阅读说明：本技术 水下循环修补作业装置 (Underwater circulating repairing operation device ) 是由 郝松松 王亚丽 姜京伟 王志峰 陶一锐 蔡洪乐 于 2021-09-15 设计创作，主要内容包括：本发明涉及水下作业装备领域,具体是指一种水下循环修补作业装置,包括支座,支座上设有压水仓、作业水泵、储料仓、搅拌桶、搅拌电机和注浆机,压水仓包括压水仓气室和压水仓进水室,压水仓进水室与作业水泵连接,储料仓包括储料仓气室和原料室,储料液压缸与储料仓固定连接,搅拌桶上端设有搅拌进气口、至少两个搅拌排气口和至少两个搅拌进料口,搅拌进气口与压水仓气室连接,搅拌排气口与储料仓气室连接,搅拌进料口与原料室连接,搅拌出料口与注浆机的进料口连接,支座上设有控制系统、清水置换机构、吸附机构、机械手驱动移动机构和破损修补机构,支座上固定设有机架,本发明可重复使用、使用成本低、安全性高、作业效率高。(The invention relates to the field of underwater operation equipment, in particular to an underwater circulation repairing operation device, which comprises a support, wherein a pressurized water bin, an operation water pump, a storage bin, a stirring barrel, a stirring motor and a grouting machine are arranged on the support, the pressurized water bin comprises a pressurized water bin air chamber and a pressurized water bin water inlet chamber, the pressurized water bin water inlet chamber is connected with the operation water pump, the storage bin comprises a storage bin air chamber and a raw material chamber, a storage hydraulic cylinder is fixedly connected with the storage bin, the upper end of the stirring barrel is provided with a stirring air inlet, at least two stirring exhaust ports and at least two stirring feed inlets, the stirring air inlet is connected with the pressurized water bin air chamber, the stirring exhaust ports are connected with the storage bin air chamber, the stirring feed inlets are connected with the raw material chamber, the stirring discharge outlets are connected with the feed inlet of the grouting machine, a control system, a clean water replacement mechanism, an adsorption mechanism, a manipulator driving and moving mechanism and a damage repairing mechanism are arranged on the support, a rack is fixedly arranged on the support, the invention has the advantages of repeated use, low use cost, high safety and high operation efficiency.)

1. The utility model provides an operation device is repaired in circulation under water, includes support (1), its characterized in that: the device is characterized in that a pressurized-water bin (2), an operation water pump (3), a storage bin (4) and a grouting machine (5) are arranged on the support (1), an air-water partition plate (6) is arranged in the pressurized-water bin (2), the pressurized-water bin (2) is divided into a pressurized-water bin air chamber (7) and a pressurized-water bin water inlet chamber (8) by the air-water partition plate (6), the air-water partition plate (6) is in sealed sliding connection with the inner wall of the pressurized-water bin (2), a pressurized-water bin air outlet (9) is arranged on the pressurized-water bin (2) on one side of the pressurized-water bin air chamber (7), a pressurized-water bin water inlet (10) is arranged on the pressurized-water bin (2) on one side of the pressurized-water bin water inlet chamber (8), the pressurized-water bin water inlet (10) is connected with the water outlet of the operation water pump (3) through a water pipe, the water inlet of the operation water pump (3) is connected with a water source, the operation water pump (3) and the pressurized-water bin (2) are both fixed on the support (1), the device is characterized in that a storage bin (4) is arranged on one side of the water pressing bin (2), the storage bin (4) is fixed on a support (1), a storage hydraulic cylinder (11) is arranged on the storage bin (4), a storage partition plate (12) is arranged in the storage bin (4), the storage partition plate (12) separates the storage bin (4) into a storage bin air chamber (13) and a raw material chamber (14), the outer wall of the storage partition plate (12) is in sealing sliding connection with the inner wall of the storage bin (4), a storage air inlet (15) is arranged on the storage bin (4) on one side of the storage bin air chamber (13), a discharge port (16) is arranged on the storage bin (4) on one side of the raw material chamber (14), the storage hydraulic cylinder (11) is fixedly connected with the storage bin (4), an extension rod of the storage hydraulic cylinder (11) passes through the storage bin (4), enters the storage bin air chamber (13) and is fixedly connected with the partition plate (12), the device is characterized in that the material storage air inlet (15) is connected with the pressurized water bin exhaust port (9) through an air pipe, the material storage discharge port (16) is connected with the feed inlet of the grouting machine (5) through a pipeline, and the grouting machine (5) is fixed on the support (1).

2. The utility model provides an operation device is repaired in circulation under water, includes support (1), its characterized in that: a pressurized-water bin (2), an operation water pump (3), a storage bin (4), a stirring barrel (19), a stirring motor (25) and a grouting machine (5) are arranged on the support (1), an air-water partition plate (6) is arranged in the pressurized-water bin (2), the pressurized-water bin (2) is divided into a pressurized-water bin air chamber (7) and a pressurized-water bin water inlet chamber (8) by the air-water partition plate (6), the air-water partition plate (6) is in sealed sliding connection with the inner wall of the pressurized-water bin (2), a pressurized-water bin exhaust port (9) is arranged on the pressurized-water bin (2) on one side of the pressurized-water bin air chamber (7), a pressurized-water bin water inlet (10) is arranged on the pressurized-water bin (2) on one side of the pressurized-water bin water inlet chamber (8), the pressurized water bin water inlet (10) is connected with an operation water pump (3) water outlet through a water pipe, a water inlet of the operation water pump (3) is connected with a water source, the operation water pump (3) and the pressurized-water bin (2) are both fixed on the support (1), the device is characterized in that a storage bin (4) is arranged on one side of the water pressing bin (2), at least two storage bins (4) are arranged, the storage bins (4) are fixed on the support (1), a storage hydraulic cylinder (11) is arranged on each storage bin (4), a storage partition plate (12) is arranged in each storage bin (4), each storage partition plate (12) divides each storage bin (4) into a storage bin air chamber (13) and a raw material chamber (14), the outer wall of each storage partition plate (12) is connected with the inner wall of each storage bin (4) in a sealing and sliding manner, an air inlet (15) is arranged on each storage bin (4) on one side of each storage bin air chamber (13), a storage discharge port (16) is arranged on each storage bin (4) on one side of each raw material chamber (14), each storage hydraulic cylinder (11) is fixedly connected with each storage bin (4), an extension rod of each storage hydraulic cylinder (11) penetrates through each storage bin (4), enters each storage bin air chamber (13) and is fixedly connected with each storage partition plate (12), the stirring barrel (19) is fixed on the support (1), the upper end of the stirring barrel (19) is provided with a stirring air inlet (20), at least two stirring air outlets (21) and at least two stirring feed inlets (22), the lower end of the stirring barrel (19) is provided with a stirring discharge outlet (23), a stirring assembly (24) is arranged in the stirring barrel (19), the stirring assembly (24) is driven by a stirring motor (25), the stirring motor (25) is fixed on the stirring barrel (19) or the support (1), the stirring air inlet (20) is connected with a pressurized-water bin exhaust outlet (9) through an air pipe, the stirring air outlet (21) is connected with a storage air inlet (15) through an air pipe, the stirring feed inlet (22) is connected with a storage discharge outlet (16) through a pipeline, and the stirring discharge outlet (23) is connected with the feed inlet of the grouting machine (5) through a pipeline, the grouting machine (5) is fixed on the support (1).

3. The underwater circulation repairing working device of claim 2, wherein: the clean water replacement mechanism (32) is arranged on the support (1), the clean water replacement mechanism (32) comprises a diversion cover (33), a clean water replacement motor (34) and a propeller (35), a working cavity is arranged in the middle of the support (1), the support (1) is in a fence shape, a pressing water bin (2), an operation water pump (3), a storage bin (4), a stirring barrel (19) and a grouting machine (5) are respectively arranged in the working cavity of the support (1), the upper end of the support (1) is provided with a support water inlet (36), the lower end of the support is provided with a working opening (37), the side wall of the support (1) is at least provided with a support water outlet (38), the working cavity of the support (1) is at least internally provided with a diversion cover (33), the diversion cover (33) is fixedly connected with the support (1), one end face of the diversion cover (33) is opened and faces the support water outlet (38), the other end face is in a latticed shape, a clean water replacement motor (34) and a propeller (35) are arranged in the air guide sleeve (33), the clean water replacement motor (34) is fixedly connected with the air guide sleeve (33), the propeller (35) is fixed on an output shaft of the clean water replacement motor (34), and the propeller (35) faces towards the support water outlet (38).

4. An underwater circulation repairing working device according to claim 3, characterized in that: support (1) lower extreme is equipped with adsorption apparatus structure (31), adsorption apparatus structure (31) is including adsorbing sucking disc (39), sucking disc hydraulic cylinder (40) and absorption driver (41), both sides interval is equipped with adsorbing sucking disc (39) around support (1) lower extreme, adsorbing sucking disc (39) upper end is equipped with sucking disc hydraulic cylinder (40), be equipped with the mouth that draws water on adsorbing sucking disc (39), the mouth that draws water is connected with absorption driver (41) through the water pipe, sucking disc hydraulic cylinder (40) upper end and support (1) fixed connection, sucking disc hydraulic cylinder (40) lower extreme and adsorption sucking disc (39) fixed connection, sucking disc hydraulic cylinder (40) and absorption driver (41) are fixed respectively on support (1).

5. An underwater circulation repairing working device according to claim 3 or 4, wherein: the mechanical arm driving and moving mechanism (42) is arranged in a working cavity of the support (1), the mechanical arm driving and moving mechanism (42) comprises a transverse driving mechanism (43) and a longitudinal driving mechanism (44), the transverse driving mechanism (43) is arranged in the support (1) and connected with the support (1), the longitudinal driving mechanism (44) is connected with the transverse driving mechanism (43), and the mechanical arms (30) are installed on the longitudinal driving mechanism (44) at intervals.

6. The underwater circulation repairing working device of claim 5, wherein: a rotary swing mechanism (62) is arranged between the mechanical arm (30) and the longitudinal driving mechanism (44), the rotary swing mechanism (62) comprises a swing cylinder (63), at least one swing cylinder (63) is arranged on a mechanical arm (64) of the mechanical arm (30), and the mechanical arm (64) is connected with the longitudinal driving mechanism (44) through the swing cylinder (63).

7. The underwater circulation repairing working device of claim 6, wherein: be equipped with telescopic machanism (78) on arm (64), telescopic machanism (78) are including telescopic cylinder (108) and rotatory swing arm (109), arm (64) upper end is equipped with telescopic cylinder (108), telescopic cylinder (108) upper end is equipped with rotatory swing arm (109), rotatory swing arm (109) upper end is connected with vertical actuating mechanism (44) through swing jar (63), and rotatory swing arm (109) lower extreme is connected with arm (64) through telescopic cylinder (108).

8. An underwater circulation repairing working device according to claim 3, 4, 6 or 7, characterized in that: the support is characterized in that a tool table (65) is arranged in a working cavity of the support (1), the tool table (65) is fixedly connected with the support (1), underwater operation tools (66) are arranged on the tool table (65) at intervals, and the underwater operation tools (66) are connected with the tool table (65).

