Surface flow channel repair robot

Abstract

The surface channel repair robot of the present invention includes a vehicle body with a movable part that can move the vehicle body; a grinding part, which includes a first robotic arm, a grinding housing, and a grinding disc, wherein the first robotic arm is connected to the grinding housing and drives the grinding housing to move; a spraying part, which includes a material replenishment bin, a drive pump, a connecting pipe, a nozzle, and a second robotic arm, wherein the second robotic arm is connected to the nozzle and is used to adjust the spray direction of the nozzle; a monitoring part, which includes multiple cameras, at least some of which are located on the vehicle body; a gripping assembly, which includes a gripping drive and a gripping component, wherein the gripping drive can drive the gripping component to move relative to the vehicle body so that the gripping component abuts the ground; a battery, which is located in the battery compartment of the vehicle body; and a traction device, which includes a drive motor, a winding part, and a traction rope. Therefore, the surface channel repair robot of the present invention can facilitate the repair of surface channels.

Description

Technical Field

[0001] This invention relates to the field of surface hole channel repair technology, and more specifically to a surface hole channel repair robot. Background Technology

[0002] Reservoirs, dams, and spillway surface channels in water conservancy projects are the core channels for water discharge. They are subjected to long-term scouring by high-speed water flow, erosion by silt, and corrosion by acidic and alkaline water. The inclined surfaces of these channels are highly susceptible to structural damage such as surface peeling, cracks, and pits. If not repaired in time, this will exacerbate the damage to the channel structure and lead to potential safety hazards in the project.

[0003] Currently, the repair of the inclined surface of the flow channel is a key part of the operation and maintenance of water conservancy projects. Due to the narrow flow channel space, large inclination angle of the inclined surface, and high risk of high-altitude operation, the relevant technologies mainly rely on manual scaffolding operation: construction workers need to wear safety belts and other high-altitude operation tools to enter the flow channel and carry out manual repair with hand-held grinders, repair materials, and spraying equipment.

[0004] With the development of mechanization and intelligence in engineering, some general-purpose pipeline repair robots and wall operation robots are gradually being applied in the field of water conservancy operation and maintenance. However, these robots are designed for horizontal ground, vertical walls, or regular pipelines and cannot adapt to the special working conditions of the inclined surface of the orifice. The inclined surface of the orifice has multiple characteristics, such as large inclination angle (30°-75°), uneven base surface, wet and slippery surface, and limited working space, which puts extremely high requirements on the walking stability, environmental adaptability, and operation coordination of the repair equipment. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose a surface orifice channel repair robot.

[0006] The surface hole channel repair robot of this invention includes:

[0007] The vehicle body is provided with a movable part, which can drive the vehicle body to move. The grinding unit includes a first robotic arm, a grinding housing, and a grinding disc. The base of the first robotic arm is located on the vehicle body, and the grinding disc is located on the grinding housing. The first robotic arm is connected to the grinding housing and drives the grinding housing to move. The spraying unit includes a material replenishment bin, a drive pump, a connecting pipe, a nozzle, and a second robotic arm. The material replenishment bin is located on the vehicle body and is used to store repair materials. The outlet of the material replenishment bin, the drive pump, the connecting pipe, and the nozzle are connected in sequence. The base of the second robotic arm is located on the vehicle body. The second robotic arm is connected to the nozzle and is used to adjust the spraying direction of the nozzle. The monitoring unit includes a plurality of cameras, at least a portion of which is disposed on the vehicle body, at least one of which is adjacent to the polishing unit, and at least one of which is adjacent to the painting unit. A gripping assembly, comprising a gripping drive and a gripping component, wherein the gripping drive is disposed on the vehicle body and the gripping drive can drive the gripping component to move relative to the vehicle body so that the gripping component comes into contact with the ground; A battery, located in the battery compartment of the vehicle body, is used to provide power to electrical equipment on the vehicle body; A traction device is provided in the passageway above the surface flow channel. The traction device includes a drive motor, a winding part, and a traction rope. The two ends of the traction rope are respectively connected to the winding part and the vehicle body. The drive motor can drive the winding part to rotate in order to wind up and unwind the traction rope.

