracy and installation difficulty in the prior art are solved, and efficient and accurate cutting and installation of concrete panels are achieved.
Patent Information
- Application Number
- CN202510441826.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-09
- Publication Date
- 2025-06-06
AI Technical Summary
When cutting concrete lining panels, the existing underwater cutting machines have poor cutting accuracy, and the installation of new concrete panels is difficult and poor in assembly.
The underwater cutting equipment of the water mesh channel concrete lining panel including frame assembly, position detection assembly and drive assembly is adopted. The positioning sensor and shaft wheel ensure that the cutting surface is perpendicular to the plane of the panel to be cut, and the precise movement and adjustment of the cutting parts are achieved through the movable adjustment part and the four-degree of freedom adjustment mechanism.
Improves the cutting accuracy of concrete lining panels to be cut, simplifies the installation process of new concrete panels, ensures an improvement in installation quality, and is suitable for panels of various broken, raised height, angle and posture.
Smart Images
Figure CN120095977A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of channel repair, and in particular to underwater cutting equipment and a cutting method for concrete lining panels of a water network channel. Background Art
[0002] During the long-term flow of large canals or rivers, the slopes of the canals or rivers will be affected by many factors such as groundwater level, freeze-thaw, construction quality and external forces, which may cause cracking, collapse, uplift and anti-floating instability damage to the local concrete lining panels on the slopes of the canals or rivers, which will have an adverse effect on the structural safety and water supply capacity of the canals or rivers. When the concrete lining panels on the slope of the channel embankment or the slope of the river are damaged, it may cause the slope soil of the canal or river to soften and then cause the slope of the canal or river to become unstable due to water seepage. Therefore, it is necessary to promptly remove and repair the cut concrete lining panels to ensure normal and safe water supply of the canal or river.
[0003] Cutting equipment is required in the process of dismantling the concrete lining panel to be cut. For example, CN119221427A discloses an underwater cutting machine, including an underwater cutting machine body and a telescopic frame structure connected to the underwater cutting machine body. The telescopic frame structure includes a connecting seat and an adjusting plate. The adjusting plate is hingedly connected to the connecting seat through a plurality of telescopes, and the underwater cutting machine body is moved by the adjusting plate.
[0004] The above underwater cutting machine may have the following problems when cutting:
[0005] The cutting surface formed by the underwater cutting machine body and the plane where the concrete lining panel to be cut is located do not meet the requirements of the cutting position, resulting in poor cutting accuracy of the concrete lining panel to be cut. When a new concrete lining panel is installed in the backfill groove formed after the concrete lining panel to be cut is cut and removed, there are problems of great difficulty in assembly and poor quality after assembly. Summary of the invention
[0006] In view of the deficiencies in the prior art, the object of the present invention is to provide an underwater cutting device and a cutting method for water network channel concrete lining panels, so as to solve the problem of poor cutting accuracy of the concrete lining panels to be cut in the prior art.
[0007] To achieve the above-mentioned purpose, the first aspect of the present invention adopts the following technical solution: underwater cutting equipment for concrete lining panels of water network channels, including cutting components, and also including:
[0008] A frame assembly, wherein the frame assembly is provided with a driving assembly for driving the cutting member to move along the axis direction of the frame assembly, the axis of the frame assembly is within the cutting plane formed by the cutting member, and the frame assembly is connected to a movable adjusting portion that drives the frame assembly to move and rotate in multiple directions;
[0009] Position detection components, there are at least three position detection components distributed on the outside of the frame component, each of the position detection components includes a positioning sensor fixedly connected to the frame component and arranged along the axis direction of the frame component, and an axle wheel rotatably connected to the bottom end of the positioning sensor.
[0010] Technical principle:
[0011] The cutting surface of the cutting component is adjusted to be perpendicular to the plane where the concrete lining panel to be cut is located through the movable adjustment part, and multiple positioning sensors are controlled to extend the same amount to contact the concrete lining panel to be cut; if it is confirmed that at least three shaft wheels are in contact with the concrete lining panel to be cut, the cutting component is driven to move along the axis direction of the frame assembly through the movable adjustment part until it contacts the concrete lining panel to be cut; the driving assembly and the cutting component are operated until a preset feed depth is reached on the concrete lining panel to be cut, and then the movable adjustment part is used to control the cutting component to move along a preset cutting path to perform slotting and cutting until the cutting is completed.