9. The underwater circulation repairing working device of claim 8, wherein: the tool table (65) is provided with positioning sleeves (67) at intervals, the positioning sleeves (67) are fixed on the tool table (65), and the underwater operation tool (66) and the positioning sleeves (67) are extruded and fixed.

10. The underwater circulation repairing working device of claim 8, wherein: an underwater repairing tool is mounted at the lower end of a mechanical arm (64) of the manipulator (30), and the underwater repairing tool is a mechanical clamping jaw (110) or an underwater operating tool (66).

11. The underwater circulation repairing working device of claim 10, wherein: and a docking mechanism (68) is arranged between the mechanical arm (64) of the manipulator (30) and the underwater operation tool (66).

12. An underwater circulation repairing working device according to claim 11, wherein: the docking mechanism (68) comprises an upper docking seat (69), a jaw assembly and a lower docking seat (70), the mechanical arm (64) of at least one mechanical arm (30) is provided with the upper docking seat (69), the upper end of the upper docking seat (69) is fixedly connected with the mechanical arm (64), the upper docking seat (69) is provided with at least two jaw assemblies, each jaw assembly comprises a jaw oil cylinder (71) and a jaw (72), the upper end of each jaw oil cylinder (71) is hinged with the upper docking seat (69), the lower end of each jaw oil cylinder is hinged with the upper end of each jaw (72), the upper part of each jaw (72) is hinged with the upper docking seat (69), the underwater operation tool (66) is provided with the lower docking seat (70), the lower docking seat (70) is fixedly connected with the underwater operation tool (66), the lower docking seat (70) is at least provided with two docking notches (73), and the docking notches (73) are matched with the jaws (72), when the upper butt joint seat (69) is in butt joint with the lower butt joint seat (70), the claw oil cylinder (71) retracts, so that the claw (72) clamps the butt joint notch (73) to realize the fixed connection of the mechanical arm (64) and the underwater operation tool (66).

13. An underwater circulation repairing working device according to claim 12, characterized in that: be equipped with hydraulic fluid port docking mechanism (74) between manipulator (30) and underwater operation instrument (66), hydraulic fluid port docking mechanism (74) includes oil pipe, oil source and sealing washer (75), upward be equipped with hydraulic fluid port (76) on butt joint seat (69), it is connected with the oil source through oil pipe to go up hydraulic fluid port (76), be equipped with down hydraulic fluid port (77) down on butt joint seat (70), be equipped with sealing washer (75) down on hydraulic fluid port (77), hydraulic fluid port (77) are connected with underwater operation instrument (66) through oil pipe down, when last butt joint seat (69) with butt joint seat (70) down, go up hydraulic fluid port (76) through sealing washer (75) and hydraulic fluid port (77) sealing connection down.

14. An underwater circulation repairing working device according to claim 12 or 13, wherein: go up butt joint seat (69) and be equipped with quick positioning mechanism down between butt joint seat (70), quick positioning mechanism includes locating piece (79) and location breach (80), upward be equipped with guide groove (81) that open side down on butt joint seat (69), guide groove (81) inner wall is equipped with one locating piece (79) of inside salient at least, locating piece (79) and last butt joint seat (69) fixed connection, be equipped with one location breach (80) on butt joint seat (70) down at least, location breach (80) cooperate with locating piece (79), when last butt joint seat (69) with under butt joint seat (70) dock, in lower connecting seat (70) embedding guide groove (81), realize in locating piece (79) embedding location breach (80) that the quick location of going up butt joint seat (69) and butt joint seat (70) down.

15. An underwater circulation repair working device according to claim 2, 3, 4, 6, 7, 9, 10, 11, 12 or 13, wherein: be equipped with storing storehouse (82) in support (1), storing storehouse (82) lower extreme and support (1) fixed connection, the interval is equipped with slip casting mouth slot and/or inflation screw slot on storing storehouse (82), and slip casting mouth (83) and/or inflation screw (84) are pegged graft fixedly with storing storehouse (82) respectively.

16. An underwater circulation repairing working device according to claim 15, wherein: the water gun is characterized in that a water gun slot is formed in the storage bin (82), a water gun (85) is arranged on the storage bin (82), the water gun (85) is connected with the storage bin (82) through the water gun slot, and a water inlet of the water gun (85) is connected with a water outlet of the operation water pump (3).

17. An underwater circulation repairing working device according to claim 2, 3, 4, 6, 7, 9, 10, 11, 12, 13 or 16, characterized in that: the device is characterized in that a damage repairing mechanism (86) is arranged in the support (1), the damage repairing mechanism (86) comprises a cover plate cabin (87), a cover plate (88), an aluminum pressing strip (89), a cover plate sucking disc (90) and a floating tool (91), the support (1) is internally provided with the cover plate cabin (87), the lower end of the cover plate cabin (87) is fixedly connected with the support (1), each side of the left side and the right side of the cover plate cabin (87) is at least provided with two cover plate guide columns (92), the lower ends of the cover plate guide columns (92) are fixedly connected with the cover plate cabin (87), the upper end of the cover plate cabin (87) is provided with a cover plate suction port (93), the front side or the rear side of the cover plate cabin (87) is provided with a cover plate outlet (94), the left side and the right side of the cover plate (88) are respectively provided with cover plate guide column perforation, the periphery of the cover plate (88) is fixedly provided with the aluminum pressing strip (89), bosses (95) are arranged on the aluminum pressing strips (89) on the left side and the right side of the cover plate (88) at intervals, the improved cover plate device is characterized in that boss guide post through holes are formed in the boss (95), the cover plate (88) is arranged in the cover plate cabin (87), the cover plate guide post (92) sequentially penetrates through the cover plate guide post through holes and the boss guide post through holes to limit and fix the cover plate (88) in the cover plate cabin (87), a cover plate sucker (90) and a leveling tool (91) are arranged on one side of the cover plate cabin (87), a sucker handle (96) is fixedly arranged at the upper end of the cover plate sucker (90), a guide rod (97) is fixedly arranged at the lower end of the cover plate sucker (90), a cover plate sucker water pumping port is formed in the cover plate sucker (90), a sucker seat (98) is formed in the support (1), the sucker water pumping port is connected with an adsorption driver (41) through a water pipe, the lower end of the sucker seat (98) is fixedly connected with the support (1), a containing groove is formed in the sucker seat (98), a limiting socket (99) is formed in the upper end of the sucker seat (98), the cover plate sucker (90) is arranged in a containing groove of the sucker seat (98), the guide rod (97) is inserted into the limiting socket (99), the guide rod (97) is embedded into the limiting socket (99) to limit and fixedly connect the cover plate sucker (90) with the sucker seat (98) after the cover plate sucker (90) rotates, the upper end of the trowelling tool (91) is fixedly provided with a trowelling handle (100), the periphery of a trowelling plate of the trowelling tool (91) is at least provided with two limiting notches (101), the support (1) is internally fixedly provided with a trowelling positioning seat (102), the trowelling positioning seat (102) is provided with a trowelling tool groove, the upper end surface of the trowelling tool groove is radially and inwardly provided with at least two limiting blocks (103), the limiting blocks (103) are fixedly connected with the trowelling positioning seat (102), the limiting notches (101) are matched with the limiting blocks (103), and the trowelling tool (91) is inserted into the trowelling tool groove, the floating tool (91) is fixed in the floating tool groove through the limit of the limit block (103) after rotating.

18. An underwater circulation repairing working device according to claim 2, 3, 4, 6, 7, 9, 10, 11, 12, 13 or 16, characterized in that: the bin outlet of slip casting machine (5) is equipped with hose and slip casting head, the bin outlet of slip casting machine (5) is through hose and slip casting head fixed connection.

19. An underwater circulation repairing working apparatus as claimed in claim 2, 3, 4, 6, 7, 9, 10, 11, 12, 13 or 16, wherein: support (1) internal fixation is equipped with electric cabin (111), be equipped with support control system in electric cabin (111), operation water pump (3), storage pneumatic cylinder (11), agitator motor (25) and slip casting machine (5) are connected with support control system respectively.

20. An underwater circulation repairing working apparatus as claimed in claim 2, 3, 4, 6, 7, 9, 10, 11, 12, 13 or 16, wherein: the support is characterized in that a rack (29) is arranged at the upper end of the support (1), a rack control system and a propeller are arranged on the rack (29), the rack (29) is fixedly connected with the support (1), and the rack control system is connected with the support control system.

Technical Field

The invention relates to the field of underwater operation equipment, in particular to an underwater circulating repairing operation device.

