CN113186999B - An underwater concrete floor leakage detection and repair device - Google Patents
An underwater concrete floor leakage detection and repair device Download PDFInfo
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- CN113186999B CN113186999B CN202110480039.8A CN202110480039A CN113186999B CN 113186999 B CN113186999 B CN 113186999B CN 202110480039 A CN202110480039 A CN 202110480039A CN 113186999 B CN113186999 B CN 113186999B
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D37/00—Repair of damaged foundations or foundation structures
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/02—Handling of bulk concrete specially for foundation or hydraulic engineering purposes
- E02D15/06—Placing concrete under water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/08—Investigating permeability, pore-volume, or surface area of porous materials
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Abstract
本发明提供了一种水下混凝土底板渗漏检测及修补设备，包括机身、行走单元、底盘集成、动力单元和多个可替换施工单元，行走单元设置在机身上；底盘集成包括机架、可伸缩单元和移动导向机构，可伸缩单元上设有第一摄像头，可伸缩单元安装在移动导向机构上；移动导向机构设置在机架内部顶端；机架内设有安装平台，安装平台上设有用于放置多个可替换施工单元的多个放置单元；动力单元与可伸缩单元传动连接；各可替换施工单元可选择地被连接于可伸缩单元，以与动力单元传动连接，使得动力单元可分别驱动可替换施工单元工作，完成水下混凝土底板渗漏检测及修补的作业过程。本发明旨在解决现有技术的不足。
The present invention provides an underwater concrete floor leakage detection and repair device, comprising a fuselage, a walking unit, a chassis integration, a power unit and a plurality of replaceable construction units, wherein the walking unit is arranged on the fuselage; the chassis integration comprises a frame, a retractable unit and a mobile guide mechanism, the retractable unit is provided with a first camera, and the retractable unit is installed on the mobile guide mechanism; the mobile guide mechanism is arranged at the top of the frame; a mounting platform is arranged in the frame, and a plurality of placement units for placing a plurality of replaceable construction units are arranged on the mounting platform; the power unit is transmission-connected with the retractable unit; each replaceable construction unit can be selectively connected to the retractable unit to be transmission-connected with the power unit, so that the power unit can drive the replaceable construction units to work respectively, and complete the operation process of underwater concrete floor leakage detection and repair. The present invention aims to solve the deficiencies of the prior art.
Description
Technical Field
The invention belongs to the technical field of constructional engineering, and particularly relates to leakage detection and repair equipment for an underwater concrete bottom plate.
Background
In order to prevent the concrete structure from being damaged by the change of the temperature stress, expansion joints are often arranged at intervals in the length direction of the concrete structure so as to release the temperature stress. The concrete hydraulic structure is arranged at the reinforced bars at the expansion joints, concrete pouring is discontinuous, the expansion joints are filled with fiber boards and potting adhesive is arranged on the surface layers, the embedded rubber water stop belts are arranged in the expansion joints to prevent leakage at the expansion joints, the water stop belts are embedded in the concrete at the two sides of the expansion joints, and the central round holes of the water stop belts can be well adapted to the relative pulling or extrusion of the concrete at the two sides of the expansion joints, as shown in fig. 5.
Because the expansion joint is a local weak position of the concrete structure, diseases such as slab staggering, twisting, uneven settlement, deep cracks and the like often occur in hydraulic buildings such as ship locks, concrete ditches, reservoirs and the like, the basic functions of water conservation, water storage and the like of the structure are affected, the foundation is hollowed out by seepage water, the slab is hollow, the stress imbalance of the structure is destroyed, and serious safety quality accidents are caused.
For the leakage problem of a structure, a small submarine is generally adopted for downward detection, but the small submarine has two obvious defects, namely, the small submarine cannot automatically remove surface aquatic organisms, greatly influences even cannot carry out underwater shooting, and is difficult to intuitively judge the dislocation condition or the approximate width of a surface crack; secondly, the self-stabilization capability is weak, and the device is only suitable for completely static areas and cannot be suitable for water areas with certain flow velocity. For the limited environment, a general method is to send divers to perform underwater exploring and cleaning firstly, then carry underwater camera equipment to shoot concrete defects, and match a certain sand bag counterweight to improve self-stabilization capability, but the underwater manual operation has a great potential safety hazard, and particularly cannot be performed on industrial factories where high-concentration sodium hypochlorite and other chemical agents are added.