[0012] The second aspect of the present invention adopts the following technical solution: a method for underwater cutting of concrete lining panels of a water network channel, using the underwater cutting equipment for cutting concrete lining panels of a water network channel, comprising the following steps:
[0013] Step S1, fixing the equipment, completing the installation of the truss, the moving beam and the four-degree-of-freedom adjustment mechanism on the river bank according to the assembly requirements;
[0014] Step S2, operating the four-degree-of-freedom adjustment mechanism and the moving crossbeam to adjust the cutting surface of the cutting component to be perpendicular to the plane where the concrete lining panel to be cut is located, and controlling the plurality of positioning sensors to extend by the same amount to contact the concrete lining panel to be cut;
[0015] Step S3: if it is confirmed that at least three axle wheels are in contact with the concrete lining panel to be cut, the four-degree-of-freedom adjustment mechanism is operated again to move along the axis direction of the frame assembly until the cutting component is in contact with the concrete lining panel to be cut, and the camera confirms the cutting position of the cutting component at this time;
[0016] Step S4: if it is confirmed that the cutting position of the cutting component meets the preset cutting requirements, the driving assembly and the cutting component are operated until a preset feeding depth is reached on the concrete lining panel to be cut, and then the sliding moving beam and the four-degree-of-freedom adjustment mechanism are used to control the cutting component to move along the preset cutting path to perform slotting cutting until the cutting is completed;
[0017] Step S5: Using a pneumatic pick to break up the dead corners left after the cutting component is cut along the preset cutting path.
[0018] Compared with the prior art, the present invention has the following beneficial effects:
[0019] 1. The underwater cutting equipment for concrete lining panels of water network channels of the present invention, before the cutting component cuts the concrete lining panel, the positioning sensors in at least three position detection components are synchronously extended by a certain amount to make the shaft wheel contact with the concrete lining panel to be cut. If at least three shaft wheels are in contact with the concrete lining panel to be cut at the same time, it means that the cutting plane formed by the cutting component is perpendicular to the plane where the concrete lining panel to be cut is located; then the cutting component cuts, thereby ensuring the cutting accuracy of the concrete lining panel to be cut, which is beneficial to the installation of a new concrete lining panel;
[0020] 2. The underwater cutting method of the water network channel concrete lining panels of the present invention is suitable for cutting concrete lining panels to be cut with different heights, angles and postures caused by damage and bulges underwater, and can complete the cutting work efficiently and with high quality, greatly shortening the repair period and improving the safety of the overall construction. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 It is a schematic diagram of a partial structure of an embodiment of the present invention;
[0022] Figure 2 It is a schematic diagram of the connection between the degree of freedom adjustment mechanism and the plate cutting end effector in one embodiment of the present invention;
[0023] Figure 3 for Figure 2 Schematic diagram of the structure of the end effector for cutting medium-sized plates;
[0024] Figure 4 for Figure 3 The local structure of Figure 1 ;
[0025] Figure 5 for Figure 3 The local structure of Figure 2 ;
[0026] Figure 6 Schematic diagram of the structure of a quick-change connector in one embodiment of the present invention.
[0027] The figure marks in the drawings of the specification include: movable adjustment part 1, truss 11, movable beam 12, four-degree-of-freedom adjustment mechanism 13, plate cutting end effector 2, cutting part 21, frame assembly 22, frame 221, walking wheel 222, position detection assembly 23, positioning sensor 231, shaft wheel 232, drive assembly 24, screw 241, optical axis 242, movable sleeve 243, horizontal auxiliary fixing plate 244, camera 25, feed depth measurement part 26, depth detection sensor 261, movable wheel 262, quick-change joint 3, tenon 31, end effector connecting seat 32, mortise 33, first gear 34, first gear 35, rotating cylinder 36. DETAILED DESCRIPTION
[0028] The present invention is further described in detail below through specific embodiments:
[0029] like Figure 1 and Figure 2 As shown, an embodiment of the present invention proposes an underwater cutting equipment for concrete lining panels of a water network channel, including an active adjustment part 1 and a plate cutting end effector 2, wherein the active adjustment part 1 includes a truss 11, a movable beam 12 and a four-degree-of-freedom adjustment mechanism 13, the truss 11 is set on the plane where the slope of the channel is located and arranged along the length direction of the plane, the movable beam 12 is arranged on the truss 11 along the width direction of the plane and slides along the length direction of the plane, the four-degree-of-freedom adjustment mechanism 13 is slidably connected to the movable beam 12 along the length direction of the movable beam 12, the four-degree-of-freedom adjustment mechanism 13 is detachably connected to the plate cutting end effector 2 through a plurality of quick-change joints 3, and the four-degree-of-freedom adjustment mechanism 13 is used to drive the plate cutting end effector 2 to rotate along the X-axis, Y-axis and / or Z-axis and translate along the Z-axis.