Background

The applicant applies a patent number CN212130010U on 3/18/2020 and is named as an underwater building crack repairing robot, which is characterized by comprising a robot main body and a grouting mixing device, wherein the grouting mixing device is fixedly arranged on the robot main body, the robot main body comprises an electrical bin, the grouting mixing device comprises a tray mechanism, a propelling mechanism, a mixing mechanism and an output mechanism, the propelling mechanism is arranged in the tray mechanism, and is used for propelling grouting with different components into the mixing mechanism for mixing, and finally the mixed grouting is smeared at cracks of the underwater building through the output mechanism, repairing an underwater building, wherein the propulsion mechanism comprises a grouting component storage bin, an electric push rod, a motor and a grouting component outlet, grouting with at least two components and different components is stored in the grouting component storage bin, the electric push rod is in piston connection with the grouting component storage bin, the grouting component outlet is arranged at one end, far away from the electric push rod, of the grouting component storage bin and is electrically connected with the electric bin, and the motor drives the electric push rod to push the grouting components in the grouting component storage bin to the grouting component outlet; the mixing mechanism comprises a grouting component inlet, a central shaft, stirring blades, a cavity and a mixing outlet, the grouting component inlet is connected with the grouting component outlet, the mixing outlet is arranged at a position, far away from the grouting component inlet, on the mixing mechanism, the cavity is arranged inside the mixing mechanism, the central shaft is arranged at the central axis position of the cavity, and the stirring blades are fixedly connected to the central shaft; the output mechanism comprises a transmission pipe and an output gun, one end of the transmission pipe is connected with the mixing outlet, the other end of the transmission pipe is connected with the output gun, the mixed grout reaches the output gun after passing through the transmission pipe, the output gun aims the grout at the position of cracks or cracks needing to be repaired of the underwater building to complete the repairing operation, the robot main body comprises a sucker device, the sucker device can adsorb the whole robot main body on the wall of the building, the sucker device comprises a sucker driving motor, a sucker transmission screw rod, a sucker fixing frame, a sucker and a guide rail, the sucker driving motor is electrically connected with the electric bin, the sucker driving motor is movably connected with the sucker transmission screw rod, the sucker driving motor can drive the sucker transmission screw rod to move, and the sucker transmission screw rod is fixedly connected with the sucker fixing frame, the sucking disc is fixed set up with on the sucking disc mount, the guide rail fixed set up in the both sides of robot main part, the both ends of sucking disc mount all with guide rail swing joint, the not enough of above-mentioned patent: firstly, the grouting mixing device is disposable, the electric push rod cannot be used again after pushing out grouting, the use cost is high, and the robot repair work efficiency is low due to frequent replacement of the grouting mixing device; secondly, in the process that the grouting is output by an output gun, the overall mass of the robot main body can be gradually lightened, so that the center of gravity of the robot is unstable, the safety is poor, the repair operation of the robot is not facilitated, the robot needs to maintain self balance repeatedly, and the repair operation efficiency is greatly reduced; thirdly, the device can only repair some small damages or cracks, and can not repair large-area damages.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides an underwater circulating repair operation device which is reusable, low in use cost, good in stability, high in safety, capable of repairing large-area damage and high in operation efficiency.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the utility model provides an operation device is repaired in circulation under water, includes the support, its characterized in that: the support is provided with a pressurized water bin, an operation water pump, a storage bin and a grouting machine, the pressurized water bin is internally provided with an air-water partition plate, the pressurized water bin is divided into a pressurized water bin air chamber and a pressurized water bin water inlet chamber by the air-water partition plate, the air-water partition plate is connected with the inner wall of the pressurized water bin in a sealing and sliding manner, the pressurized water bin on one side of the pressurized water bin air chamber is provided with a pressurized water bin air outlet, the pressurized water bin on one side of the pressurized water bin water inlet chamber is provided with a pressurized water bin water inlet, the pressurized water bin water inlet is connected with the water outlet of the operation water pump through a water pipe, the water inlet of the operation water pump is connected with a water source, the operation water pump and the pressurized water bin are both fixed on the support so as to be beneficial to supplying water to the pressurized water bin through the operation water pump, on one hand, the weight of the pressurized water bin is increased, the support is kept balanced, on the other hand, the air-water bin air partition plate is pushed to move to the pressurized water bin air chamber, and is discharged, one side of the pressurized water bin is provided with the storage bin, the storage bin is fixed on the support, the storage bin is provided with a storage hydraulic cylinder, the storage bin is internally provided with a storage partition board, the storage partition board divides the storage bin into a storage bin air chamber and a raw material chamber, the outer wall of the storage partition board is connected with the inner wall of the storage bin in a sealing and sliding manner, the storage bin at one side of the storage bin air chamber is provided with a storage air inlet, the storage bin at one side of the raw material chamber is provided with a storage discharge hole, the storage hydraulic cylinder is fixedly connected with the storage bin, an extension rod of the storage hydraulic cylinder penetrates through the storage bin and enters the storage bin air chamber to be fixedly connected with the storage partition board so as to be beneficial to pushing the storage partition board to push the raw material out of the raw material chamber through the storage hydraulic cylinder, the storage air inlet is connected with a pressurized-water bin exhaust port through an air pipe so as to be beneficial to the gas in the pressurized-water bin to enter the storage bin, so that the raw material in the storage bin enters a grouting machine and simultaneously balance the pressure in the storage bin, the storage discharge gate is connected with the feed inlet of slip casting machine through the pipeline, the slip casting machine is fixed on the support to do benefit to and accomplish slip casting repair work through the slip casting machine.

The utility model provides an operation device is repaired in circulation under water, includes the support, its characterized in that: the support is provided with a pressurized water bin, an operation water pump, a storage bin, a stirring barrel, a stirring motor and a grouting machine, the pressurized water bin is internally provided with an air-water partition plate, the air-water partition plate divides the pressurized water bin into a pressurized water bin air chamber and a pressurized water bin water inlet chamber, the air-water partition plate is in sealing sliding connection with the inner wall of the pressurized water bin, the pressurized water bin on one side of the pressurized water bin air chamber is provided with a pressurized water bin air outlet, the pressurized water bin on one side of the pressurized water bin water inlet chamber is provided with a pressurized water bin water inlet, the pressurized water bin water inlet is connected with an operation water pump water outlet through a water pipe, the operation water pump water inlet is connected with a water source, the operation water pump and the pressurized water bin are both fixed on the support so as to be beneficial to supplying water to the pressurized water bin through the operation water pump, on one hand, the weight of the pressurized water bin is increased, the support is kept balanced, on the other hand, the air-water partition plate is pushed to move to the pressurized water bin air chamber to discharge the gas in the pressurized water bin, the device comprises a pressurized water bin, a support, a storage hydraulic cylinder, a storage partition board, a material storage chamber air chamber and a raw material chamber, wherein the number of the storage bins is at least two, the storage bins are fixed on the support, the storage hydraulic cylinder is arranged on each storage bin, the storage partition board divides each storage bin into a storage bin air chamber and a raw material chamber, the outer wall of each storage partition board is in sealing sliding connection with the inner wall of each storage bin, a storage air inlet is arranged on each storage bin on one side of the storage bin air chamber, a storage material discharge outlet is arranged on each storage bin on one side of the raw material chamber, the storage hydraulic cylinder is fixedly connected with the storage bins, an extension rod of each storage hydraulic cylinder penetrates through each storage bin to enter each storage bin air chamber and be fixedly connected with each storage partition board so as to facilitate pushing the storage partition boards to push raw materials out of the raw material chambers through the storage hydraulic cylinders, a stirring barrel is fixed on the support, and the upper end of the stirring barrel is provided with a stirring air inlet, at least two stirring air outlets and at least two stirring inlets, the lower end of the stirring barrel is provided with a stirring discharge port, a stirring assembly is arranged in the stirring barrel and driven by a stirring motor, the stirring motor is fixed on the stirring barrel or a support, the stirring air inlet is connected with an exhaust port of a pressurized-water bin through an air pipe so as to be beneficial to the gas in the pressurized-water bin to enter the stirring barrel, the air pressure in the stirring barrel is positive, slurry in the stirring barrel is pushed to enter a grouting machine, the stirring exhaust port is connected with a storage air inlet through an air pipe so as to be beneficial to the air in the stirring barrel to enter the storage bin, the air pressure in the stirring barrel and each storage bin is balanced, the suck-back phenomenon is prevented, the stirring feed port is connected with the storage discharge port through a pipeline so as to be beneficial to the raw material in the storage bin to be pushed into the stirring barrel through a storage hydraulic cylinder, the stirring discharge port is connected with the feed port of the grouting machine through a pipeline, and the grouting machine is fixed on the support, so as to be beneficial to completing grouting repair operation through a grouting machine.

According to the invention, the material storage detection displacement sensor is arranged on the material storage hydraulic cylinder and is fixedly connected with the material storage hydraulic cylinder, so that the moving distance of the material storage partition plate can be known conveniently through the material storage detection displacement sensor, the pushed volume of the raw materials can be obtained, and the pushed amount of the raw materials can be conveniently determined according to the formula.

The water pressing bin is provided with the stay wire sensor, the stay wire sensor is fixedly connected with the water pressing bin, and a stay wire of the stay wire sensor penetrates through the water pressing bin, enters the air chamber of the water pressing bin and is fixedly connected with the air-water separation plate, so that the moving distance of the air-water separation plate can be known through the stay wire sensor, and the volume of air discharged by the water pressing bin can be known.

The support plates are arranged in the pressurized water bin at intervals and penetrate through the pressurized water bin air chamber and the pressurized water bin water inlet chamber, two ends of each support plate are fixedly connected with the inner wall of the pressurized water bin, the support plates are perpendicular to the air-water separation plates, and the air-water separation plates penetrate through the support plates and are in sealed sliding connection with the support plates, so that the air-water separation plates are supported and guided through the support plates.

The stirring assembly comprises a stirring rod and a stirring shaft, wherein at least one stirring rod is arranged at the part of the stirring shaft arranged in the stirring barrel, the stirring shaft is driven by a stirring motor, and the stirring rod is fixedly connected with the stirring shaft so as to drive the stirring shaft to rotate by the stirring motor and drive the stirring rod to stir the raw materials entering the stirring barrel.

The discharge port of the grouting machine is provided with the hose and the grouting head, and the discharge port of the grouting machine is fixedly connected with the grouting head through the hose so as to be beneficial to smearing the slurry in the grouting machine to a position to be repaired through the grouting head.

The clean water replacement mechanism is arranged on the support, the clean water replacement mechanism comprises a flow guide cover, a clean water replacement motor and a propeller, a working cavity is arranged in the middle of the support, the support is in a fence shape, the water pressing bin, the operation water pump, the storage bin, the stirring barrel and the grouting machine are respectively arranged in the working cavity of the support, a support water inlet is arranged at the upper end of the support, an operation opening is arranged at the lower end of the support, at least one support water outlet is arranged on the side wall of the support, at least one flow guide cover is arranged in the working cavity of the support, the flow guide cover is fixedly connected with the support, one end face of the flow guide cover is opened and faces the support water outlet, the other end face of the flow guide cover is in a grid shape, the clean water replacement motor and the propeller are arranged in the flow guide cover, the clean water replacement motor is fixedly connected with the flow guide cover, the propeller is fixed on an output shaft of the clean water replacement motor, and the propeller faces the support water outlet, the clean water replacement motor is started to drive the propeller to rotate, so that negative pressure is formed in the air guide sleeve and the support, external water flows into the support through the support water inlet, and muddy water in the support is discharged through the support water outlet.

The suction device is characterized in that the lower end of the support is provided with an adsorption mechanism, the adsorption mechanism comprises an adsorption sucker, a sucker hydraulic cylinder and an adsorption driver, the adsorption suckers are arranged on the front side and the rear side of the lower end of the support at intervals, the upper end of the adsorption sucker is provided with the sucker hydraulic cylinder, the adsorption sucker is provided with a water pumping port, the water pumping port is connected with the adsorption driver through a water pipe, the upper end of the sucker hydraulic cylinder is fixedly connected with the support, the lower end of the sucker hydraulic cylinder is fixedly connected with the adsorption sucker, the sucker hydraulic cylinder and the adsorption driver are respectively fixed on the support, so that when the suction device is used, the sucker hydraulic cylinder drives the adsorption sucker to fall to be attached to an operation surface, the adsorption driver is started to pump out water in the sucker through the water pumping port, negative pressure is formed in the sucker, and the operation surface is adsorbed.

The manipulator driving and moving mechanism is arranged in the support working cavity and comprises a transverse driving mechanism and a longitudinal driving mechanism, the transverse driving mechanism is arranged in the support and connected with the support, the longitudinal driving mechanism is connected with the transverse driving mechanism, and manipulators are arranged on the longitudinal driving mechanism at intervals so as to facilitate the transverse movement and the longitudinal movement of the manipulators in the support through the transverse driving mechanism and the longitudinal driving mechanism.