[0008] Therefore, the surface orifice repair robot according to embodiments of the present invention can facilitate the repair of surface orifice channels.

[0009] In some embodiments, the vehicle body includes a connecting portion; The moving part is a track assembly, which is connected to the connecting part of the vehicle body. Each track assembly includes a track drive motor, a drive wheel, and a track. The track drive motor can drive the drive wheel to rotate so as to move the track.

[0010] In some embodiments, there are four track assemblies, and the four track assemblies are respectively connected to the four connecting portions at the four corners of the vehicle body.

[0011] In some embodiments, the track assembly is connected to the corresponding connecting portion via a suspension assembly.

[0012] In some embodiments, there are multiple gripping components; The gripping component is hook-shaped, and the gripping drive component can drive the gripping component to rotate relative to the vehicle body so that the tip of the gripping component abuts against the ground.

[0013] In some embodiments, the connecting portion includes a connecting post; Each of the gripping components includes a rotating ring rotatably mounted on the connecting post, the drive motor is connected to the rotating ring and can drive the rotating ring to rotate, and the gripping element is disposed on the rotating ring; There are four gripping components, and the rotating ring is located inside the corresponding track component.

[0014] In some embodiments, the surface hole channel repair robot further includes a concrete extrusion section, which includes a concrete chamber and an extrusion nozzle. The concrete chamber is located on the vehicle body, and the extrusion nozzle is connected to the concrete chamber and used to extrude concrete. The extrusion nozzle is located at the bottom of the vehicle body, or the extrusion nozzle is connected to the vehicle body via a robotic arm.

[0015] In some embodiments, the polishing disc includes a disc body and a brush disposed on the disc body; and / or The grinding housing is equipped with a grinding driver, which is connected to the grinding disc and can drive the grinding disc to rotate.

[0016] In some embodiments, the vehicle body includes a first end face and a second end face, wherein the first end face and the second end face are disposed opposite to each other in the length direction of the vehicle body; The first robotic arm is disposed on the first end face; The second robotic arm is located on the top surface of the vehicle body and adjacent to the second end face; The plurality of cameras include a first camera, a second camera and a third camera, wherein the first camera is disposed on the first end face, the second camera is disposed on the top surface of the vehicle body and adjacent to the first end face, and the third camera is disposed on the top surface of the vehicle body and adjacent to the second end face.

[0017] In some embodiments, both the first robotic arm and the second robotic arm are multi-axis robotic arms; and / or The vehicle body is equipped with a hanging ring connected to the traction rope; and / or The top surface of the vehicle body is provided with a fabric compartment cover that seals the opening of the replenishment compartment and a battery cover that seals the opening of the battery compartment; and / or The vehicle body is provided with a charging port connected to the battery; and / or The vehicle body is an aluminum alloy body; and / or The vehicle body shell encloses and forms a closed cavity. Attached Figure Description

[0018] Figure 1 This is a diagram illustrating the working state of the surface hole channel repair robot according to an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of a surface hole flow channel repair robot according to an embodiment of the present invention.

[0020] Figure label: 1. Vehicle body; 11. Connecting part; 12. First end face; 13. Hanging ring; 14. Fabric compartment cover; 15. Battery cover; 16. Charging port. 2. Track assembly; 21. Suspension assembly; 3. First robotic arm; 31. Grinding the housing; 32. Grinding disc; 4. Second robotic arm; 41. Material replenishment bin; 42. Nozzle; 5. Ground gripping components; 51. Rotating ring; 61. First camera; 62. Second camera; 63. Third camera; 7. Traction device; 71. Traction rope; 8. Gate; 81. Passageway; 9. Surface orifice flow channel. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0022] The surface hole channel repair robot of the present invention is described below with reference to the accompanying drawings. Figure 1 and Figure 2 As shown, the surface hole channel repair robot according to an embodiment of the present invention includes a vehicle body 1, a grinding section, a spraying section, a monitoring section, a gripping component, a battery, and a traction device 7.