[0030] In this embodiment, the movable beam 12 is driven by a traction mechanism to slide along the length direction of the truss 11, and the movable beam 12 is driven by a transmission system to slide along the length direction of the movable beam 12 by a four-degree-of-freedom adjustment mechanism 13, thereby driving the plate cutting end effector 2 to slide along the length direction of the movable beam 12 and the length direction of the truss 11. Here, the length direction of the movable beam 12 and the length direction of the truss 11 are two perpendicular directions; the four-degree-of-freedom adjustment mechanism 13 drives the plate cutting end effector 2 to rotate along the X-axis, Y-axis and Z-axis and translate along the Z-axis, thereby realizing multi-directional flexible movement of the plate cutting end effector 2.
[0031] The four-degree-of-freedom adjustment mechanism 13 and the plate cutting end effector 2 are detachably connected by a plurality of quick-change joints 3, which facilitates the connection or separation between the four-degree-of-freedom adjustment mechanism 13 and the plate cutting end effector 2. The moving crossbeam 12, the transmission system, the traction mechanism and the four-degree-of-freedom adjustment mechanism 13 can all be existing structures that can achieve their purposes, and no further description is given here; the cutting of the underwater lining plate to be cut is achieved by the cooperation of the moving crossbeam 12, the four-degree-of-freedom adjustment mechanism 13 and the plate cutting end effector 2.
[0032] In order to better understand the present solution, the plate cutting end effector 2 is described in detail below.
[0033] like Figure 3 , Figure 4 , Figure 5 as well as Figure 6 As shown, according to another embodiment of the present invention, an underwater cutting equipment for concrete lining panels of a water network channel, wherein the plate cutting end effector 2 includes a cutting component 21, a frame assembly 22 and a position detection component 23, the frame assembly 22 is provided with a driving component 24 for driving the cutting component 21 to move along the axial direction of the frame assembly 22, the axis of the frame assembly 22 is in the cutting plane formed by the cutting component 21, and the frame assembly 22 is connected to the movable adjustment part 1; there are at least three position detection components 23 and they are distributed on the outside of the frame assembly 22, each of the position detection components 23 includes a positioning sensor 231 fixedly connected to the frame assembly 22 and arranged along the axial direction of the frame assembly 22, and an axle wheel 232 rotatably connected to the bottom end of the positioning sensor 231.
[0034] In this embodiment, the four-degree-of-freedom adjustment mechanism 13 is connected to the frame assembly 22 through a plurality of quick-change joints 3. The cutting surface of the cutting component 21 is adjusted to be perpendicular to the plane of the concrete lining panel to be cut by operating the four-degree-of-freedom adjustment mechanism 13 and sliding the movable crossbeam 12, and then the plurality of positioning sensors 231 are controlled to extend by the same amount to contact the concrete lining panel to be cut. If it is confirmed that at least three axle wheels 232 are in contact with the concrete lining panel to be cut, in this embodiment, the number of the position detection components 23 is three, then it is confirmed that the three axle wheels 232 are in contact with the concrete lining panel to be cut, and then the cutting component 21 is driven to move along the axis direction of the frame assembly 22 by the four-degree-of-freedom adjustment mechanism 13 until it contacts the concrete lining panel to be cut. The driving component 24 and the cutting component 21 are operated until a preset feed depth is reached on the concrete lining panel to be cut, and then the cutting component 21 is controlled to move along a preset cutting path by sliding the four-degree-of-freedom adjustment mechanism 13 and the movable crossbeam 12 to perform slotting and cutting until the cutting is completed.
[0035] In the above, if one of the three shaft wheels 232 is not in contact with the concrete lining panel to be cut, it is necessary to operate the four-degree-of-freedom adjustment mechanism 13 and the sliding movable beam 12 again to adjust the cutting surface of the cutting component 21 to be perpendicular to the plane where the concrete lining panel to be cut is located, and then the position detection component 23 is used again to detect and meet the conditions before subsequent operations can be performed.