The invention relates to a transverse driving mechanism which comprises a front transverse supporting frame, a rear transverse supporting frame, a transverse moving frame, a transverse mounting frame, a transverse gear, a transverse roller, a transverse gear shaft, a transverse driving hydraulic motor and a transverse guiding shaft, wherein the front transverse supporting frame and the rear transverse supporting frame are arranged in a working cavity of a support at intervals in the front and the rear direction, the front transverse supporting frame and the rear transverse supporting frame are respectively and fixedly connected with the support, the upper end surface of the front transverse supporting frame and the upper end surface of the rear transverse supporting frame are respectively and fixedly provided with a transverse rack, the side surface of the front transverse supporting frame and the side surface of the rear transverse supporting frame are respectively provided with a transverse slideway, at least one transverse moving frame is arranged between the front transverse supporting frame and the rear transverse supporting frame, the two ends of the transverse moving frame are respectively provided with the transverse mounting frame, the left side or the right side of the transverse moving frame is provided with the transverse gear shaft, and the transverse moving frame is fixedly connected with the transverse moving frame, the interval is equipped with transverse gear and horizontal gyro wheel in the horizontal mounting bracket, on horizontal support frame or the horizontal support frame in back was inlayed to horizontal mounting bracket, transverse gear meshed with horizontal rack, horizontal gyro wheel and horizontal slide cooperation roll connection, transverse gear fixes on horizontal gear shaft, and both ends are through bearing and horizontal mounting bracket fixed connection around the horizontal gear shaft, horizontal gear shaft front end or rear end pass horizontal mounting bracket by horizontal drive hydraulic motor drive, and horizontal drive hydraulic motor fixes on horizontal mounting bracket, horizontal gyro wheel is installed on the sideslip guiding axle, sideslip guiding axle and horizontal mounting bracket fixed connection to do benefit to through the horizontal drive hydraulic motor drive horizontal gear rotation, realize that the horizontal removal frame removes about along preceding horizontal support frame and back horizontal support frame.

According to the invention, the end of the transverse moving guide shaft, which faces the transverse slide way, is provided with the top bead, one end of the top bead is abutted against the transverse slide way, and the other end of the top bead is fixedly connected with the transverse moving guide shaft, so that the top bead can be used for jacking the slide way, and the shaking in the moving process can be reduced.

The longitudinal driving mechanism of the invention comprises a longitudinal mounting rack, a longitudinal guide wheel, a longitudinal gear and a longitudinal driving hydraulic motor, a longitudinal rack is fixedly arranged on the lower end surface of the transverse moving frame, at least one longitudinal mounting frame is arranged on the transverse moving frame, the upper end of the longitudinal mounting rack is provided with a longitudinal guide wheel, the lower end of the longitudinal mounting rack is provided with a longitudinal gear, the longitudinal mounting rack is embedded on the transverse moving rack, the longitudinal guide wheel is matched and in rolling connection with the upper end surface of the transverse moving rack, the longitudinal gear is meshed with the longitudinal rack, the longitudinal gear is fixed on an output shaft of the longitudinal driving hydraulic motor, the longitudinal driving hydraulic motor is fixed on the longitudinal mounting rack, the manipulator is fixedly connected with the longitudinal mounting rack, the vertical mounting rack drives the manipulator to move back and forth along the transverse moving rack under the meshing action of the gear and the rack and the guiding action of the vertical guide wheel.

Wear-resistant guide plates are fixedly arranged on the left side and the right side of the inner wall of the longitudinal mounting frame, and the longitudinal mounting frame is clamped on the transverse moving frame through the wear-resistant guide plates, so that the guide of the wear-resistant guide plates is facilitated, and the friction loss between the longitudinal mounting frame and the transverse moving frame in the moving process of the longitudinal mounting frame is reduced.

According to the invention, the rotary swing mechanism is arranged between the manipulator and the longitudinal mounting frame, the rotary swing mechanism comprises a swing cylinder, at least one swing cylinder is arranged on the manipulator, and the manipulator is connected with the longitudinal mounting frame through the swing cylinder, so that the rotation and the swing of the manipulator can be realized through the swing cylinder, the flexibility of the manipulator is improved, and the underwater repair operation can be better completed.

The telescopic mechanism is arranged on the mechanical arm and comprises a telescopic oil cylinder and a rotary swing arm, the telescopic oil cylinder is arranged at the upper end of the mechanical arm, the rotary swing arm is arranged at the upper end of the telescopic oil cylinder, the upper end of the rotary swing arm is connected with the swing cylinder, and the lower end of the rotary swing arm is connected with the mechanical arm through the telescopic oil cylinder, so that the lifting of the mechanical arm is realized through the telescopic oil cylinder, and an object can be conveniently grabbed or the mechanical arm is conveniently butted with an underwater operation tool.

The tool table is arranged in the working cavity of the support and fixedly connected with the support, underwater operation tools are arranged on the tool table at intervals and connected with the tool table, so that the underwater operation tools can be grabbed by a manipulator to perform underwater operation.

The positioning sleeves are arranged on the tool table at intervals and fixed on the tool table, and the underwater operation tool and the positioning sleeves are extruded and fixed, so that the underwater operation tool can be positioned through the positioning sleeves, and the underwater operation tool is convenient to take and place.

The underwater repairing operation tool is arranged at the lower end of the mechanical arm, is a mechanical clamp or an underwater operation tool, and is favorable for clamping an object or a tool through a mechanical clamping jaw and completing the underwater repairing operation through the underwater operation tool.

The butt joint mechanism is arranged between the mechanical arm of the manipulator and the underwater operation tool, so that the manipulator is connected with the underwater operation tool through the butt joint mechanism.

The docking mechanism comprises an upper docking seat, a jaw assembly and a lower docking seat, wherein the upper docking seat is arranged on the mechanical arm of at least one mechanical arm, the upper end of the upper docking seat is fixedly connected with the mechanical arm, at least two jaw assemblies are arranged on the upper docking seat, each jaw assembly comprises a jaw oil cylinder and a jaw, the upper end of each jaw oil cylinder is hinged with the upper docking seat, the lower end of each jaw oil cylinder is hinged with the upper docking seat, the upper part of each jaw is hinged with the upper docking seat, the underwater operation tool is provided with the lower docking seat, the lower docking seat is fixedly connected with the underwater operation tool, at least two docking notches are arranged on the lower docking seat, the docking notches are matched with the jaws, and when the upper docking seat is docked with the lower docking seat, the jaw oil cylinders retract so that the jaws clamp the docking notches to realize the fixed connection of the mechanical arm and the underwater operation tool, and the rapid docking of the mechanical arm and the underwater operation tool can be conveniently realized through the jaw and the docking notches, the butt joint is convenient, and the automation is high.

The hydraulic fluid port butt joint mechanism is arranged between the manipulator and the underwater operation tool and comprises an oil pipe, an oil source and a sealing ring, an upper hydraulic fluid port is arranged on the upper butt joint seat and connected with the oil source through the oil pipe, a lower hydraulic fluid port is arranged on the lower butt joint seat and provided with the sealing ring, the lower hydraulic fluid port is connected with the underwater operation tool through the oil pipe, and when the upper butt joint seat is in butt joint with the lower butt joint seat, the upper hydraulic fluid port is in sealing connection with the lower hydraulic fluid port through the sealing ring, so that the hydraulic fluid port butt joint mechanism can provide the oil source for the underwater operation tool.

The upper oil port is fixedly inserted with the lower oil port through the taper, so that the connection is convenient and tight, and meanwhile, the sealing ring is convenient to install.

The invention is provided with a quick positioning mechanism between the upper butt joint seat and the lower butt joint seat, the quick positioning mechanism comprises a positioning block and a positioning gap, the upper butt joint seat is provided with a guide groove with a downward opening, the inner wall of the guide groove is at least provided with a positioning block which protrudes inwards, the positioning block is fixedly connected with the upper butt joint seat, the lower butt joint seat is provided with at least one positioning notch, the positioning notch is matched with the positioning block, when the upper butt joint seat is in butt joint with the lower butt joint seat, the lower connecting seat is embedded into the guide groove, the positioning block is embedded into the positioning notch to realize the quick positioning of the upper butt joint seat and the lower butt joint seat, so as to be beneficial to realizing accurate positioning through the positioning block and the positioning notch, saving time, preventing the oil port from being butted and dislocated during butting, meanwhile, the impact of torque generated after butt joint on the clamping jaw and the butt joint oil port is reduced, and the clamping jaw and the butt joint oil port are protected.

According to the invention, the storage bin is arranged in the working cavity of the support, the lower end of the storage bin is fixedly connected with the support, the grouting nozzle slots and/or the expansion screw slots are arranged on the storage bin at intervals, and the grouting nozzles and/or the expansion screws are respectively inserted and fixed with the storage bin, so that the grouting nozzles and the expansion screws are limited and fixed through the grouting nozzle slots and the expansion screw slots.

According to the invention, the storage bin is provided with the water gun slot, the water gun is arranged on the storage bin and is connected with the storage bin through the water gun slot, and the water inlet of the water gun is connected with the water outlet of the operation water pump, so that the operation water pump can provide high-pressure water for the water gun to clean the damaged or cracked part.

The invention is characterized in that a damage repairing mechanism is arranged in a support working cavity, the damage repairing mechanism comprises a cover plate cabin, a cover plate, an aluminum pressing strip, a cover plate sucker and a floating tool, the cover plate cabin is arranged in the support working cavity, the lower end of the cover plate cabin is fixedly connected with a support, at least two cover plate guide posts are arranged on each of the left side and the right side of the cover plate cabin, the lower ends of the cover plate guide posts are fixedly connected with the cover plate cabin, the upper end of the cover plate cabin is provided with a cover plate suction port, the front side or the rear side of the cover plate cabin is provided with a cover plate outlet, the left side and the right side of the cover plate are respectively provided with a cover plate guide post through hole, the periphery of the cover plate is fixedly provided with the aluminum pressing strip, bosses are arranged on the aluminum pressing strips on the left side and the right side of the cover plate at intervals, boss guide post through holes are arranged on the bosses, the cover plate is arranged in the cover plate cabin, the cover plate guide posts sequentially penetrate through the cover plate guide post through holes and the boss guide post through holes to fix the cover plate in the cover plate cabin, a cover plate sucking disc and a floating tool are arranged on one side of the cover plate cabin, a sucking disc handle is fixedly arranged at the upper end of the cover plate sucking disc, a guide rod is fixedly arranged at the lower end of the cover plate sucking disc, a cover plate sucking disc water pumping port is arranged on the cover plate sucking disc, a sucking disc seat is arranged on the support, the sucking disc water pumping port is connected with an adsorption driver through a water pipe, the lower end of the sucking disc seat is fixedly connected with the support, a containing groove is formed in the sucking disc seat, a limiting socket is arranged at the upper end of the sucking disc seat, the cover plate sucking disc is arranged in the containing groove of the sucking disc seat, the guide rod is inserted into the limiting socket, the guide rod is embedded into the limiting socket to limit and fixedly connect the cover plate sucking disc with the sucking disc seat after the cover plate sucking disc rotates, the floating handle is fixedly arranged at the upper end of the floating tool, at least two limiting notches are formed in the periphery of a floating plate of the floating tool, a floating positioning seat is fixedly arranged in the support, and a floating tool groove is formed in the floating positioning seat, the upper end surface of the floating tool groove is at least provided with two limiting blocks radially inwards, the limiting blocks are fixedly connected with a floating positioning seat, a limiting notch is matched with the limiting blocks, the floating tool is inserted into the floating tool groove, the floating tool is limited and fixed in the floating tool groove through the limiting blocks after rotating, so that a sucker handle is clamped through a mechanical arm to rotate, then the cover plate sucker is taken out, then the cover plate sucker is placed above the cover plate cabin, the cover plate is sucked through driving a suction driver, the mechanical arm is lifted upwards to pull the cover plate out of a cover plate guide column, then the cover plate is horizontally moved to take out a cover plate outlet, the cover plate is placed on a damaged operation surface, the floating tool is clamped through the mechanical arm to rotate and take out, then the cover plate is pressed through the floating tool, the lower end surface of the cover plate is coated with glue in advance, no glue is coated around a boss, adhesion of a plurality of cover plates is prevented, and the floating tool is pressed downwards, the cover plate is stuck on the damaged surface.