[0023] The vehicle body 1 is equipped with a movable part that can move the vehicle body 1. The vehicle body 1 is a long, rectangular body. It has a small overall size and an internal intelligent control system to adapt to narrow flow channels. Optionally, the vehicle body 1 is made of aluminum alloy to reduce its weight. Optionally, the shell of the vehicle body 1 forms a closed cavity, providing a fully sealed and waterproof design for the body, electrical components, and power module to withstand harsh working conditions such as humidity, water accumulation, and high altitudes. For example, seals are provided at the gaps in the vehicle body 1 to improve its sealing performance.

[0024] In some embodiments, the vehicle body 1 includes a connecting portion 11. The moving portion is a track assembly 2, which is connected to the connecting portion 11 of the vehicle body 1. Each track assembly 2 includes a track drive motor, a drive wheel, and a track. The track drive motor can drive the drive wheel to rotate, thereby moving the track and achieving differential steering. For example, each track assembly 2 includes a track drive motor, a drive wheel, a track, an idler wheel, a road wheel, and a tensioning mechanism to facilitate the movement of the track in each track assembly 2.

[0025] In some embodiments, the track assembly 2 is connected to the corresponding connecting part 11 via the suspension assembly 21 to provide floating support and shock absorption for the vehicle body 1.

[0026] In some embodiments, there are four track assemblies 2, which are respectively connected to four connecting portions 11 at the four corners of the vehicle body 1. Specifically, two connecting portions 11 are provided on each side of the vehicle body 1 in the width direction, and two track assemblies 2 are provided on each side of the vehicle body 1 in the width direction. The vehicle body 1 is connected to the four track assemblies 2, thereby improving the applicability of the surface hole flow channel repair robot according to the embodiment of the present invention to inclined surfaces.

[0027] like Figure 1 As shown, the polishing unit includes a first robotic arm 3, a polishing housing 31, and a polishing disc 32. The base of the first robotic arm 3 is mounted on the vehicle body 1, and the polishing disc 32 is mounted on the polishing housing 31. The first robotic arm 3 is connected to the polishing housing 31 and drives the polishing housing 31 to move. Specifically, the polishing disc 32 is used to clean moss and other debris from the surface channel 9. The first robotic arm 3 can adjust the position and orientation of the polishing disc 32 by moving the position of the polishing housing 31 so that the polishing disc 32 can come into contact with the surface of the surface channel 9 for cleaning debris.

[0028] In some embodiments, the polishing disc 32 includes a disc body and a brush disposed on the disc body, the brush facilitating the cleaning of debris from the surface of the surface channel 9. For example, the bristles can be made of wire brush.

[0029] In some embodiments, the grinding housing 31 is provided with a grinding driver, which is connected to the grinding disc 32 and can drive the grinding disc 32 to rotate, so as to improve the cleaning efficiency of the grinding disc 32.

[0030] The spraying unit includes a material replenishment bin 41, a drive pump, a connecting pipe, a nozzle 42, and a second robotic arm 4. The material replenishment bin 41 is located on the vehicle body 1 and is used to store repair material. The outlet of the material replenishment bin 41, the drive pump, the connecting pipe, and the nozzle 42 are connected in sequence. The base of the second robotic arm 4 is located on the vehicle body 1. The second robotic arm 4 is connected to the nozzle 42 and is used to adjust the spraying direction of the nozzle 42. Specifically, the drive pump is used to pass the repair material in the material replenishment bin 41 into the connecting pipe, and then into the nozzle 42, so as to spray the repair material onto the surface of the cleaned surface channel 9, thereby repairing the surface of the surface channel 9. The second robotic arm 4 can adjust the position and orientation of the nozzle 42 so as to spray the repair material onto the surface of different positions of the surface channel 9.

[0031] In some embodiments, the top surface of the vehicle body 1 is provided with a fabric bin cover 14 that covers the opening of the replenishment bin 41, and the fabric bin cover 14 can be opened to add repair material.