Because of the difficulty of underwater operation of divers, the underwater repair efficiency is low, and the repair of the leakage position of a structure is generally carried out by adopting a dry construction method, namely, an upper and a lower overhaul gates are closed, the water body of a formed closed area is pumped down by a water pump, the repair workers adopt the conventional cutting and polishing of concrete, a new water stop belt and a fiber board are installed, and the expansion joint is repaired in a mode of formwork pouring; and repairing deep cracks of the bottom plate by adopting a drilling grouting mode. The method has several problems, firstly, the sealing effect of the overhaul gate is difficult to ensure, a certain leakage amount is still obtained after the overhaul gate is normally closed, the cutting machine and the electric drill are in live working, and great risks exist in the aspect of electricity safety; secondly, the damaged parts are often scattered, and a plurality of positions are not provided with a maintenance gate, so that a dry construction environment cannot be formed; thirdly, the starting and maintenance working conditions have great influence on production, the dry construction requires longer construction time, and the systems such as industrial water circulation, shipping and the like cannot maintain the operation of the lowest load, so that the whole operation body is usually in a paralysis state for a long time; fourth, various devices, such as cleaning devices, cutting machines, hydraulic drills, grouting devices, detection devices, etc., need to be carried, and all the devices occupy a certain storage space, so that the devices are inconvenient to use and store.
Disclosure of Invention
The invention aims to provide an underwater concrete bottom plate leakage detection and repair device, which aims to solve the defects in the prior art.
The invention is realized by the following technical scheme:
the equipment comprises a machine body, a walking unit, a chassis integration, a power unit and a plurality of replaceable construction units, wherein the walking unit is arranged on the machine body and used for driving the machine body to move in any direction in water;
the chassis integration comprises a frame, a telescopic unit and a movable guide mechanism, wherein the telescopic unit is provided with a first camera and is arranged on the movable guide mechanism;
the movable guide mechanism is arranged at the top end of the inside of the frame and is used for realizing the longitudinal and transverse displacement of the telescopic unit at the top end of the frame;
the frame is internally provided with an installation platform, and the installation platform is provided with a plurality of placement units for placing a plurality of replaceable construction units;
The power unit is in transmission connection with the telescopic unit;
each replaceable construction unit is selectively connected with the telescopic unit so as to be in transmission connection with the power unit, so that the power unit can respectively drive the replaceable construction units to work, and the working process of detecting and repairing the leakage of the underwater concrete bottom plate is completed.
Further, the placement unit comprises a placement hole formed in the mounting platform and a first docking mechanism arranged in the placement hole;
the telescopic unit comprises a telescopic support arm and a second docking mechanism, the top end of the telescopic support arm is arranged on the movable guide mechanism and is in transmission connection with the power unit, and the second docking mechanism is sleeved outside the bottom end of the telescopic support arm;
The replaceable construction unit comprises a matched butt joint mechanism and a construction mechanism, the matched butt joint mechanism is sleeved on the outer side of the construction mechanism, the matched butt joint mechanism is suitable for being in butt joint with the first butt joint mechanism so that the construction mechanism is placed in the placement hole, the matched butt joint mechanism is suitable for being in butt joint with the second butt joint mechanism so that the construction mechanism is in transmission connection with the telescopic support arm, and therefore the power unit can drive the construction mechanism.
Further, the placement holes comprise first placement holes and second placement holes which are positioned below the first placement holes and communicated with the first placement holes, the diameter of each first placement hole is larger than that of each second placement hole, a plurality of first sliding grooves are uniformly formed in the inner wall of each first placement hole along the circumferential direction of each first sliding groove, the groove length direction of each first sliding groove is consistent with the radial direction of each first placement hole, the first butting mechanism comprises a first driving mechanism and a plurality of first sleeve rods, the plurality of first sleeve rods are in one-to-one correspondence with the plurality of first sliding grooves, and each first sleeve rod is slidably arranged in the corresponding first sliding groove;
The second butt joint mechanism comprises a sleeve, a second driving mechanism and a plurality of second sleeve rods, the sleeve is sleeved on the outer side of the bottom end of the telescopic support arm, a plurality of second sliding grooves are uniformly formed in the outer wall of the sleeve along the circumferential direction of the sleeve, the groove length direction of each second sliding groove is consistent with the radial direction of the sleeve, the plurality of second sleeve rods are in one-to-one correspondence with the plurality of second sliding grooves, and each second sleeve rod is slidably arranged in the corresponding second sliding groove;
the matching butt joint mechanism comprises a ring beam and a plurality of connecting rods, the ring beam is sleeved on the outer side of the construction mechanism, the diameter of the ring beam is smaller than that of the first placing hole and larger than that of the second placing hole and the sleeve, and the connecting rods penetrate through the side wall of the ring beam and are uniformly arranged along the circumferential direction of the ring beam;
The connecting rods are in one-to-one correspondence with the first sleeve rods, and the first driving mechanism is used for driving each first sleeve rod to slide along the corresponding first sliding groove, so that each first sleeve rod is in butt joint or separation with the ring beam, and one end of each connecting rod is inserted into or separated from the corresponding first sleeve rod;
The connecting rods and the second sleeve rods are in one-to-one correspondence, and the second driving mechanism is used for driving each second sleeve rod to slide along the corresponding second sliding groove, so that each second sleeve rod is in butt joint or separation with the ring beam, and one end of each connecting rod is inserted into or separated from the corresponding second sleeve rod.