The lower end of the support is fixedly provided with the recovery bin, so that parts or sundries can be stored through the recovery bin.

The support is internally provided with a drag chain mechanism, the drag chain mechanism comprises a drag chain and a drag chain frame, at least one drag chain is arranged in the support, the drag chain is arranged on the drag chain frame, one end of the drag chain is fixedly connected with the inner wall of the support, the other end of the drag chain is fixedly connected with the transverse mounting frame, and the drag chain frame is fixedly connected with the support, so that connecting cables of a manipulator driving moving mechanism, a manipulator and the like are arranged in the drag chain, and the cable protection function is realized.

The illuminating lamp and the camera are fixedly arranged in the support and/or on the mechanical arm of the manipulator, so that underwater operation can be conveniently illuminated through the illuminating lamp, the camera is used for shooting operation conditions, and workers can conveniently know work in time.

An electric cabin is fixedly arranged in the support, a support control system is arranged in the electric cabin, and the operation water pump, the storage hydraulic cylinder, the stirring motor, the grouting machine, the storage detection displacement sensor, the pull wire sensor, the manipulator, the clean water replacement motor, the sucker hydraulic cylinder, the adsorption driver, the transverse driving hydraulic motor, the longitudinal driving hydraulic motor, the swing cylinder, the jaw oil cylinder, the illuminating lamp and the camera are respectively connected with the support control system, so that the manipulator operation can be controlled through the support control system.

The upper end of the support is provided with the rack, the rack is provided with the rack control system and the propeller, the rack is fixedly connected with the support, and the rack control system is connected with the support control system, so that the support is driven by the propeller to move to an operation area, and the manipulator is controlled to repair underwater by the rack control system.

Due to the adoption of the structure, the invention has the advantages of reusability, low use cost, good stability, high safety, capability of repairing large-area damage, high operation efficiency and the like.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic view of the present invention with the stand removed.

Fig. 3 is a top view of fig. 2 of the present invention.

Fig. 4 is a left side view of fig. 2 of the present invention.

Fig. 5 is an enlarged schematic view of the pressurized water tank of the present invention.

Fig. 6 is a sectional view of the pressurized water cartridge according to the present invention.

Figure 7 is an enlarged schematic view of the storage bin of the present invention.

Figure 8 is a cross-sectional view of the storage silo of the present invention.

FIG. 9 is an enlarged view of the mixing tank of the present invention.

Fig. 10 is a top view of fig. 9 of the present invention.

FIG. 11 is a sectional view of the mixing tank of the present invention.

Fig. 12 is an enlarged schematic view of the slip casting machine of the present invention.

Fig. 13 is a schematic view of the structure of the present invention mounted to the lower end of the frame in use.

Fig. 14 is an enlarged schematic view of the pod of the present invention.

FIG. 15 is a cross-sectional view of the pod of the present invention.

Fig. 16 is an enlarged schematic view of the robot driving and moving mechanism in the present invention.

Fig. 17 is a right side view of fig. 16 in the present invention.

FIG. 18 is an enlarged view taken at A in FIG. 17 according to the present invention.

Fig. 19 is an enlarged schematic view of the longitudinal mount of the present invention.

Fig. 20 is a schematic view of a robot according to the present invention.

Fig. 21 is another schematic view of the robot of the present invention.

Fig. 22 is a schematic illustration of the release of the pawl from the docking mechanism of fig. 21 in accordance with the present invention.

Fig. 23 is a schematic view of the upper docking cradle of the present invention.

Fig. 24 is a cross-sectional view of an upper docking pod of the present invention.

Fig. 25 is a schematic view of the structure of the lower docking cradle of the present invention.

FIG. 26 is a top view of FIG. 25 in accordance with the present invention.

Fig. 27 is an enlarged schematic view of the attachment of the tool station and the underwater work tool in the present invention.

Fig. 28 is an enlarged schematic view of the tool station of the present invention.

Fig. 29 is a side view of fig. 28 in the present invention.

FIG. 30 is a schematic view of the lid compartment and storage compartment of the present invention.

Figure 31 is a cross-sectional view of the cover flap compartment of the present invention.

FIG. 32 is an enlarged view of the cover plate of the present invention.

FIG. 33 is an enlarged schematic view of the storage compartment of FIG. 30 of the present invention.

Fig. 34 is an enlarged schematic view of the troweling tool of the present invention.

FIG. 35 is an enlarged schematic view of the lid suction cup of the present invention.

Fig. 36 is a cross-sectional view of fig. 35 in accordance with the present invention.

Reference numerals: a support 1, a pressurized water bin 2, an operation water pump 3, a storage bin 4, a grouting machine 5, an air-water separation plate 6, a pressurized water bin air chamber 7, a pressurized water bin inlet chamber 8, a pressurized water bin exhaust port 9, a pressurized water bin water inlet 10, a storage hydraulic cylinder 11, a storage separation plate 12, a storage bin air chamber 13, a raw material chamber 14, a storage air inlet 15, a storage material outlet 16, a stay wire sensor 18, a stirring barrel 19, a stirring air inlet 20, a stirring exhaust port 21, a stirring feed port 22, a stirring discharge port 23, a stirring assembly 24, a stirring motor 25, a support plate 26, a stirring rod 27, a stirring shaft 28, a frame 29, a manipulator 30, an adsorption mechanism 31, a clean water replacement mechanism 32, a flow guide cover 33, a clean water replacement motor 34, a propeller 35, a support water inlet 36, an operation port 37, a support water outlet 38, an adsorption suction cup 39, a suction cup 40, an adsorption driver 41 and a manipulator driving and moving mechanism 42, a transverse driving mechanism 43, a longitudinal driving mechanism 44, a front transverse supporting frame 45, a rear transverse supporting frame 46, a transverse moving frame 47, a transverse mounting frame 48, a transverse gear 49, a transverse roller 50, a transverse driving hydraulic motor 51, a transverse guiding shaft 52, a transverse rack 53, a transverse slideway 54, a top ball 55, a longitudinal mounting frame 56, a longitudinal guiding wheel 57, a longitudinal gear 58, a longitudinal driving hydraulic motor 59, a longitudinal rack 60, a wear-resistant guiding plate 61, a rotary swinging mechanism 62, a swinging cylinder 63, a mechanical arm 64, a tool table 65, an underwater operation tool 66, a positioning sleeve 67, a docking mechanism 68, an upper docking seat 69, a lower docking seat 70, a jaw oil cylinder 71, a jaw 72, a docking gap 73, an oil port docking mechanism 74, a sealing ring 75, an upper oil port 76, a lower oil port 77, a telescopic mechanism 78, a positioning block 79, a positioning gap 80, a guiding groove 81, a storage bin 82 and a grouting nozzle 83, expansion screw 84, squirt 85, damaged repair mechanism 86, cover plate cabin 87, cover plate 88, aluminium layering 89, cover plate sucking disc 90, floating tool 91, cover plate guide post 92, cover plate suction inlet 93, cover plate export 94, boss 95, sucking disc handle 96, guide bar 97, sucking disc seat 98, spacing socket 99, floating handle 100, spacing breach 101, floating positioning seat 102, stopper 103, retrieve storehouse 104, tow chain mechanism 105, tow chain 106, tow chain frame 107. Telescopic oil cylinder 108, rotary swing arm 109, mechanical clamping jaw 110 and electric cabin 111.

Detailed Description

The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.

The utility model provides an operation device is repaired in circulation under water, includes support 1, its characterized in that: the support 1 is provided with a pressurized water bin 2, an operation water pump 3, a storage bin 4 and a grouting machine 5, the pressurized water bin 2 is internally provided with an air-water partition plate 6, the air-water partition plate 6 divides the pressurized water bin 2 into a pressurized water bin air chamber 7 and a pressurized water bin water inlet chamber 8, the air-water partition plate 6 is in sealing sliding connection with the inner wall of the pressurized water bin 2, the pressurized water bin 2 on one side of the pressurized water bin air chamber 7 is provided with a pressurized water bin exhaust port 9, the pressurized water bin 2 on one side of the pressurized water bin water inlet chamber 8 is provided with a pressurized water bin water inlet 10, the pressurized water bin water inlet 10 is connected with an operation water pump 3 water outlet through a water pipe, the operation water pump 3 water inlet is connected with a water source, the operation water pump 3 and the pressurized water bin 2 are both fixed on the support 1 so as to be beneficial to supply water to the pressurized water bin through the operation water pump, on one hand, the weight of the pressurized water bin is used for maintaining the balance of the support, on the other hand, the air-water partition plate is used for pushing the air-water bin to move towards the pressurized water bin air chamber, the gas in the pressurized water bin gas chamber is discharged, a storage bin 4 is arranged on one side of a pressurized water bin 2, the storage bin 4 is fixed on a support 1, a storage hydraulic cylinder 11 is arranged on the storage bin 4, a storage partition plate 12 is arranged in the storage bin 4, the storage partition plate 12 divides the storage bin 4 into a storage bin gas chamber 13 and a raw material chamber 14, the outer wall of the storage partition plate 12 is in sealing sliding connection with the inner wall of the storage bin 4, a storage gas inlet 15 is arranged on the storage bin 4 on one side of the storage bin gas chamber 13, a storage material outlet 16 is arranged on the storage bin 4 on one side of the raw material chamber 14, the storage hydraulic cylinder 11 is fixedly connected with the storage bin 4, an extension rod of the storage hydraulic cylinder 11 penetrates through the storage bin 4 to enter the storage bin gas chamber 13 and be fixedly connected with the storage partition plate 12 so as to push the storage partition plate out of the raw material from the raw material chamber through the storage hydraulic cylinder, and the storage gas inlet 15 is connected with a pressurized water bin gas outlet 9 through a gas pipe, get into the storage silo with the gas that does benefit to in the pressurized-water storehouse for raw materials get into the slip casting machine in the storage silo, the pressure in the balanced storage silo simultaneously, storage discharge gate 16 is connected with the feed inlet of slip casting machine 5 through the pipeline, slip casting machine 5 is fixed on support 1, in order to do benefit to and accomplish slip casting repair work through the slip casting machine.