[0032] like Figure 1As shown, the gripping assembly includes a gripping drive and a gripping component 5. The gripping drive is mounted on the vehicle body 1 and can drive the gripping component 5 to move relative to the vehicle body 1 so that the gripping component 5 comes into contact with the ground. The gripping component 5 is hook-shaped, and the gripping drive can drive the gripping component 5 to rotate relative to the vehicle body 1 so that the tip of the gripping component 5 comes into contact with the ground. Specifically, the connecting part 11 includes a connecting post. Each gripping assembly includes a rotating ring 51, which is rotatably mounted on the connecting post. A drive motor is connected to the rotating ring 51 and can drive the rotating ring 51 to rotate. The gripping component 5 is mounted on the rotating ring 51. Thus, when the vehicle body 1 needs to be stopped for cleaning debris or spraying repair material, the drive motor drives the gripping component 5 to rotate relative to the vehicle body 1, causing the tip of the gripping component 5 to come into contact with the surface of the surface channel 9, thereby increasing the friction between the vehicle body 1 and the surface of the surface channel 9, and thus preventing the vehicle body 1 from moving.

[0033] In some embodiments, there are multiple gripping components. Specifically, there are four gripping components, with the rotating ring 51 located inside the corresponding track assembly 2. The gripping components and the track assembly 2 can cooperate with each other. The track uses a high-friction, anti-slip concrete track, combined with a mechanical engagement unit, to achieve dual adhesion to the concrete slope; at the same time, the robot's center of gravity design is optimized, and a center of gravity adaptive adjustment module is configured to adjust the center of gravity position in real time according to the slope angle, avoiding slippage and overturning from both structural and control perspectives.

[0034] In some embodiments, the surface hole channel repair robot further includes a concrete extrusion section, which includes a concrete chamber and an extrusion nozzle. The concrete chamber is located on the vehicle body 1, and the extrusion nozzle is connected to the concrete chamber and used to extrude concrete. For example, the extrusion nozzle is located at the bottom of the vehicle body 1, or the extrusion nozzle is connected to the vehicle body 1 via a robotic arm.

[0035] In some embodiments, the vehicle body 1 includes a first end face 12 and a second end face, which are arranged opposite to each other along the length of the vehicle body 1. A first robotic arm 3 is disposed on the first end face 12. A second robotic arm 4 is disposed on the top surface of the vehicle body 1 and adjacent to the second end face. Thus, a grinding section and a painting section are respectively disposed at both ends along the length of the vehicle body 1, so that grinding and painting can be performed respectively.

[0036] In some embodiments, both the first robotic arm 3 and the second robotic arm 4 are multi-axis robotic arms. For example, the first robotic arm 3 and the second robotic arm 4 can be three-axis, four-axis, five-axis, or six-axis robotic arms. Also, for example, the first robotic arm 3 and the second robotic arm 4 are equipped with telescopic rods.

[0037] like Figure 1As shown, the monitoring unit includes multiple cameras, at least a portion of which are mounted on the vehicle body 1. At least one of the cameras is adjacent to the polishing section, and at least another is adjacent to the painting section. Specifically, the multiple cameras are used to detect the environment around the vehicle body 1 to facilitate its movement. The multiple cameras can monitor the polishing process in the polishing section and the painting process in the painting section. For example, cameras are mounted on the vehicle body 1, the first robotic arm 3, and the second robotic arm 4.

[0038] In some embodiments, the plurality of cameras includes a first camera 61, a second camera 62, and a third camera 63. The first camera 61 is disposed on the first end face 12, and the second camera 62 is disposed on the top surface of the vehicle body 1 and adjacent to the first end face 12. The first camera 61 and the second camera 62 cooperate to monitor the polishing condition of the polishing section. The third camera 63 is disposed on the top surface of the vehicle body 1 and adjacent to the second end face to monitor the painting condition of the painting section.

[0039] like Figure 1 As shown, the battery is located in the battery compartment of the vehicle body 1. The battery provides power to the electrical equipment on the vehicle body 1, specifically, it provides power to the grinding section, spraying section, concrete extrusion section, monitoring section, and gripping components. For example, the top surface of the vehicle body 1 has a battery cover 15 that seals the opening of the battery compartment for battery replacement. Also, the vehicle body 1 has a charging port 16 connected to the battery for charging. For example, the battery is a waterproof lithium battery.