Further, the second docking mechanism is rotatably arranged outside the bottom end of the telescopic support arm, and the first camera is provided with first lighting equipment.
Further, the construction mechanism is any one of a cleaning end, a hydraulic cutting machine, a hydraulic drill, a grouting pipe, a pouring sealant gun head, an acoustic wave detector, a laser range finder and a clamping manipulator.
Further, the front end and the rear end of the machine body are respectively provided with a second camera and second lighting equipment which can rotate by 360 degrees.
Further, the system also comprises a control integrated system, wherein the control integrated system is in communication connection with the telescopic unit, and the telescopic unit is in communication connection with a replaceable construction unit connected with the telescopic unit.
Further, the moving guide mechanism comprises two longitudinal steel rails respectively arranged on two opposite sides of the frame, transverse steel rails with two ends respectively arranged on the two longitudinal steel rails in a sliding manner, a support arm chassis arranged on the transverse steel rails in a sliding manner, and a driving mechanism for driving the transverse steel rails and the support arm chassis to move.
Further, the walking unit comprises a plurality of pairs of crawler wheels symmetrically arranged at the bottom of the frame and a plurality of propellers arranged on the frame, and the propellers can realize the advancing, retreating, turning, floating and submerging of the frame.
Further, the crawler wheel is provided with a telescopic joint, the top end of the telescopic joint is connected with the frame, the crawler wheel can rotate around the shaft automatically, and the machine body is provided with a plurality of gyroscopes.
Compared with the prior art, the invention has the beneficial effects that: the underwater leakage detection device has a plurality of replaceable construction units, meets the requirements of different types of underwater construction, and can realize the functions of underwater leakage detection, underwater leakage repair, inspection and acceptance after repair and the like; the power unit and the plurality of replaceable construction units are mutually and detachably configured so as to be respectively and independently stored and used, and the replaceable construction units form power transmission with the power unit when being in butt joint configuration with the telescopic units, so that the power unit provides construction driving force for the replaceable construction units, and the replaceable construction units are stably matched with each other for construction, so that in the process of detecting and repairing leakage of the underwater concrete bottom plate, the replaceable construction units are matched with each other to complete the continuous leakage detection and repair construction process of the underwater concrete bottom plate, the construction efficiency is improved, and the underwater construction of divers is not needed; the replaceable construction units are arranged on the installation platform, and the telescopic units can longitudinally and transversely displace on the frame under the drive of the movable guide mechanism, so that the telescopic units can move to the corresponding replaceable construction units, and different replaceable construction units can be conveniently connected; meanwhile, the walking unit is arranged on the machine body, so that the machine body can move in any direction under water.
Drawings
FIG. 1 is a schematic diagram of the construction of the underwater concrete floor leak detection and repair apparatus of the present invention;
FIG. 2 is a side view of the underwater concrete floor leak detection and repair apparatus of the present invention;
FIG. 3 is a schematic illustration of a first docking mechanism connected to a mating docking mechanism in an underwater concrete floor leak detection and repair apparatus of the present invention;
FIG. 4 is a schematic illustration of the connection of a second docking mechanism to a mating docking mechanism in the underwater concrete floor leak detection and repair apparatus of the present invention;
fig. 5 is a schematic structural view of a conventional expansion joint.
In the figure, 1-fuselage, 11-second camera, 2-walking unit, 21-track wheel, 22-propeller, 23-telescopic joint, 3-chassis integration, 31-frame, 32-telescopic support arm, 33-second docking mechanism, 331-sleeve, 332-second sleeve rod, 34-movable guiding mechanism, 341-longitudinal rail, 342-transverse rail, 343-support arm chassis, 35-mounting platform, 351-first placement hole, 352-second placement hole, 36-first camera, 37-first docking mechanism, 371-first sleeve rod, 4-replaceable construction unit, 41-mating docking mechanism, 411-circle beam, 412-connecting rod, 42-construction mechanism, 5-water stop, 6-pouring sealant and 7-fiber board.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.
Referring to fig. 1 and 2, fig. 1 is a schematic structural view of the apparatus for detecting and repairing a leakage of an underwater concrete floor according to the present invention, and fig. 2 is a side view of the apparatus for detecting and repairing a leakage of an underwater concrete floor according to the present invention. The underwater concrete bottom plate leakage detection and repair device comprises a machine body 1, a walking unit 2, a chassis integration 3, a power unit and a plurality of replaceable construction units 4, wherein the walking unit 2 is arranged on the machine body 1 and is used for driving the machine body 1 to move in any direction in water; the chassis integration 3 is arranged at the bottom of the machine body 1, and the power unit can be in transmission connection with each replaceable construction unit 4 to respectively drive each replaceable construction unit 4 to work so as to finish the operation process of leakage detection and repair of the underwater concrete bottom plate.