The storage bin can be repeatedly used, raw materials are loaded into the storage bin before the storage bin is used, after the storage bin is used, the raw materials can be continuously put into the storage bin after the materials of the storage bin are discharged through the grouting machine, the raw materials can be put into the raw material chamber by disassembling the storage partition plate and the storage bin, or the raw materials can be injected into the raw material chamber by arranging the feed inlet in the raw material chamber and can be selected according to needs, the storage bin can be repeatedly used, the use cost is low, the repairing operation efficiency is improved, in addition, the support can be kept balanced underwater by injecting water into the pressurized-water bin during discharging, meanwhile, the pressurized-water bin exhausts the storage bin, the air pressure balance of the storage bin can be kept, and the raw materials are promoted to be discharged out of the storage bin.

The utility model provides an operation device is repaired in circulation under water, includes support 1, its characterized in that: the support 1 is provided with a pressurized-water bin 2, an operation water pump 3, a storage bin 4, a stirring barrel 19, a stirring motor 25 and a grouting machine 5, the pressurized-water bin 2 is internally provided with an air-water partition plate 6, the pressurized-water bin 2 is divided into a pressurized-water bin air chamber 7 and a pressurized-water bin water inlet chamber 8 by the air-water partition plate 6, the air-water partition plate 6 is in sealing sliding connection with the inner wall of the pressurized-water bin 2, the pressurized-water bin 2 at one side of the pressurized-water bin air chamber 7 is provided with a pressurized-water bin air outlet 9, the pressurized-water bin 2 at one side of the pressurized-water bin water inlet chamber 8 is provided with a pressurized-water bin water inlet 10, the pressurized-water bin water inlet 10 is connected with an operation water pump 3 water outlet through a water pipe, the operation water pump 3 water inlet is connected with a water source, the operation water pump 3 and the pressurized-water bin 2 are both fixed on the support 1 so as to be beneficial to supply water for the pressurized-water bin through the operation water pump, on one hand, the weight of the pressurized-water bin is increased, and the support is kept balanced, on the other hand, the air-water separation plate is pushed to move towards the air chamber of the pressurized-water bin, the gas in the air chamber of the pressurized-water bin is discharged, the storage bin 4 is arranged on one side of the pressurized-water bin 2, at least two storage bins 4 are arranged on each storage bin 4, the storage bin 4 is fixed on the support 1, the storage hydraulic cylinder 11 is arranged on each storage bin 4, the storage partition plate 12 is arranged in each storage bin 4, the storage bin 4 is divided into the storage bin air chamber 13 and the raw material chamber 14 by the storage partition plate 12, the outer wall of each storage partition plate 12 is in sealed sliding connection with the inner wall of each storage bin 4, the storage bin 4 on one side of the storage bin air chamber 13 is provided with the storage air inlet 15, the storage bin 4 on one side of the raw material chamber 14 is provided with the storage discharge port 16, the storage hydraulic cylinder 11 is fixedly connected with the storage bins 4, the extension rod of the storage hydraulic cylinder 11 penetrates through the storage bin 4 to enter the storage bin air chamber 13 and the storage partition plate 12 to be fixedly connected with the storage hydraulic cylinder so as to facilitate pushing the partition plate to push the raw material out the raw material chamber through the storage hydraulic cylinder, the mixing tank 19 is fixed on the support 1, the upper end of the mixing tank 19 is provided with a mixing air inlet 20, at least two mixing air outlets 21 and at least two mixing feed inlets 22, the lower end of the mixing tank 19 is provided with a mixing discharge outlet 23, a mixing component 24 is arranged in the mixing tank 19, the mixing component 24 is driven by a mixing motor 25, the mixing motor 25 is fixed on the mixing tank 19 or the support 1, the mixing air inlet 20 is connected with a pressurized water bin air outlet 9 through an air pipe so as to be beneficial to the gas in the pressurized water bin to enter the mixing tank, the air pressure in the mixing tank is positive pressure, slurry in the mixing tank is pushed to enter the slurry injector, the mixing air outlet 21 is connected with the storage air inlet 15 through an air pipe so as to be beneficial to the air in the mixing tank to enter the storage bin, the air pressure in the mixing tank and each storage bin is balanced, the suck-back phenomenon is prevented, and the mixing feed inlets 22 are connected with the storage discharge outlet 16 through a pipeline, in order to do benefit to raw materials in the storage silo in promoting the entering agitator through storage pneumatic cylinder, stirring discharge gate 23 is connected with the feed inlet of slip casting machine 5 through the pipeline, slip casting machine 5 is fixed on support 1 to do benefit to and accomplish slip casting repair work through the slip casting machine.

According to the invention, the material storage hydraulic cylinder 11 is provided with the material storage detection displacement sensor which is fixedly connected with the material storage hydraulic cylinder 11, so that the moving distance of the material storage partition plate can be known conveniently through the material storage detection displacement sensor, the pushed volume of the raw materials can be obtained, and the pushed quantity of the raw materials can be conveniently determined according to the formula.

According to the invention, the water pressing bin 2 is provided with the stay wire sensor 18, the stay wire sensor 18 is fixedly connected with the water pressing bin 2, and a stay wire of the stay wire sensor 18 penetrates through the water pressing bin 2 to enter the water pressing bin air chamber 7 to be fixedly connected with the air-water separation plate 6, so that the moving distance of the air-water separation plate can be known through the stay wire sensor, and the volume of air discharged from the water pressing bin can be known.

The support plates 26 are arranged in the pressurized water bin 2 at intervals, the support plates 26 penetrate through the pressurized water bin air chamber 7 and the pressurized water bin water inlet chamber 8, two ends of each support plate 26 are fixedly connected with the inner wall of the pressurized water bin 2, the support plates 26 are perpendicular to the air-water separation plate 6, and the air-water separation plate 6 penetrates through the support plates 26 and is in sealed sliding connection with the support plates 26, so that the air-water separation plate is supported and guided through the support plates.

The stirring assembly 24 comprises a stirring rod 27 and a stirring shaft 28, wherein at least one stirring rod 27 is arranged at the part of the stirring shaft 28 arranged in the stirring barrel 19, the stirring shaft 28 is driven by a stirring motor 25, and the stirring rod 27 is fixedly connected with the stirring shaft 28 so as to drive the stirring shaft to rotate by the stirring motor and drive the stirring rod to stir the raw materials entering the stirring barrel.

The discharge port of the grouting machine 5 is provided with a hose and a grouting head, and the discharge port of the grouting machine 5 is fixedly connected with the grouting head through the hose so as to be beneficial to smearing the slurry in the grouting machine to a position to be repaired through the grouting head.

The clean water replacement mechanism 32 is arranged on the support 1, the clean water replacement mechanism 32 comprises a guide cover 33, a clean water replacement motor 34 and a propeller 35, a working cavity is arranged in the middle of the support 1, the support 1 is in a fence shape, the pressing water bin 2, the operation water pump 3, the storage bin 4, the stirring barrel 19 and the grouting machine 5 are respectively arranged in the working cavity of the support 1, a support water inlet 36 is arranged at the upper end of the support 1, an operation opening 37 is arranged at the lower end of the support 1, at least one support water outlet 38 is arranged on the side wall of the support 1, at least one guide cover 33 is arranged in the working cavity of the support 1, the guide cover 33 is fixedly connected with the support 1, one end face of the guide cover 33 is open and faces the support water outlet 38, the other end face is in a grid shape, the clean water replacement motor 34 and the propeller 35 are arranged in the guide cover 33, the clean water replacement motor 34 is fixedly connected with the guide cover 33, the screw 35 is fixed on the output shaft of the clean water replacement motor 34, the screw 35 faces the support water outlet 38, so that the clean water replacement motor is started to drive the screw to rotate, negative pressure is formed in the air guide sleeve and the support, external water flows into the support through the support water inlet, and muddy water in the support is discharged through the support water outlet.

The lower end of a support 1 is provided with an adsorption mechanism 31, the adsorption mechanism 31 comprises adsorption suckers 39, sucker hydraulic cylinders 40 and an adsorption driver 41, the adsorption suckers 39 are arranged on the front side and the rear side of the lower end of the support 1 at intervals, the sucker hydraulic cylinders 40 are arranged at the upper ends of the adsorption suckers 39, water pumping ports are formed in the adsorption suckers 39 and are connected with the adsorption driver 41 through water pipes, the upper ends of the sucker hydraulic cylinders 40 are fixedly connected with the support 1, the lower ends of the sucker hydraulic cylinders 40 are fixedly connected with the adsorption suckers 39, the sucker hydraulic cylinders 40 and the adsorption driver 41 are respectively fixed on the support 1, so that when the adsorption device is used, the sucker hydraulic cylinders drive the adsorption suckers to fall down to be attached to an operation surface, the adsorption driver is started to pump out water in the suckers through the water pumping ports, negative pressure is formed in the suckers, and the operation surface is adsorbed.

According to the invention, a manipulator driving and moving mechanism 42 is arranged in the working cavity of the support 1, the manipulator driving and moving mechanism 42 comprises a transverse driving mechanism 43 and a longitudinal driving mechanism 44, the transverse driving mechanism 43 is arranged in the support 1 and connected with the support 1, the longitudinal driving mechanism 44 is connected with the transverse driving mechanism 43, and the longitudinal driving mechanism 44 is provided with the manipulators 30 at intervals, so that the transverse driving mechanism and the longitudinal driving mechanism are favorable for realizing the transverse movement and the longitudinal movement of the manipulators in the support.

The transverse driving mechanism 43 of the invention comprises a front transverse supporting frame 45, a rear transverse supporting frame 46, a transverse moving frame 47, a transverse mounting frame 48, a transverse gear 49, a transverse roller 50, a transverse gear shaft, a transverse driving hydraulic motor 51 and a transverse guiding shaft 52, wherein the front transverse supporting frame 45 and the rear transverse supporting frame 46 are arranged in the working cavity of the support 1 at intervals from front to back, the front transverse supporting frame 45 and the rear transverse supporting frame 46 are respectively and fixedly connected with the support 1, the upper end surface of the front transverse supporting frame 45 and the upper end surface of the rear transverse supporting frame 46 are respectively and fixedly provided with a transverse rack 53, the side surface of the front transverse supporting frame 45 and the side surface of the rear transverse supporting frame 46 are respectively provided with a transverse slideway 54, at least one transverse moving frame 47 is arranged between the front transverse supporting frame 45 and the rear transverse supporting frame 46, the two ends of the transverse moving frame 47 are respectively provided with the transverse mounting frame 48, a transverse gear shaft is arranged on the left side or the right side of the transverse moving frame 47, the transverse mounting frame 48 is fixedly connected with the transverse moving frame 47, a transverse gear 49 and a transverse roller 50 are arranged in the transverse mounting frame 48 at intervals, the transverse mounting frame 48 is embedded on the front transverse supporting frame 45 or the rear transverse supporting frame 46, the transverse gear 49 is meshed with a transverse rack 53, the transverse roller 50 is matched and in rolling connection with a transverse slideway 54, the transverse gear 49 is fixed on the transverse gear shaft, the front end and the rear end of the transverse gear shaft are fixedly connected with the transverse mounting frame 48 through bearings, the front end or the rear end of the transverse gear shaft penetrates through the transverse mounting frame 48 to be driven by a transverse driving hydraulic motor 51, the transverse driving hydraulic motor 51 is fixed on the transverse mounting frame 48, the transverse roller 50 is installed on a transverse guide shaft 52, the transverse guide shaft 52 is fixedly connected with the transverse mounting frame 48 so as to facilitate the transverse gear to be driven to rotate by the transverse driving hydraulic motor, the transverse moving frame moves left and right along the front transverse supporting frame and the rear transverse supporting frame.

