CN-117738132-B - Underwater concrete repairing device, underwater robot and use method thereof

Abstract

The invention discloses an underwater concrete repairing device, an underwater robot and a using method thereof, wherein the underwater concrete repairing device comprises a material storage conveying mechanism, an output mechanism and at least one material storage stirring mechanism, wherein the material storage conveying mechanism and the output mechanism are both connected with the material storage stirring mechanism, one of the material storage conveying mechanism and the material storage stirring mechanism is provided with a curing agent, the other material storage conveying mechanism is provided with a base material, the material storage conveying mechanism can convey the materials in the material storage conveying mechanism into the material storage stirring mechanism and is mixed with the materials in the material storage stirring mechanism to form repairing materials, the material storage stirring mechanism can stir the repairing materials, and the output mechanism can output the stirred repairing materials from the material storage stirring mechanism. The method can prevent the repair material from solidifying before outputting, so that the repair material has enough time to be poured, the repair quality is improved, and the problem that the equipment cannot be used continuously due to the fact that the repair material is solidified in advance is avoided.

Inventors

• ZHU QUANPING
• ZHAO JIA
• WANG HONGFEI
• ZHAO ZHE
• ZHAO CHUNLU
• LI RENXIONG
• LIANG QIANG
• ZHU SISI
• HU YILI
• SHEN KE
• ZHANG DINGHUA
• LI XIUBO
• WAN GANG
• TU SHAOPING
• LI XINYU
• MEI XUEDONG
• SONG JUNHUI
• TANG JUAN

Assignees

• 中国长江电力股份有限公司
• 上海中车艾森迪海洋装备有限公司

Dates

Publication Date

20260512

Application Date

20220914

Claims (8)

1. 1. The underwater concrete repairing device is characterized by comprising a material storage conveying mechanism (1), an output mechanism (3) and at least one material storage stirring mechanism (2), wherein the material storage conveying mechanism (1) and the output mechanism (3) are connected with the material storage stirring mechanism (2), one of the material storage conveying mechanism (1) and the material storage stirring mechanism (2) is provided with a curing agent, the other material is provided with a base material, the material storage conveying mechanism (1) can convey the materials in the material storage conveying mechanism to the interior of the material storage stirring mechanism (2) and is mixed with the materials in the material storage stirring mechanism (2) to form repairing materials, the material storage stirring mechanism (2) can stir the repairing materials, and the output mechanism (3) can output the stirred repairing materials from the material storage stirring mechanism (2); The material storage stirring mechanism (2) comprises a second material storage container (21) and a stirrer (22), the stirrer (22) is arranged in the second material storage container (21), a feed inlet and a discharge outlet are formed in the second material storage container (21), materials in the material storage conveying mechanism (1) enter the second material storage container (21) from the feed inlet, and repair materials in the second material storage container (21) enter the output mechanism (3) from the discharge outlet; The material storage stirring mechanism (2) further comprises a water through valve (24), and the water through valve (24) is arranged on the second storage container (21).
2. 2. The underwater concrete repair device as claimed in claim 1, characterized in that the material storage and conveying mechanism (1) comprises a conveying assembly (11) and a storage assembly (12), the conveying assembly (11) comprises a hydraulic cylinder (111) and a connecting piece (112), the storage assembly (12) comprises a first material storage container (121), a push rod (122) and a piston (123), one end of the push rod (122) is connected with the piston (123), the piston (123) is slidably arranged in the first material storage container (121), the outer wall of a cylinder barrel of the hydraulic cylinder (111) is connected with the outer wall of the first material storage container (121), and the push rod (122) is arranged in parallel with the hydraulic rod and is connected with the connecting piece (112).
3. 3. An underwater concrete repair device as claimed in claim 1, characterized in that the inner wall of the second storage container (21) and the surface of the mixer (22) are provided with a polytetrafluoroethylene coating.
4. 4. An underwater robot, characterized by comprising the underwater concrete repairing device according to any one of claims 1-3, wherein the material storage stirring mechanisms (2) are multiple, a first pipeline (41) is arranged between the material storage stirring mechanisms (2) and the material storage conveying mechanism (1), a first valve (51) is arranged on the first pipeline (41), a second pipeline (42) is arranged between the material storage stirring mechanisms (2) and the output mechanism (3), and a second valve (52) is arranged on the second pipeline (42).
5. 5. The underwater robot as claimed in claim 4, further comprising a cleaning mechanism (6), wherein a third pipeline (43) is arranged between the cleaning mechanism (6) and the output mechanism (3), a third valve (53) is arranged on the third pipeline (43), and a cleaning agent is stored in the cleaning mechanism (6) and can clean the interior of the output mechanism (3).
6. 6. The underwater robot as claimed in claim 5, further comprising a fourth pipeline (44) and a fifth pipeline (45), wherein the fourth pipeline (44) is a bypass pipeline connected with the output mechanism (3) in parallel, a fourth valve (54) is arranged on the fourth pipeline (44), the fifth pipeline (45) is connected with the outlet end of the output mechanism (3), a fifth valve (55) is arranged on the fifth pipeline (45), and the third valve (53) and the fifth valve (55) are respectively arranged at the upstream and downstream of the fourth pipeline (44).
7. 7. A method of using the underwater robot of claim 4 comprising the steps of: s1, opening a first valve (51) at one end of a material storage stirring mechanism (2), closing a second valve (52) at the other end of the material storage stirring mechanism, and conveying part of materials in the material storage conveying mechanism (1) into the material storage stirring mechanism (2); S2, closing the first valve (51) to enable the material storage stirring mechanism (2) to sufficiently stir the repairing material; S3, opening the second valve (52) to enable the stirred repair material to be output through the output mechanism (3); S4, repeating the steps S1 to S3 until the repair operation is finished.
8. 8. The use method of the underwater robot as claimed in claim 7, wherein the materials in the material storage and conveying mechanism (1) are curing agents, and the materials in the material storage and stirring mechanism (2) are base materials.