Specifically, the chassis assembly 3 includes a frame 31, a telescopic unit, and a movement guiding mechanism 34, the telescopic unit is provided with a first camera 36, and the telescopic unit is mounted on the movement guiding mechanism 34; the movable guide mechanism 34 is arranged at the top end inside the frame 31 and is used for realizing the longitudinal and transverse displacement of the telescopic unit at the top end of the frame 31; a mounting platform 35 is arranged in the frame 31, and a plurality of placing units for placing a plurality of replaceable construction units 4 are arranged on the mounting platform 35; the power unit is in transmission connection with the telescopic unit; each replaceable construction unit 4 is selectively connected to the telescopic unit so as to be in transmission connection with the power unit, so that the power unit can respectively drive the replaceable construction units 4 to work, and the working process of detecting and repairing the leakage of the underwater concrete bottom plate is completed. The frame 31 is a frame structure, a layer of mounting platform 35 is arranged in the frame 31 and can be used for detachably placing a plurality of replaceable construction units 4 on the mounting platform 35, so that the replaceable construction units are fixedly hung in the frame 31, a material frame is arranged on the mounting platform 35, a plurality of grids are arranged on the material frame and can be used for storing construction materials such as water stops, fiber plates and grouting pipes, and the doors of the grids are arranged on the grids through cabinet door rebound devices. The power unit can drive the telescopic unit to extend or retract, and the telescopic unit can stop above the mounting platform 35, namely above the replaceable construction unit 4 when retracted, and the telescopic unit is driven to move through the moving guide mechanism 34, so that the telescopic unit can move above any one of the replaceable construction units 4, and can be connected with any one of the replaceable construction units 4 according to construction needs. In one embodiment, the movement guide mechanism 34 includes two longitudinal rails 341 respectively provided on opposite sides of the frame 31, a transverse rail 342 respectively provided at both ends thereof slidably on the two longitudinal rails 341, an arm chassis 343 slidably provided on the transverse rail 342, and a driving mechanism for driving the transverse rail 342 and the arm chassis 343 to move. The longitudinal movement of the telescopic unit is achieved by the movement of the transverse rail 342 on the two longitudinal rails 341 and the transverse movement of the telescopic unit is achieved by the movement of the arm chassis 343 on the transverse rail 342. The first camera 36 can capture the underwater environment where the replaceable construction unit 4 is located, monitor the replacement process and the underwater construction process of the replaceable construction unit 4, ensure that the underwater construction is successfully completed, and replace and place each replaceable construction unit 4 on the mounting platform 35.
Referring to fig. 3 and 4 in combination, fig. 3 is a schematic diagram of connection between a first docking mechanism and a mating docking mechanism in the apparatus for detecting and repairing leakage of an underwater concrete floor according to the present invention, and fig. 4 is a schematic diagram of connection between a second docking mechanism and a mating docking mechanism in the apparatus for detecting and repairing leakage of an underwater concrete floor according to the present invention. After the telescopic unit is connected with the replaceable construction unit 4, the telescopic unit can extend the replaceable construction unit 4 to the outer side of the frame 31, and when the replaceable construction unit 4 is connected with the telescopic unit, the power unit and the replaceable construction unit 4 are driven in a conducting manner through the telescopic unit, so that the power unit can drive the replaceable construction unit 4 to operate. with the promotion of different construction stages, the different replaceable construction units 4 are continuously replaced, and the replaceable construction units 4 are stably matched with each other for construction, so that in the process of detecting and repairing the leakage of the underwater concrete bottom plate, the replaceable construction units 4 are matched with each other, the continuous leakage detection and repairing construction process of the underwater concrete bottom plate is completed, the construction efficiency is improved, and the underwater construction of a diver is not needed. Meanwhile, the movable guide mechanism 34 can drive the telescopic unit to move transversely and longitudinally in the range of the machine body 1, so that the replaceable construction unit 4 is driven to move transversely and longitudinally in the range of the machine body 1, the precise positioning of a construction operation point is realized, and the walking unit 2 does not need to be frequently driven to adjust the position of the invention. In one embodiment, the placement unit includes a placement hole formed in the mounting platform 35 and a first docking mechanism 37 disposed within the placement hole; the telescopic unit comprises a telescopic support arm 32 and a second docking mechanism 33, the top end of the telescopic support arm 32 is arranged on the moving guide mechanism 34 and is in transmission connection with the power unit, and the second docking mechanism 33 is sleeved outside the bottom end of the telescopic support arm 32; the replaceable construction unit 4 comprises a mating docking mechanism 41 and a construction mechanism 42, the mating docking mechanism 41 is sleeved outside the construction mechanism 42, the mating docking mechanism 41 is adapted to dock with the first docking mechanism 37 so that the construction mechanism 42 is placed in the placement hole, the mating docking mechanism 41 is adapted to dock with the second docking mechanism 33 so that the construction mechanism 42 is in driving connection with the telescopic support arm 32, and the power unit can drive the construction mechanism 42. That is, the mating docking mechanism 41 may be mated with the first docking mechanism 37 and the second docking mechanism 33, and when the mating docking mechanism 41 is mated with the first docking mechanism 37, the construction mechanism 42 is fixed in the placement hole such that the construction mechanism 42 is stored on the mounting platform 35; when mating docking mechanism 41 is mated with second docking mechanism 33, construction mechanism 42 is coupled with retractable arm 32 such that construction mechanism 42 is drivingly coupled with the power unit to provide operating power for construction mechanism 42. That is to say, the driving circuit is arranged in the telescopic support arm 32, the power unit is connected with the driving circuit in the telescopic support arm 32, and when the construction mechanism 42 is connected with the telescopic support arm 32, the power unit is in transmission connection with the construction mechanism 42 through the driving circuit, so that the power unit can drive the construction mechanism 42, the connection mode of the construction mechanism 42 and the telescopic support arm 32 can adopt the existing connection mode, only the connection tightness of the construction mechanism 42 and the telescopic support arm 32 is ensured, and water penetration is avoided. in one embodiment, the bottom end of the telescopic boom 32 is provided with a rotation mechanism that rotates the work mechanism 42 in any direction.