[0040] like Figure 1 and Figure 2 As shown, the traction device 7 is located in the passageway 81 above the surface flow channel 9. The traction device 7 includes a drive motor, a winding part, and a traction rope 71. The two ends of the traction rope 71 are connected to the winding part and the vehicle body 1, respectively. The drive motor can drive the winding part to rotate in order to wind up and unwind the traction rope 71. Specifically, the vehicle body 1 is provided with a hanging ring 13 connected to the traction rope 71. Thus, the surface flow channel repair robot according to the embodiment of the present invention can be lowered into the surface flow channel using the traction device 7 in the passageway 81 adjacent to the gate 8. When the surface flow channel repair robot according to the embodiment of the present invention is repairing the surface flow channel, the traction device 7 can prevent the surface flow channel repair robot from falling.

[0041] In some embodiments, the vehicle body 1 is equipped with a tilt sensor and a base surface contour sensor. The sensors collect slope parameters in real time in order to adjust the movement posture.

[0042] In some embodiments of the present invention, the intelligent control system of the surface hole channel repair robot includes a built-in PLC controller, a wireless communication module, and a data processing module, which receives remote commands, collects posture, base surface, and walking data, and coordinates the walking, gripping, posture adjustment, and repair operation actions.

[0043] In some embodiments of the present invention, the surface hole channel repair robot includes a remote control terminal, which includes a wireless remote controller and a display screen to realize remote control of the robot's walking, operation, start and stop, and real-time display of operation status.

[0044] like Figure 1 and Figure 2 As shown, when cleaning the surface channel, the surface channel repair robot is hoisted to the inlet of the surface channel 9 using a traction rope 71. The waterproof performance, power reserve, and operating status of each mechanism are checked. The remote control terminal completes pairing and enters the surface dimension parameters of the channel to be repaired. The robot is pulled by the traction rope 71, and its tracks move along the inclined surface of the surface channel 9 to the working position. The gripping parts 5 on the inner side of the tracks achieve mechanical engagement, ensuring the stability of the robot's center of gravity.

[0045] The front-end grinding section is activated, allowing the grinding disc 32 to fit against the inclined surface and grind and clean the areas of peeling, sanding, and moss on the inclined surface, removing loose concrete layers and impurities; the walking speed is matched with the grinding speed to ensure the cleaning quality.

[0046] After the base surface is cleaned, the control system automatically starts the concrete extrusion section, which extrudes a quantitative amount of concrete repair material into the defect area through the extrusion nozzle, simultaneously completing the defect filling and smoothing operations to achieve precise repair.

[0047] After the defect repair is completed, the robot moves to the spraying station, starts the spraying unit, and the spray nozzles evenly spray anti-corrosion and wear-resistant coatings onto the repaired sloping surface to form a protective coating, thus completing the integrated repair.

[0048] After the repair work is completed, the remotely controlled robot smoothly withdraws to a safe area along the slope, is retrieved by a traction rope, the power to the equipment is turned off, the working parts of the robot are cleaned, and the quality of the slope repair is inspected and accepted.

[0049] The surface channel repair robot according to embodiments of the present invention can stably and autonomously walk on steep, wet, smooth, and irregular concrete slopes with angles ranging from 30° to 75°, preventing slippage and overturning, and replacing manual labor in high-risk repair operations. It enhances the robot's adhesion and adaptive adjustment capabilities on wet slopes, achieving real-time matching of its walking posture with the slope surface, ensuring the accuracy and continuity of the repair work. It integrates multi-functional modules for slope walking, surface cleaning, defect repair, and surface spraying, achieving integrated and automated repair of surface channel slopes, improving construction efficiency and repair quality. The robot's structure and waterproofing performance are optimized to adapt to narrow, water-adjacent, and humid working environments, improving the equipment's environmental adaptability and operational coverage.

[0050] Therefore, the surface orifice repair robot according to embodiments of the present invention can facilitate the repair of surface orifice channels.