Description

Underwater concrete repairing device, underwater robot and use method thereof Technical Field The invention relates to the technical field of hydraulic engineering, in particular to an underwater concrete repairing device, an underwater robot and a using method thereof. Background In the repairing process of hydraulic structures such as dams, the repairing material is required to repair pits and cracks. The repairing material comprises a curing agent and a base material, and the curing agent and the base material can be cured in a certain time after being mixed in proportion. Although the curing time of the repair material can be adjusted by changing the amount of the curing agent, the range of adjustment of the curing time is limited in consideration of the repair quality of the defect and the subsequent work. In addition, before the repair material is poured, a plurality of working procedures such as chiseling, cleaning and the like are needed, the operation time is unpredictable and is far longer than the curing time of the repair material, so that strict requirements are put forward on the output time of the repair material, if the repair material cannot be timely output from the container, the repair material is cured in the container, the equipment cannot be used continuously, and the quality of repair operation cannot be guaranteed. Disclosure of Invention A first object of the present invention is to provide an underwater concrete repair device capable of selecting a time for mixing and stirring materials underwater according to the progress of repair work, avoiding solidification of repair materials before output, and allowing sufficient time for the repair materials to be poured. The second object of the invention is to provide an underwater robot and a using method thereof, which has good repairing effect and high efficiency on hydraulic buildings. The technical problems are solved by the following technical scheme: in one aspect, an underwater concrete repairing device is provided, including material storage conveying mechanism, output mechanism and at least one material storage rabbling mechanism, material storage conveying mechanism with output mechanism all with material storage rabbling mechanism is connected, material storage conveying mechanism with one of them is equipped with the curing agent of material storage rabbling mechanism, and another is equipped with the binder, material storage conveying mechanism can carry its inside material to inside the material storage rabbling mechanism to with the inside material mixture of material storage rabbling mechanism forms the repair material, material storage rabbling mechanism can stir the repair material, output mechanism can follow the repair material after stirring in the material storage rabbling mechanism. In one embodiment, the material storage and conveying mechanism comprises a conveying assembly and a storage assembly, the conveying assembly comprises a hydraulic cylinder and a connecting piece, the storage assembly comprises a first material storage container, a push rod and a piston, one end of the push rod is connected with the piston, the piston is slidably arranged in the first material storage container, the outer wall of a cylinder barrel of the hydraulic cylinder is connected with the outer wall of the first material storage container, and the push rod is parallel to the hydraulic rod and is connected with the connecting piece. In one embodiment, the material storage stirring mechanism comprises a second material storage container and a stirrer, the stirrer is arranged in the second material storage container, a feed inlet and a discharge outlet are formed in the second material storage container, materials in the material storage conveying mechanism enter the second material storage container from the feed inlet, and repair materials in the second material storage container enter the output mechanism from the discharge outlet. In one embodiment, the material storage stirring mechanism further comprises a water through valve disposed on the second storage container. In one embodiment, the inner wall of the second storage container and the surface of the stirrer are both provided with polytetrafluoroethylene coatings. On the other hand, provide an underwater robot, including above-mentioned arbitrary technical scheme underwater concrete patching device, just material storage rabbling mechanism is a plurality of, material storage rabbling mechanism with be equipped with first pipeline between the material storage conveying mechanism, be equipped with first valve on the first pipeline, material storage rabbling mechanism with be equipped with the second pipeline between the output mechanism, be equipped with the second valve on the second pipeline. In one embodiment, the underwater robot further comprises a cleaning mechanism, a third pipeline is arranged between the cleaning mechanism and the output mechanism, a third valve is