Further, in an embodiment, the placement hole includes a first placement hole 351 and a second placement hole 352 located below the first placement hole 351 and communicated with the first placement hole 351, the diameter of the first placement hole 351 is larger than that of the second placement hole 352, a plurality of first sliding grooves are uniformly formed on the inner wall of the first placement hole 351 along the circumferential direction of the first placement hole, the groove length direction of each first sliding groove is consistent with the radial direction of the first placement hole 351, the first docking mechanism 37 includes a first driving mechanism and a plurality of first sleeve rods 371, the plurality of first sleeve rods 371 are in one-to-one correspondence with the plurality of first sliding grooves, and each first sleeve rod 371 is slidably arranged in the corresponding first sliding groove; The second docking mechanism 33 comprises a sleeve 331, a second driving mechanism and a plurality of second sleeve rods 332, the sleeve 331 is sleeved on the outer side of the bottom end of the telescopic support arm 32, a plurality of second sliding grooves are uniformly formed in the outer wall of the sleeve 331 along the circumferential direction of the sleeve, the groove length direction of each second sliding groove is consistent with the radial direction of the sleeve 331, the plurality of second sleeve rods 332 are in one-to-one correspondence with the plurality of second sliding grooves, and each second sleeve rod 332 is slidably arranged in the corresponding second sliding groove; the matching and butt joint mechanism 41 comprises a ring beam 411 and a plurality of connecting rods 412, the ring beam 411 is sleeved outside the construction mechanism 42, the diameter of the ring beam 411 is smaller than that of the first placing hole 351 and larger than that of the second placing hole 352 and the sleeve 331, and the plurality of connecting rods 412 penetrate through the side wall of the ring beam 411 and are uniformly arranged along the circumferential direction of the ring beam 411; The plurality of connecting rods 412 and the plurality of first sleeve rods 371 are in one-to-one correspondence, and the first driving mechanism is used for driving each first sleeve rod 371 to slide along the corresponding first sliding groove, so that each first sleeve rod 371 is in contact with or separated from the ring beam 411, and one end of each connecting rod 412 is inserted into or separated from the corresponding first sleeve rod 371; the plurality of connecting rods 412 and the plurality of second sleeve rods 332 are in one-to-one correspondence, and the second driving mechanism is used for driving each second sleeve rod 332 to slide along the corresponding second sliding groove, so that each second sleeve rod 332 is abutted to or separated from the ring beam 411, and one end of each connecting rod 412 is inserted into or separated from the corresponding second sleeve rod 332. When the replaceable construction is stored in the placement unit, the ring beam 411 is placed in the first placement hole 351, since the diameter of the ring beam 411 is larger than that of the second placement hole 352, the ring beam 411 is positioned above the second placement hole 352 at this time, the construction mechanism 42 is suspended in the second placement hole 352, the plurality of connecting rods 412 on the ring beam 411 are respectively corresponding to the positions of the plurality of first sleeve rods 371, both ends of the connecting rods 412 are respectively protruded out of the ring beam 411, then the first sleeve rods 371 are driven to slide in the direction of the ring beam 411, so that the first sleeve rods 371 are abutted with the ring beam 411, and so that the connecting rods 412 are inserted into the corresponding first sleeve rods 371, the collar beam 411 is fixed in the first placing hole 351 by the engagement of the connecting rod 412 with the first socket rod 371, thereby fixedly placing the replaceable construction unit 4 in the placing unit. When the telescopic unit needs to be connected with the replaceable construction unit 4, the telescopic support arm 32 is contracted, the bottom end of the telescopic support arm 32 is positioned above the mounting platform 35, the telescopic support arm 32 is moved to the corresponding replaceable construction unit 4 through the moving guide mechanism 34, the telescopic support arm 32 is stretched, the sleeve 331 is stretched into the ring beam 411, the plurality of second sleeve rods 332 respectively correspond to the positions of the plurality of connecting rods 412, then the second sleeve rods 332 are driven to slide towards the ring beam 411, the second sleeve rods 332 are abutted with the ring beam 411, the connecting rods 412 are inserted into the corresponding second sleeve rods 332, The collar beam 411 is fixed to the sleeve by the cooperation of the connecting rod 412 and the second sleeve rod 332, so that the replaceable construction unit 4 is fixed to the telescopic unit, and then the first sleeve rod 371 is driven to slide in a direction away from the collar beam 411, so that the first sleeve rod 371 is separated from the collar beam 411, and the first sleeve rod 371 is separated from the corresponding connecting rod 412, at which time the telescopic unit can drive the replaceable construction unit 4 to be separated from the placement unit.