[0036] Wherein, the positioning sensor 231 can be a KPC waterproof pull-rod displacement sensor.
[0037] In order to better understand the plate cutting end effector 2 in this solution, the structures such as the drive assembly 24 and the frame assembly 22 are first optimized.
[0038] First, the frame assembly 22, such as Figure 3 As shown, according to another embodiment of the present invention, an underwater cutting equipment for concrete lining panels of a water network channel, wherein the frame assembly 22 includes a frame 221 and running wheels 222, the frame 221 is connected to the movable adjustment part 1 and the drive assembly 24 and the positioning sensor 231 are both connected to the frame 221; there are multiple running wheels 222 and they are rotatably connected to the bottom of the frame 221.
[0039] In this embodiment, the outer contour of the frame 221 is square, and there are four running wheels 222, which are distributed at the four corners of the bottom of the frame 221; the frame 221 is connected to the four-degree-of-freedom adjustment mechanism 13 through multiple quick-change joints 3.
[0040] The arrangement of the multiple walking wheels 222 is conducive to the movement of the frame 221 with the four-degree-of-freedom adjustment mechanism 13, so as to reduce the resistance of the plate cutting end effector 2 to move during the cutting process; and when the cutting component 21 is cutting, the multiple walking wheels 222 press and fix the concrete lining panel to be cut, thereby improving the cutting stability.
[0041] Next is the drive assembly 24, such as Figure 3 , Figure 4 as well as Figure 5 As shown, according to another embodiment of the present invention, an underwater cutting equipment for concrete lining panels of a water network channel, wherein the driving assembly 24 includes a screw 241, an optical axis 242 and a movable adjustment part, the screw 241 is arranged along the axial direction of the frame assembly 22 and is rotatably connected to the frame assembly 22, and the screw 241 is driven to rotate by the driver; the optical axis 242 has at least one and is arranged parallel to the screw 241, and the optical axes 242 are fixedly connected to the frame assembly 22; the movable adjustment part has at least one and is threadedly connected to the screw 241, and the movable adjustment part is also slidably connected to each optical axis 242 and fixedly connected to the cutting component 21.
[0042] In this embodiment, the driver is a pneumatic motor fixed on the frame 221, and the number of the optical axis 242 and the movable adjustment part are both two; the pneumatic motor runs, driving the screw 241 to rotate, the optical axis 242 guides the movable adjustment part, and the movable adjustment part moves along the axial direction of the screw 241, and the cutting component 21 moves synchronously with the movable adjustment part, so that the cutting component 21 goes deep into the concrete lining panel to be cut for cutting.
[0043] Each of the movable adjustment parts includes a movable sleeve 243 and a horizontal auxiliary fixing plate 244, and the movable sleeve 243 is threadedly connected to the screw 241; the horizontal auxiliary fixing plate 244 is fixedly connected to the movable sleeve 243 and fixedly connected to the cutting part 21, and a linear bearing is also connected between the horizontal auxiliary fixing plate 244 and each optical axis 242, and the linear bearing is slidably connected to the corresponding optical axis 242.
[0044] The movable sleeve 243 is a lead screw nut matched with the screw rod 241, and a horizontal auxiliary fixing plate 244 is connected between the lead screw nut and the linear bearing to ensure the stability of the connection.
[0045] Here, the cutting component 21 is fixed with a clamp, a long plate is fixedly connected to the clamp, and the horizontal auxiliary fixing plate 244 is connected to the long plate. Then, the pneumatic motor is started to drive the cutting component 21 to move stably along the axis direction of the frame 221. The cutting component 21 can be a 230-type pneumatic stone cutting machine.
[0046] In order to further confirm the cutting position of the cutting component 21 and improve the cutting accuracy of the cutting component 21 on the concrete lining panel to be cut, as shown in FIG. Figure 3 As shown, according to another embodiment of the present invention, in the underwater cutting equipment for concrete lining panels of a water network channel, at least one camera 25 is provided on the frame assembly 22, and the camera 25 is used to confirm the cutting position of the cutting component 21.