According to the invention, one end of the transverse moving guide shaft 52, which faces the transverse slide way 54, is provided with the top bead 55, one end of the top bead 55 is abutted against the transverse slide way 54, and the other end of the top bead is fixedly connected with the transverse moving guide shaft 52, so that the top bead can be used for jacking against the slide way, and the shaking in the moving process can be reduced.

The longitudinal driving mechanism 44 of the invention comprises a longitudinal mounting frame 56, a longitudinal guide wheel 57, a longitudinal gear 58 and a longitudinal driving hydraulic motor 59, wherein a longitudinal rack 60 is fixedly arranged on the lower end surface of the transverse moving frame 47, at least one longitudinal mounting frame 56 is arranged on the transverse moving frame 47, the longitudinal guide wheel 57 is arranged on the upper end of the longitudinal mounting frame 56, the longitudinal gear 58 is arranged on the lower end of the longitudinal mounting frame 56, the longitudinal mounting frame 56 is embedded on the transverse moving frame 47, the longitudinal guide wheel 57 is in matched rolling connection with the upper end surface of the transverse moving frame 47, the longitudinal gear 58 is meshed with the longitudinal rack 60, the longitudinal gear 58 is fixed on an output shaft of the longitudinal driving hydraulic motor 59, the longitudinal driving hydraulic motor 59 is fixed on the longitudinal mounting frame 56, the manipulator 30 is fixedly connected with the longitudinal mounting frame 56 so as to facilitate the longitudinal driving hydraulic motor to drive the longitudinal gear to rotate, the longitudinal mounting frame drives the manipulator to move back and forth along the transverse moving frame under the meshing action of the gear and the rack and the guiding action of the longitudinal guide wheel.

Wear-resistant guide plates 61 are fixedly arranged on the left side and the right side of the inner wall of the longitudinal mounting frame 56, and the longitudinal mounting frame 56 is clamped on the transverse moving frame 47 through the wear-resistant guide plates 61, so that the guide of the wear-resistant guide plates is facilitated, and the friction loss between the longitudinal mounting frame and the transverse moving frame in the moving process of the longitudinal mounting frame is reduced.

According to the invention, a rotary swing mechanism 62 is arranged between the manipulator 30 and the longitudinal mounting rack 56, the rotary swing mechanism 62 comprises a swing cylinder 63, at least one swing cylinder 63 is arranged on a mechanical arm 64, and the mechanical arm 64 is connected with the longitudinal mounting rack 56 through the swing cylinder 63, so that the rotation and the swing of the manipulator can be realized through the swing cylinder, the flexibility of the manipulator is improved, and the underwater repairing operation can be better completed.

According to the invention, the mechanical arm 64 is provided with the telescopic mechanism 78, the telescopic mechanism 78 comprises a telescopic oil cylinder 108 and a rotary swing arm 109, the upper end of the mechanical arm 64 is provided with the telescopic oil cylinder 108, the upper end of the telescopic oil cylinder 108 is provided with the rotary swing arm 109, the upper end of the rotary swing arm 109 is connected with the swing cylinder 63, and the lower end of the rotary swing arm 109 is connected with the mechanical arm 64 through the telescopic oil cylinder (108), so that the lifting of the mechanical arm can be realized through the telescopic oil cylinder, and the object can be conveniently grabbed or the underwater operation tool can be conveniently butted.

A tool table 65 is arranged in a working cavity of the support 1, the tool table 65 is fixedly connected with the support 1, underwater operation tools 66 are arranged on the tool table 65 at intervals, and the underwater operation tools 66 are connected with the tool table 65, so that the underwater operation tools can be grabbed by a manipulator to perform underwater operation.

According to the invention, the positioning sleeves 67 are arranged on the tool table 65 at intervals, the positioning sleeves 67 are fixed on the tool table 65, and the underwater operation tool 66 and the positioning sleeves 67 are extruded and fixed, so that the underwater operation tool can be positioned through the positioning sleeves, and the underwater operation tool is convenient to take and place.

The lower end of the mechanical arm 64 is provided with an underwater repairing tool which is a mechanical clamping jaw 110 or an underwater tool 66, so that an object or a tool can be clamped by the mechanical clamping jaw, and the underwater repairing operation can be completed by the underwater tool.

The docking mechanism 68 is provided between the robot arm 64 and the underwater work tool 66 of the robot 30 of the present invention, so as to facilitate the connection between the robot and the underwater work tool through the docking mechanism.

The docking mechanism 68 of the present invention comprises an upper docking seat 69, a jaw assembly and a lower docking seat 70, wherein an upper docking seat 69 is arranged on the robot arm 64 of at least one robot 30, the upper end of the upper docking seat 69 is fixedly connected with the robot arm 64, at least two jaw assemblies are arranged on the upper docking seat 69, each jaw assembly comprises a jaw oil cylinder 71 and a jaw 72, the upper end of the jaw oil cylinder 71 is hinged with the upper docking seat 69, the lower end of the jaw oil cylinder is hinged with the upper end of the jaw 72, the upper part of the jaw 72 is hinged with the upper docking seat 69, the underwater working tool 66 is provided with the lower docking seat 70, the lower docking seat 70 is fixedly connected with the underwater working tool 66, at least two docking notches 73 are arranged on the lower docking seat 70, the docking notches 73 are matched with the jaws 72, when the upper docking seat 69 is docked with the lower docking seat 70, the jaw oil cylinder 71 retracts, so that the jaw 72 clamps the docking notches 73 to fixedly connect the robot arm 64 with the underwater working tool 66, the quick butt joint of the mechanical arm and the underwater operation tool is realized through the clamping jaws and the butt joint notches, the butt joint is convenient, and the automation is high.

An oil port butting mechanism 74 is arranged between the manipulator 30 and the underwater operation tool 66, the oil port butting mechanism 74 comprises an oil pipe, an oil source and a sealing ring 75, an upper oil port 76 is arranged on the upper butting seat 69, the upper oil port 76 is connected with the oil source through the oil pipe, a lower oil port 77 is arranged on the lower butting seat 70, the sealing ring 75 is arranged on the lower oil port 77, the lower oil port 77 is connected with the underwater operation tool 66 through the oil pipe, and when the upper butting seat 69 is butted with the lower butting seat 70, the upper oil port 76 is hermetically connected with the lower oil port 77 through the sealing ring 75, so that the oil source can be provided for the underwater operation tool through the oil port butting mechanism.

The upper oil port 76 is fixedly inserted with the lower oil port 77 through taper, so that the connection is convenient and tight, and a sealing ring is convenient to install.

The invention is characterized in that a quick positioning mechanism is arranged between the upper butt joint seat 69 and the lower butt joint seat 70, the quick positioning mechanism comprises a positioning block 79 and a positioning notch 80, the upper butt joint seat 69 is provided with a guide groove 81 with a downward opening, the inner wall of the guide groove 81 is at least provided with one positioning block 79 protruding inwards, the positioning block 79 is fixedly connected with the upper butt joint seat 69, the lower butt joint seat 70 is at least provided with one positioning notch 80, the positioning notch 80 is matched with the positioning block 79, when the upper butt joint seat 69 is in butt joint with the lower butt joint seat 70, the lower connecting seat 70 is embedded into the guide groove 81, the positioning block 79 is embedded into the positioning notch 80 to realize the quick positioning of the upper butt joint seat 69 and the lower butt joint seat 70, so as to realize the accurate positioning through the positioning block and the positioning notch, save time, prevent the dislocation of a butt joint oil port during butt joint, and reduce the impact of torque generated after butt joint on a clamping jaw and the butt joint, protection jack catch and butt joint hydraulic fluid port.

According to the invention, the storage bin 82 is arranged in the working cavity of the support 1, the lower end of the storage bin 82 is fixedly connected with the support 1, the storage bin 82 is provided with grouting nozzle slots and/or expansion screw slots at intervals, and the grouting nozzle 83 and/or the expansion screw 84 are respectively fixedly inserted into the storage bin 82 so as to limit and fix the grouting nozzle and the expansion screw through the grouting nozzle slots and the expansion screw slots.

According to the invention, the storage bin 82 is provided with the water gun slot, the storage bin 82 is provided with the water gun 85, the water gun 85 is connected with the storage bin 82 through the water gun slot, and the water inlet of the water gun 85 is connected with the water outlet of the operation water pump 3, so that the operation water pump can provide high-pressure water for the water gun to clean the damaged or cracked part.

The invention is characterized in that a damage repairing mechanism 86 is arranged in a working cavity of a support 1, the damage repairing mechanism 86 comprises a cover plate cabin 87, a cover plate 88, an aluminum pressing strip 89, a cover plate sucker 90 and a floating tool 91, the working cavity of the support 1 is internally provided with the cover plate cabin 87, the lower end of the cover plate cabin 87 is fixedly connected with the support 1, each of the left side and the right side of the cover plate cabin 87 is provided with at least two cover plate guide posts 92, the lower ends of the cover plate guide posts 92 are fixedly connected with the cover plate cabin 87, the upper end of the cover plate cabin 87 is provided with a cover plate 93, the front side or the rear side of the cover plate cabin 87 is provided with a cover plate outlet 94, the left side and the right side of the cover plate 88 are respectively provided with cover plate guide post through holes, the periphery of the cover plate 88 is fixedly provided with the aluminum pressing strips 89, the aluminum pressing strips 89 positioned at the left side and the right side of the cover plate 88 are provided with bosses 95 at intervals, the boss guide post through holes are arranged on the boss 95, the cover plate 88 is arranged in the cover plate cabin 87, the cover plate guide post 92 sequentially penetrates through the cover plate guide post perforation and the boss guide post perforation to limit and fix the cover plate 88 in the cover plate cabin 87, one side of the cover plate cabin 87 is provided with a cover plate sucker 90 and a troweling tool 91, the upper end of the cover plate sucker 90 is fixedly provided with a sucker handle 96, the lower end of the cover plate sucker 90 is fixedly provided with a guide rod 97, the cover plate sucker 90 is provided with a cover plate sucker water pumping port, the support 1 is provided with a sucker seat 98, the sucker water pumping port is connected with the adsorption driver 41 through a water pipe, the lower end of the sucker seat 98 is fixedly connected with the support 1, a containing groove is arranged in the sucker seat 98, the upper end of the sucker seat 98 is provided with a limiting socket 99, the cover plate sucker 90 is arranged in the containing groove of the sucker seat 98, the guide rod 97 is inserted into the limiting socket 99, and the guide rod 97 is embedded into the limiting socket 99 to limit and fixedly connect the sucker 90 with the sucker seat 98, a troweling handle 100 is fixedly arranged at the upper end of the troweling tool 91, at least two limiting notches 101 are arranged on the periphery of a troweling plate of the troweling tool 91, a troweling positioning seat 102 is fixedly arranged in the support 1, a troweling tool groove is arranged on the troweling positioning seat 102, at least two limiting blocks 103 are arranged on the upper end surface of the troweling tool groove in the radial direction, the limiting blocks 103 are fixedly connected with the troweling positioning seat 102, the limiting notches 101 are matched with the limiting blocks 103, the troweling tool 91 is inserted into the troweling tool groove, the troweling tool 91 is limited and fixed in the troweling tool groove through the limiting blocks 103 after rotating, so that the sucker cover plate can be taken out after the sucker handle is clamped by a manipulator to rotate, then the sucker is placed above the cover plate cabin, the sucker is driven to adsorb a driver to make the sucker adsorb the cover plate, the manipulator is lifted upwards to be separated from the cover plate guide column, then the translation is taken out the cover plate from the cover plate export, places the damaged operation face on, gets the instrument of floating through the manipulator clamp, and the rotation is taken out, then presses the cover plate through floating the instrument, and terminal surface rubber coating in advance under the cover plate, and the rubber coating is not prevented around the boss, prevents a plurality of cover plate adhesions, and floating the instrument and pushing down the back, the cover plate is pasted on the damaged face.