In one embodiment, the second docking mechanism 33 is rotatably disposed outside the bottom end of the telescopic arm 32, and the second docking mechanism 33 is provided with a first camera 36 and a first lighting device. The device is convenient for adjusting the position of the second docking mechanism 33 and illuminating the shooting range of the first camera 36 through the first illumination device, so that the replacement process of the replaceable construction unit 4 and the underwater construction process can be monitored more clearly.
Further, the construction mechanism 42 is any one of a cleaning end, a hydraulic cutting machine, a hydraulic drill, a grouting pipe, a pouring sealant gun head, an acoustic wave detector, a laser range finder and a clamping manipulator, and the cleaning end comprises a cleaning brush and spray heads arranged on two sides of the cleaning brush. Sensors for collecting working data of the construction mechanisms 42 are integrated on the construction mechanisms, such as a cleaning end, a grouting pipe and a pouring sealant gun head are provided with pressure sensors, and a hydraulic cutting machine, a hydraulic drill and the like are provided with deflection sensors. The power unit provides working power for the construction mechanism 42, and comprises an oil cylinder, a pressure pump, a power supply device, a grouting material storage tank, a pouring sealant storage tank and a flushing water storage tank according to the type of the construction mechanism 42. The telescopic support arm 32 is internally provided with a hydraulic oil pipe, a flushing water pipe, a first conveying pipe, a second conveying pipe and an electric wire, the oil cylinder is connected with the hydraulic oil pipe, the power supply device is connected with the electric wire, the number of the pressure pumps is three, namely a first pressure pump, a second pressure pump and a third pressure pump, the first pressure pump is respectively connected with the flushing water storage tank and the flushing water pipe, the second pressure pump is respectively connected with the grouting material storage tank and the first conveying pipe, and the third pressure pump is respectively connected with the pouring sealant storage tank and the second conveying pipe. When the cleaning end is connected to the telescopic support arm 32, the spray head is connected with the flushing water pipe, the first pressure pump has two modes of forward rotation and reverse rotation, and the first pressure pump can be rotated forward to spray the water in the flushing water storage tank to the concrete dirt position through the spray head; The first pressure pump is reversed, so that external muddy water can be sucked into the flushing water storage tank, and impurities such as aquatic organisms, sludge and the like on the surface layer of the structure can be removed through the cleaning end head before visual observation; when the hydraulic cutting machine is connected to the telescopic support arm 32, the hydraulic cutting machine is connected with a hydraulic oil pipe, the hydraulic oil pipe is used for providing power for the hydraulic cutting machine by the oil cylinder, and loose concrete defect parts can be efficiently cut under water by the hydraulic cutting machine; when the hydraulic drill is connected to the telescopic support arm 32, the hydraulic drill is connected with a hydraulic oil pipe, the oil cylinder supplies power to the hydraulic drill through the hydraulic oil pipe, and the hydraulic drill can be used for efficiently drilling a concrete bottom plate under water, and performing construction operations such as surface roughening and the like; When the grouting pipe is connected to the telescopic support arm 32, the grouting pipe is connected with the first conveying pipe, the second pressure pump is started, and the grouting material in the grouting material storage tank is injected into the expansion joint through the grouting pipe; when the pouring sealant gun head is connected to the telescopic support arm 32, the pouring sealant gun head is connected with the second conveying pipe, the third pressure pump is started, and pouring sealant in the pouring sealant storage tank is injected into the surface of the expansion joint through the pouring sealant gun head; when the acoustic wave detector is connected with the telescopic support arm 32, the acoustic wave detector is connected with the electric wire, and the acoustic wave detector can carry out omnibearing scanning on concrete in a certain area; when the laser range finder is connected with the telescopic support arm 32, the laser range finder is connected with the electric wire, and can measure the staggered height difference of the concrete bottom plate and the relative distance between the part to be repaired and other structures; When the clamping manipulator is connected to the telescopic support arm 32, the clamping manipulator is connected with a hydraulic oil pipe, the oil cylinder provides power for the clamping manipulator through the hydraulic oil pipe, and accessories such as a fiberboard, a water stop needle head, a grouting pipe, an expansion bolt, a nut and the like can be clamped by the clamping manipulator, and the accessories can be plugged into, hit or screwed into a part to be assembled.
