The invention discloses a high-precision
robot for treating tunnel
water leakage, and belongs to the technical field of tunnel
maintenance engineering machinery. The
robot comprises a track moving vehicle, an active anti-tipping mechanism, a six-degree-of-freedom mechanical arm, a drilling device, a grouting
system, a quick mounting structure and a visual scanning
system. The track moving trolley moves on the tunnel track to achieve moving positioning. The active anti-
rollover mechanism is used for upwards jacking a tunnel segment through an adjustable supporting leg driven by a worm gear and a worm so as to provide anti-
rollover stable support; the visual scanning
system performs global scanning and modeling through a first visual scanning unit, and performs accurate positioning of a working point by using a second
visual positioning unit; the six-degree-of-freedom mechanical arm can quickly change and
mount a drilling device or a grouting head through a quick mounting structure, and precise drilling and quantitative grouting operation are sequentially executed; full-automatic, high-precision, continuous and efficient operation of tunnel leakage
water treatment is achieved, and the defects of manual treatment and existing equipment in the aspects of stability, precision and efficiency are effectively overcome.