[0047] In this embodiment, there are two cameras 25 and both are fixedly connected to the frame 221. The two cameras 25 are distributed on both sides of the cutting component 21. The cutting position of the cutting component 21 can be more accurately obtained through the cooperation of the cameras 25, which is beneficial to improving the cutting accuracy of the concrete lining panel to be cut.
[0048] In order to better control and detect the feeding depth of the cutting member 21 during cutting, as Figure 3 and Figure 4As shown, according to another embodiment of the present invention, an underwater cutting equipment for concrete lining panels of a water network channel, wherein the cutting component 21 is provided with a feed depth measuring part 26 connected to the driving component 24, and the feed depth measuring part 26 moves with the driving component 24 to measure the feed depth of the cutting component 21 during cutting.
[0049] Among them, the feed depth measuring part 26 includes a depth detection sensor 261 and a movable wheel 262. The depth detection sensor 261 is connected to the driving assembly 24 and is arranged along the axial direction of the frame assembly 22; the movable wheel 262 is rotatably connected to the bottom end of the depth detection sensor 261, and initially the bottom end of the movable wheel 262, the bottom end of the cutting part 21 and the bottom end of the frame assembly 22 are coplanar.
[0050] In this embodiment, the top side of the depth detection sensor 261 is specifically connected to the horizontal auxiliary fixing plate 244, and the depth detection sensor 261 is connected with the horizontal auxiliary fixing plate 244. Initially, the bottom end of the movable wheel 262, the bottom end of the cutting blade of the cutting component 21 and the bottom end of the walking wheel 222 are coplanar. When the driving walking wheel 222 contacts the concrete lining panel to be cut, the bottom end of the movable wheel 262 and the bottom end of the cutting blade of the cutting component 21 are both in contact with the concrete lining panel to be cut. At this time, when the pneumatic motor is started to drive the cutting component 21 to move downward, the horizontal auxiliary fixing plate 244 drives the sleeve of the depth detection sensor 261 to move downward, and the rod of the depth detection sensor 261 moves into the sleeve to detect the feeding depth of the cutting blade of the cutting component 21.
[0051] The depth detection sensor 261 may also be a KPC waterproof pull-rod displacement sensor.
[0052] Next is the quick-change connector 3, such as Figure 6 As shown, according to another embodiment of the present invention, an underwater cutting equipment for concrete lining panels of a water network channel, wherein each of the quick-change joints 3 includes a tenon 31, an end effector connection seat 32 and a rotation adjustment portion, the tenon 31 is rotationally connected to the output end of the four-degree-of-freedom adjustment mechanism 13; the end effector connection seat 32 is connected to the frame 221 and a mortise 33 for inserting the tenon 31 is formed on the end effector connection seat 32; the rotation adjustment portion is connected to the tenon 31 and is used to drive the tenon 31 to rotate a preset angle and then lock it after the tenon 31 is inserted into the mortise 33.
[0053] In this embodiment, the rotation adjustment portion includes a first gear 3534 connected to the tenon 31 and a second gear 3534 meshing with the first gear 3534 , and the second gear is driven to rotate by the rotary cylinder 36 .
[0054] When connecting: insert the tenon 31 into the mortise 33, then rotate the cylinder 36 90° to drive the second gear to rotate 90°, and the second gear drives the first gear 3534 to rotate 90° to drive the tenon 31 to rotate 90° in the mortise 33 to get stuck, thereby realizing the connection between the four-degree-of-freedom adjustment mechanism and the plate cutting end effector 2.
[0055] When disassembly is required: the rotary cylinder 36 rotates 90° in the opposite direction, driving the tenon 31 to rotate 90° in the opposite direction in the mortise 33 to disengage from the jam. At this time, the tenon 31 can be removed from the mortise 33 to complete the disassembly between the four-degree-of-freedom adjustment mechanism and the plate cutting end effector 2.