In order to obtain images of the surrounding environment in the underwater swimming and walking process. In one embodiment, the front end and the rear end of the body 1 are provided with a second camera 11 and a second lighting device which can rotate 360 degrees.
In one embodiment, the invention further comprises a control integration system for controlling the operation of the invention, such as the control integration system being communicatively coupled to the telescoping unit and the replaceable construction unit 4 to which the telescoping unit is coupled. The operation of the replaceable construction unit 4 is controlled by the control integrated system. The control integrated system controls the power transmission between the power unit and the replaceable construction unit 4 to control the replaceable construction unit 4 to be started or shut down. The control integrated system provides a precise visual construction operation window and can comprise a controller, a control panel and a display screen, wherein the control panel is provided with an operation handle and a plurality of instruction buttons, the display screen is used for displaying pictures monitored by the first underwater camera and the second underwater camera in real time and displaying data of the gyroscope.
The traveling unit 2 is used for driving the body 1 to move in any direction in water. In one embodiment, the walking unit 2 includes a plurality of pairs of crawler wheels 21 symmetrically arranged at the bottom of the frame 31 and a plurality of propellers 22 arranged on the machine body 1, and the propellers 22 can realize the forward movement, backward movement, turning, floating up and submerging of the machine body 1. The crawler wheels 21 are used for walking on a concrete bottom plate, the plurality of propellers 22 are arranged in pairs, the two propellers 22 in each pair are respectively arranged on two sides of the machine body 1, the directions of the propellers 22 are divided into two types, one type is a horizontal direction, the other type is a vertical direction, and the motions of advancing, retreating, turning, floating, diving and the like of the machine body 1 are realized by controlling the power of the different propellers 22, so that the machine body 1 moves in any direction in water. In one embodiment, the track wheel 21 is provided with a telescopic joint 23, the top end of the telescopic joint 23 is connected with the frame 31, the track wheel 21 can rotate around a shaft, and the machine body 1 is provided with a plurality of gyroscopes. Because the concrete bottom plates at the two sides of the expansion joint are possibly staggered, the track wheel 21 is provided with the telescopic joint 23, and the length of the telescopic joint 23 is adjusted according to the staggered condition of the concrete bottom plates at the two sides of the expansion joint, so that the track wheel can stably walk along staggered expansion joints with different elevations. The machine body 1 is provided with a plurality of gyroscopes, so that the underwater stability of the equipment can be monitored, and when the detected data deviation of each gyroscope exceeds a certain value, the telescopic joint 23 is correspondingly adjusted, so that the invention is always in a balanced and stable state in the construction process.
The working process of the invention is as follows:
(1) Visual observation
In the early stage of leakage, the invention is put into water to visually observe a heavy-point observation part, if the observation part is blocked by surface aquatic organisms, silt and the like, a cleaning end head can be connected to a telescopic support arm 32, and the surface aquatic organisms and the silt are cleaned by a spray head and a cleaning brush, so that a clean and observable basal plane is realized. And then the laser range finders are connected to the telescopic support arms 32, and the length and width of the crack at the expansion joint are obtained by directly measuring the dislocation and distortion conditions of the bottom plate at the expansion joint through the laser range finders.
(2) Nondestructive testing
For the region needing deep crack nondestructive testing, the acoustic wave detector is connected to the telescopic support arm 32, the acoustic wave detector is started to conduct cross section two-dimensional scanning on the concrete of the region according to a certain sampling interval, and after collecting two-dimensional data of each cross section, the two-dimensional data of each cross section are synthesized into a three-dimensional image of the region, so that the condition of the internal defect of the concrete can be intuitively known. In the scanning process, the coordinate information of each signal is synchronously recorded, so that the position of the concrete defect can be conveniently and rapidly found in the subsequent leakage repair process.
(3) Expansion joint leakage repair
Leakage at the expansion joint is mainly caused by the fact that concrete bottom plates at two sides of the expansion joint are staggered and pulled away, so that a buried water stop belt is torn, or the water stop belt per se is distorted, buried and deviated in the concrete construction pouring process, the water stop belt in the expansion joint cannot exert an anti-seepage function, and underwater leakage repairing work mainly comprises the following steps: chiseling defective concrete, installing a new water stop, installing a fiber board in an expansion joint, injecting pouring sealant on the surface of the expansion joint, supporting a mold underwater, grouting underwater or pouring fine stone concrete to fill the staggered platform.
