A high-precision robot for controlling tunnel water leakage

Abstract

This invention discloses a high-precision robot for treating tunnel seepage, belonging to the field of tunnel maintenance engineering machinery technology. The robot includes a track-mounted mobile vehicle, an active anti-tipping mechanism, a six-degree-of-freedom robotic arm, a drilling device, a grouting system, a quick-assembly structure, and a vision scanning system. The track-mounted mobile vehicle achieves movement and positioning by walking on the tunnel track. The active anti-tipping mechanism uses adjustable support legs driven by worm gears to push the tunnel segments upwards, providing stable support against overturning. The vision scanning system performs global scanning and modeling through a first vision scanning unit and uses a second vision positioning unit for precise positioning of the work point. The six-degree-of-freedom robotic arm can quickly change the drilling device or grouting head through the quick-assembly structure, sequentially performing precise drilling and quantitative grouting operations. This invention achieves fully automated, high-precision, and continuous high-efficiency operation for treating tunnel seepage, effectively overcoming the shortcomings of manual treatment and existing equipment in terms of stability, accuracy, and efficiency.

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