[0056] A cutting method is provided for a water network channel concrete lining panel. According to another embodiment of the present invention, the underwater cutting method for the water network channel concrete lining panel adopts the underwater cutting equipment for the water network channel concrete lining panel to perform cutting, and comprises the following steps:
[0057] Step S1, fixing the equipment, completing the installation of the truss 11, the moving beam 12 and the four-degree-of-freedom adjustment mechanism 13 on the river bank according to the assembly requirements;
[0058] Step S2, operating the four-degree-of-freedom adjustment mechanism 13 and the moving crossbeam 12 to adjust the cutting surface of the cutting component 21 to be perpendicular to the plane where the concrete lining panel to be cut is located, and controlling the multiple positioning sensors 231 to extend by the same amount to contact the concrete lining panel to be cut;
[0059] Step S3, if it is confirmed that at least three axle wheels 232 are in contact with the concrete lining panel to be cut, the four-degree-of-freedom adjustment mechanism 13 is operated again to move along the axis direction of the frame assembly 22 until the cutting component 21 is in contact with the concrete lining panel to be cut, and at this time the camera 25 confirms the cutting position of the cutting component 21;
[0060] Step S4: if it is confirmed that the cutting position of the cutting component 21 meets the preset cutting requirements (make sure that the cutting surface of the cutting component 21 is adjusted to be perpendicular to the plane where the concrete lining panel to be cut is located, otherwise it needs to be adjusted again to meet the requirements before subsequent operations are performed), the driving assembly 24 and the cutting component 21 are operated until a preset feeding depth is reached on the concrete lining panel to be cut, and then the sliding moving beam 12 and the four-degree-of-freedom adjustment mechanism 13 are used to control the cutting component 21 to move along the preset cutting path for slotting and cutting until the cutting is completed;
[0061] Step S5, using a pneumatic pick to break the dead corner left after the cutting component 21 is cut along the preset cutting path;
[0062] Step S6, driving the pneumatic pick to extend into the backfill groove formed after taking out the concrete lining panel to be cut and contacting the inner wall of the backfill groove, and then the pneumatic pick moves along the inner edge of the backfill groove to perform trimming until the trimming is completed.
[0063] It should be noted that: because the cutting blade of the cutting component 21 is circular, and the backfill groove formed is directional, in order to avoid overcutting problems, the cutting component 21 will turn in advance when cutting to the corner, and a dead angle will be formed at the cutting corner, so step S5 is required. After completing step S4, the plate cutting end effector 2 needs to be moved to the shore to be replaced with a plate clamping end effector. In order to simplify the procedure, a pneumatic pick is provided on the plate clamping end effector, and the sliding moving beam 12 and the four-degree-of-freedom adjustment mechanism 13 are used to move the pneumatic pick to the four dead angles for crushing; then the cut concrete lining panel is moved out to the river bank by the plate clamping end effector, and the plate clamping end effector is moved underwater, and the sliding moving beam 12 and the four-degree-of-freedom adjustment mechanism 13 are used to move the pneumatic pick into the backfill groove to perform step S6, ensuring that the size of the backfill groove can adapt to the new concrete lining panel.
[0064] The plate clamping end effector may be an existing structure suitable for clamping plates underwater, which will not be further described here; the plate clamping end effector and the four-degree-of-freedom adjustment mechanism 13 are also connected using the above-mentioned quick-change connector 3.
[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.
Claims
1. Underwater cutting equipment for concrete lining panels of water network channels, including cutting parts, characterized in that: Also includes: A frame assembly, wherein the frame assembly is provided with a driving assembly for driving the cutting member to move along the axis direction of the frame assembly, the axis of the frame assembly is within the cutting plane formed by the cutting member, and the frame assembly is connected to a movable adjusting portion that drives the frame assembly to move and rotate in multiple directions; Position detection components, there are at least three position detection components distributed on the outside of the frame component, each of the position detection components includes a positioning sensor fixedly connected to the frame component and arranged along the axis direction of the frame component, and an axle wheel rotatably connected to the bottom end of the positioning sensor.
2. The underwater cutting equipment for water network channel concrete lining panels according to claim 1 is characterized in that: At least one camera is arranged on the frame assembly, and the camera is used to confirm the cutting position of the cutting part.
3. The underwater cutting equipment for concrete lining panels of water network channels according to claim 1 is characterized in that: The cutting component is provided with a feed depth measuring part connected to the driving component. The feed depth measuring part moves with the driving component to measure the feed depth of the cutting component during cutting.
4. The underwater cutting equipment for water network channel concrete lining panels according to claim 1 or 3, characterized in that: The drive assembly comprises: A screw rod, which is arranged along the axis direction of the frame assembly and is rotatably connected to the frame assembly, and is driven to rotate by a driver; An optical axis, at least one of which is arranged parallel to the screw rod, and each of which is fixedly connected to the frame assembly; There is at least one movable adjustment part and all of them are connected to the screw thread. The movable adjustment part is also slidably connected to each optical axis and fixedly connected to the cutting component.