Through connect hydraulic cutting machine on scalable support arm 32, chisel out and cut the peripheral concrete of expansion joint through hydraulic cutting machine, scalable support arm 32 connects the end that cleans afterwards, cleans the base surface through cleaning the end, then scalable support arm 32 connects the clamp and gets the manipulator, picks up the waterstop of depositing on frame 31 platform through clamping the manipulator to install and fix to the installation position of planning, and accomplish the installation of fiberboard in the expansion joint through clamping the manipulator. After the land crane lifts the template to the position to be repaired in water, the expansion bolts are driven into the concrete below the bolt rod holes of the template by the clamping manipulator, and nuts are screwed to fix the template. The grouting pipe is replaced on the telescopic support arm 32, grouting or fine stone concrete pouring can be carried out in the template through the grouting pipe, after the condition of removing the template is achieved, a clamping manipulator is replaced on the telescopic support arm 32, a nut is removed, then a hydraulic cutting machine is replaced on the telescopic support arm 32, the protruding portion of a screw rod is cut through the hydraulic cutting machine, and a land crane lifts the underwater template. The telescopic support arm 32 is replaced by a pouring sealant gun head, pouring sealant is injected into the surface layer of the expansion joint through the pouring sealant gun head, and the repair work of the underwater expansion joint is completed.
(4) Bottom plate crack repair
When the concrete bottom plate is in the phenomena of void, distortion, and the like, or the concrete defect exists due to poor construction quality control, the concrete is further aggravated and developed after being loaded, and a large number of serious cracks can be caused on the bottom plate. The crack repairing method is to drill holes on two sides of the crack, penetrate the crack from the outer side to the inner side of the crack in the direction, insert a grouting nozzle slightly smaller than the hole diameter, and perform pressure grouting on the crack. The crack can be subjected to nondestructive testing through the acoustic wave detector, and a repairer can determine key parameters such as drilling position, size, hole depth, drilling angle and the like according to the serious condition of the crack. And in the nondestructive testing process, the coordinate information of the crack is recorded, and the position of the crack to be repaired can be quickly found out according to the coordinate information recorded before and the underwater camera. Then connect hydraulic drill on scalable support arm 32, through hydraulic pressure drilling line drilling under water, then put into slip casting pipe on scalable support arm 32, automatic driving into the grout mouth and injection thick liquid, parameter information such as slip casting time, pressure and crack go up thick liquid and spill out the condition etc. and all can show on land operation screen, be convenient for can better slip casting control. After the slurry is solidified, an acoustic wave detector is replaced on the telescopic support arm 32, nondestructive detection can be carried out on the original defect position again through the acoustic wave detector, the repairing effect of the concrete defect is obtained, and the acceptance work of repairing the underwater concrete crack is completed.
Compared with the prior art, the invention has the beneficial effects that: the underwater construction device has a plurality of replaceable construction units 4, meets the requirements of different types of underwater construction, and can realize the functions of underwater leakage detection, underwater leakage repair, inspection and acceptance after repair and the like; the power unit and the plurality of replaceable construction units 4 are mutually and detachably configured so as to be respectively and independently stored and used, and the replaceable construction units 4 form power transmission with the power unit when being in butt joint configuration with the telescopic units, so that the power unit provides construction driving force for the replaceable construction units 4, and the replaceable construction units 4 are stably mutually matched for construction, so that in the process of detecting and repairing the leakage of the underwater concrete bottom plate, the replaceable construction units 4 are mutually matched to finish the continuous leakage detection and repair construction process of the underwater concrete bottom plate, the construction efficiency is improved, and the underwater construction of divers is not needed; the replaceable construction units 4 are arranged on the installation platform 35, and the telescopic units can longitudinally and transversely displace on the frame 31 under the drive of the moving guide mechanism 34, so that the telescopic units can move to the corresponding replaceable construction units 4, and different replaceable construction units 4 can be conveniently connected; meanwhile, the walking unit 2 is arranged on the machine body 1, so that the machine body 1 can move in any direction under water.
The present invention is not limited to the preferred embodiments, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present invention will still fall within the scope of the technical solution of the present invention.
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| CN115387343B (en) * | 2022-09-07 | 2024-03-29 | 中化学生态水利建设有限公司 | Underwater concrete crack repairing device and construction method |
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| JP6455918B2 (en) * | 2014-10-07 | 2019-01-23 | 株式会社Ｉｈｉインフラ建設 | Work apparatus and work method in narrow section |
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| CN110195475A (en) * | 2019-06-15 | 2019-09-03 | 中国化学工程第十一建设有限公司 | A kind of concrete structure large pool contracting seam Antiseep method |
| CN110593598A (en) * | 2019-09-06 | 2019-12-20 | 东莞市凯勒帝数控科技有限公司 | An automatic detection and repair device for wall cracks |
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