[0051] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0056] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A surface hole flow channel repair robot, characterized in that, include: The vehicle body is provided with a movable part, which can drive the vehicle body to move. The grinding unit includes a first robotic arm, a grinding housing, and a grinding disc. The base of the first robotic arm is located on the vehicle body, and the grinding disc is located on the grinding housing. The first robotic arm is connected to the grinding housing and drives the grinding housing to move. The spraying unit includes a material replenishment bin, a drive pump, a connecting pipe, a nozzle, and a second robotic arm. The material replenishment bin is located on the vehicle body and is used to store repair materials. The outlet of the material replenishment bin, the drive pump, the connecting pipe, and the nozzle are connected in sequence. The base of the second robotic arm is located on the vehicle body. The second robotic arm is connected to the nozzle and is used to adjust the spraying direction of the nozzle. The monitoring unit includes a plurality of cameras, at least a portion of which is disposed on the vehicle body, at least one of which is adjacent to the polishing unit, and at least one of which is adjacent to the painting unit. A gripping assembly, comprising a gripping drive and a gripping component, wherein the gripping drive is disposed on the vehicle body and the gripping drive can drive the gripping component to move relative to the vehicle body so that the gripping component comes into contact with the ground; A battery, located in the battery compartment of the vehicle body, is used to provide power to electrical equipment on the vehicle body; A traction device is provided in the passageway above the surface flow channel. The traction device includes a drive motor, a winding part, and a traction rope. The two ends of the traction rope are respectively connected to the winding part and the vehicle body. The drive motor can drive the winding part to rotate in order to wind up and unwind the traction rope.

2. The surface hole flow channel repair robot according to claim 1, characterized in that, The vehicle body includes a connecting part; The moving part is a track assembly, which is connected to the connecting part of the vehicle body. Each track assembly includes a track drive motor, a drive wheel, and a track. The track drive motor can drive the drive wheel to rotate so as to move the track.

3. The surface hole flow channel repair robot according to claim 2, characterized in that, There are four track assemblies, and the four track assemblies are respectively connected to the four connecting parts at the four corners of the vehicle body.

4. The surface hole flow channel repair robot according to claim 2, characterized in that, The track assembly is connected to the corresponding connecting part via a suspension assembly.

5. The surface hole flow channel repair robot according to any one of claims 2-4, characterized in that, The gripping components are multiple; The gripping component is hook-shaped, and the gripping drive component can drive the gripping component to rotate relative to the vehicle body so that the tip of the gripping component abuts against the ground.

6. The surface hole flow channel repair robot according to claim 5, characterized in that, The connecting part includes a connecting post; Each of the gripping components includes a rotating ring rotatably mounted on the connecting post, the drive motor is connected to the rotating ring and can drive the rotating ring to rotate, and the gripping element is disposed on the rotating ring; There are four gripping components, and the rotating ring is located inside the corresponding track component.

7. The surface hole channel repair robot according to claim 6, characterized in that, The surface hole channel repair robot also includes a concrete extrusion section, which includes a concrete chamber and an extrusion nozzle. The concrete chamber is located on the vehicle body, and the extrusion nozzle is connected to the concrete chamber and used to extrude concrete. The extrusion nozzle is located at the bottom of the vehicle body, or the extrusion nozzle is connected to the vehicle body via a robotic arm.

8. The surface hole flow channel repair robot according to claim 1, characterized in that, The polishing disc includes a disc body and a brush disposed on the disc body; and / or The grinding housing is equipped with a grinding driver, which is connected to the grinding disc and can drive the grinding disc to rotate.

9. The surface hole flow channel repair robot according to claim 1, characterized in that, The vehicle body includes a first end face and a second end face, which are arranged opposite to each other in the length direction of the vehicle body. The first robotic arm is disposed on the first end face; The second robotic arm is located on the top surface of the vehicle body and adjacent to the second end face; The plurality of cameras include a first camera, a second camera and a third camera, wherein the first camera is disposed on the first end face, the second camera is disposed on the top surface of the vehicle body and adjacent to the first end face, and the third camera is disposed on the top surface of the vehicle body and adjacent to the second end face.

10. The surface hole flow channel repair robot according to claim 9, characterized in that, Both the first robotic arm and the second robotic arm are multi-axis robotic arms; and / or The vehicle body is equipped with a hanging ring connected to the traction rope; and / or The top surface of the vehicle body is provided with a fabric compartment cover that seals the opening of the replenishment compartment and a battery cover that seals the opening of the battery compartment; and / or The vehicle body is provided with a charging port connected to the battery; and / or The vehicle body is an aluminum alloy body; and / or The vehicle body shell encloses and forms a closed cavity.

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