5. The underwater cutting equipment for concrete lining panels of water network channels according to claim 4 is characterized in that: Each of the movement adjustment parts comprises: A movable sleeve, the movable sleeve is connected to the screw thread; A horizontal auxiliary fixing plate is fixedly connected to the movable sleeve and the cutting component. A linear bearing is connected between the horizontal auxiliary fixing plate and each optical axis. The linear bearing is slidably connected to the corresponding optical axis.
6. The underwater cutting equipment for concrete lining panels of water network channels according to claim 3 is characterized in that: The feed depth measuring unit comprises: A depth detection sensor, the depth detection sensor is connected to the drive assembly and arranged along the axis direction of the frame assembly; The movable wheel is rotatably connected to the bottom end of the depth detection sensor, and initially the bottom end of the movable wheel, the bottom end of the cutting component and the bottom end of the frame assembly are coplanar.
7. The underwater cutting equipment for concrete lining panels of water network channels according to claim 1 is characterized in that: The activity adjustment unit comprises: A truss, the truss is arranged on the plane where the side slope of the channel is located and arranged along the length direction of the plane; A movable crossbeam, which is arranged on the truss along the width direction of the plane and slides along the length direction of the plane; A four-degree-of-freedom adjustment mechanism is slidably connected to the moving crossbeam along the length direction of the moving crossbeam, the four-degree-of-freedom adjustment mechanism is detachably connected to the frame assembly through a plurality of quick-change joints, and the four-degree-of-freedom adjustment mechanism is used to drive the frame assembly to rotate along the X-axis, the Y-axis and / or the Z-axis and translate along the Z-axis.
8. The underwater cutting equipment for concrete lining panels of water network channels according to claim 7 is characterized in that: Each of the quick-change connectors comprises: A tenon, the tenon being rotatably connected to an output end of the four-degree-of-freedom adjustment mechanism; An end effector connection seat, the end effector connection seat is connected to the frame assembly and a mortise for inserting the tenon is formed on the end effector connection seat; The rotation adjustment part is connected to the tenon and is used to drive the tenon to rotate to a preset angle and then lock it after the tenon is inserted into the mortise.
9. The underwater cutting equipment for concrete lining panels of water network channels according to claim 1, characterized in that: The frame assembly comprises: A frame, the frame is connected to the movable adjustment part and the drive assembly and the positioning sensor are both connected to the frame; There are multiple running wheels, which are rotatably connected to the bottom of the frame.
10. Underwater cutting method for concrete lining panels of water network channels, characterized in that: Cutting using the underwater cutting equipment for concrete lining panels of a water network channel as described in any one of claims 1 to 9 comprises the following steps: Step S1, fixing the equipment, completing the installation of the truss, the moving beam and the four-degree-of-freedom adjustment mechanism on the river bank according to the assembly requirements; Step S2, operating the four-degree-of-freedom adjustment mechanism and the moving crossbeam to adjust the cutting surface of the cutting component to be perpendicular to the plane where the concrete lining panel to be cut is located, and controlling the plurality of positioning sensors to extend by the same amount to contact the concrete lining panel to be cut; Step S3: if it is confirmed that at least three axle wheels are in contact with the concrete lining panel to be cut, the four-degree-of-freedom adjustment mechanism is operated again to move along the axis direction of the frame assembly until the cutting component is in contact with the concrete lining panel to be cut, and the camera confirms the cutting position of the cutting component at this time; Step S4: if it is confirmed that the cutting position of the cutting component meets the preset cutting requirements, the driving assembly and the cutting component are operated until a preset feeding depth is reached on the concrete lining panel to be cut, and then the sliding moving beam and the four-degree-of-freedom adjustment mechanism are used to control the cutting component to move along the preset cutting path to perform slotting cutting until the cutting is completed; Step S5: Using a pneumatic pick to break up the dead corners left after the cutting component is cut along a preset cutting path.
11. The underwater cutting method for water network channel concrete lining panels according to claim 10, characterized in that: The following steps are also included: Step S6, driving the pneumatic pick to extend into the backfill groove formed after taking out the concrete lining panel to be cut and contacting the inner wall of the backfill groove, and then the pneumatic pick moves along the inner edge of the backfill groove to perform trimming until the trimming is completed.