The lower end of the support 1 is fixedly provided with a recovery bin 104, so that parts or sundries can be stored through the recovery bin.

According to the invention, a drag chain mechanism 105 is arranged in the support 1, the drag chain mechanism 105 comprises a drag chain 106 and a drag chain frame 107, at least one drag chain 106 is arranged in the support 1, the drag chain 106 is arranged on the drag chain frame 107, one end of the drag chain 106 is fixedly connected with the inner wall of the support 1, the other end of the drag chain 106 is fixedly connected with the transverse mounting frame 48, and the drag chain frame 107 is fixedly connected with the support 1, so that connecting cables of a manipulator driving moving mechanism, a manipulator and the like can be conveniently arranged in the drag chain, and the cable protecting function is realized.

In the invention, an illuminating lamp and a camera are fixedly arranged in the support 1 and/or on the mechanical arm 64 of the manipulator 30, so that underwater operation can be conveniently illuminated through the illuminating lamp, and the camera is used for shooting operation conditions, so that workers can conveniently know the working progress in time.

An electric cabin 111 is fixedly arranged in the support 1, a support control system is arranged in the electric cabin 111, and the operation water pump 3, the material storage hydraulic cylinder 11, the stirring motor 25, the grouting machine 5, the material storage detection displacement sensor, the pull wire sensor 18, the manipulator 30, the clean water replacement motor 34, the sucker hydraulic cylinder 40, the adsorption driver 41, the transverse driving hydraulic motor 51, the longitudinal driving hydraulic motor 59, the swing cylinder 63, the jaw oil cylinder 71, the illuminating lamp and the camera are respectively connected with the support control system, so that the manipulator operation can be controlled through the support control system.

According to the invention, the upper end of the support 1 is provided with the rack 29, the rack 29 is provided with the rack control system and the propeller, the rack is fixedly connected with the support, the rack control system is connected with the support control system, so that the support is driven to move to an operation area through the propeller, and the manipulator is controlled to perform underwater repair operation through the rack control system.

When in use, the support is fixedly arranged at the lower end of the machine frame of the robot, a floating body, a propeller, a hoisting frame, a machine frame control system, a sonar, a lighting system, a camera system and the like can be arranged on the machine frame, the sonar, the lighting system, the camera system and the support control system can also be arranged on the support, the support control system and the machine frame control system can adopt a PLC control system, the machine frame control system is connected with a host computer through cables, the sonar and the camera system are used for scanning and shooting underwater environment and detecting the underwater damage or crack in time, the propeller is used for driving the support to move to an operation surface, when in use, the machine frame is hoisted through the hoisting frame, raw materials are loaded in each storage bin as required and are generally configured according to a formula, the raw materials pushed out by the storage bins can be monitored by a storage detection displacement sensor, before use, the raw materials are firstly loaded on the shore and loaded in each storage bin, after underwater repairing operation, the storage bin returns to the shore, raw materials can be put into the storage bin again for recycling, the adsorption driver can be an adsorption water pump, and the adsorption water pump pumps water in the adsorption sucker out, so that the adsorption sucker generates suction; the adsorption driver can also be a structure similar to that of a clear water replacement mechanism, wherein an adsorption motor and a propeller are covered on a flow guide cover, one end of the flow guide cover is connected with a water pumping port of an adsorption sucker through a connecting pipe, the other end of the flow guide cover is in a grid shape, the adsorption motor is fixed in the flow guide cover, the propeller is fixed on an output shaft of the adsorption motor and drives the propeller to rotate so as to enable the adsorption sucker to generate negative pressure, and therefore the sucker generates suction force,

the underwater operation tool is shown in figure 27, from front to back, the underwater operation tool can comprise a hydraulic pickaxe, a hydraulic disc saw, a hydraulic mill and a hydraulic drill, and with reference to figure 28, a positioning shaft of the hydraulic pickaxe is inserted into a positioning sleeve of a tool table and is tightly extruded and fixed, a positioning plate of the hydraulic disc saw is embedded into a positioning plate of the tool table for limiting and fixing, positioning shafts of the hydraulic mill, the hydraulic mill and the hydraulic drill are respectively inserted into corresponding positioning sleeves on the tool table and are tightly extruded and fixed, the hydraulic pickaxe, the hydraulic disc saw, the hydraulic mill and the hydraulic drill are all in the prior art, during the use process, the underwater operation tool can be butted with a mechanical arm through a butting mechanism, an oil source can be a hydraulic oil tank, a support can also be provided with a hydraulic valve block and is connected with a support control system for controlling the underwater operation tool, the mechanical arms are divided into two types, and the lower end of the mechanical arm of one type of the mechanical arm is provided with a mechanical clamping jaw for grabbing a water gun for grabbing, The invention relates to a cover plate sucker or an underwater object, and the like, as shown in figure 20, the lower end of a mechanical arm of another mechanical arm is an underwater operation tool, the lower end of the mechanical arm is a hydraulic pickaxe or a hydraulic disc saw or a hydraulic grinding or hydraulic milling or hydraulic drilling, as shown in figures 21 and 22, when in use, a butt joint mechanism is selected to be adopted for butt joint according to needs, and the upper end of the mechanical arm can be provided with three swing cylinders to realize the functions of rotation and swing of the mechanical arm, so that the invention not only can repair large and small cracks, but also can be used for repairing large-area damaged surfaces, particularly:

the first method comprises the following steps: detecting and finding out that the seam of a large area of a horizontal plane or a vertical plane structure is damaged and needs to be repaired:

the first step is as follows: the machine frame drives the support to move to a damaged operation surface through the propeller, the position of the support is adjusted through the propeller, the support is arranged above the damaged operation surface, an operation opening of the support faces the damaged operation surface, the distance between the lower end of the support and the damaged operation surface is adjusted, the adsorption mechanism is started after the distance is proper, the control system starts the sucker hydraulic cylinder, the sucker hydraulic cylinder drives the adsorption suckers to approach the damaged operation surface until the adsorption suckers touch the damaged operation surface, the adsorption driver is started, water in each adsorption sucker is pumped out, and the adsorption suckers are adsorbed on the periphery of the damaged operation surface;

the second step is that: the control system turns on an illuminating lamp and a camera system in the support;

the third step: the clean water replacement mechanism is started, the control system starts the clean water replacement motor to drive the propeller to rotate, clean seawater enters the support from the water inlet of the support, turbid water in the support flows out from the water outlet of the support until the water in the support becomes clean, and the clean water replacement motor is always started during the whole operation period;

the fourth step: cutting the periphery of the damaged operation surface: the mechanical arm of the mechanical arm is connected with the hydraulic circular saw through the docking mechanism, as shown in figure 2 and figure 3, and figure 21-figure 29, the control system drives the mechanical arm to drive the moving mechanism and the swinging mechanism, so that the upper docking seat of the mechanical arm moves to the upper part of the lower docking seat of the hydraulic circular saw, the control system controls the telescopic oil cylinder to extend out to drive the upper docking seat to move downwards, the lower docking seat is clamped into the guide groove of the upper docking seat, the positioning block is embedded into the positioning notch to enable the upper docking seat to be in fast docking with the lower docking seat, the upper oil port is directly opposite to the lower oil port at the moment, the clamping jaw oil cylinder is driven to retract to enable the lower end of the clamping jaw to clamp the docking notch, the upper docking seat and the lower docking seat are docked, then the mechanical arm is driven to drive the moving mechanism, the hydraulic circular saw is driven to be separated from the positioning block of the tool table, the telescopic mechanism is driven, the telescopic oil cylinder is retracted, and the moving mechanism is driven by the mechanical arm, the mechanical arm drives the hydraulic circular saw to move to the damaged working surface, and after the hydraulic circular saw is cut, the hydraulic circular saw is put back to the original position according to the reverse operation;

the fourth step: knocking and chiseling a damaged operation face: the control system drives the manipulator to drive the moving mechanism and the swinging mechanism, so that the upper butt joint seat of the manipulator moves above the lower butt joint seat of the hydraulic pick, the control system controls the telescopic oil cylinder to extend out to drive the upper butt joint seat to move downwards, the lower butt joint seat is clamped into the guide groove of the upper butt joint seat, the positioning block is embedded into the positioning notch to enable the upper butt joint seat to be in quick butt joint with the lower butt joint seat, the upper oil port is opposite to the lower oil port at the moment, the clamping jaw oil cylinder is driven to retract to enable the lower end of the clamping jaw to clamp the butt joint notch, the butt joint of the upper butt joint seat and the lower butt joint seat is completed, the control system controls the telescopic oil cylinder to retract to lift the hydraulic pick, the manipulator drives the moving mechanism to drive the hydraulic pick to move to an operation surface to be repaired, concrete is chiseled, and after the operation is finished, the hydraulic pick is placed back to the original position according to the reverse operation;

the fourth step: cleaning a damaged working surface: the control system drives the manipulator to drive the moving mechanism, the manipulator grabs the large concrete through the mechanical clamping jaw and puts the large concrete into the recovery bin, the control system drives the manipulator to drive the moving mechanism, the manipulator grabs the water gun through the mechanical clamping jaw, the swing cylinder of the swing mechanism is started, the manipulator rotates, as shown in the attached drawing 30 and the attached drawing 33, the water gun is taken out from the water gun slot, the water gun is moved, the control system starts the operation water pump, the small concrete and residues on the operation surface are cleaned through water sprayed by the water gun until the operation surface is cleaned;

the fifth step: polishing a damaged working surface: the control system drives the manipulator to drive the moving mechanism and the swinging mechanism, so that the upper butt joint seat of the manipulator moves above the lower butt joint seat of the hydraulic mill, the control system controls the telescopic oil cylinder to extend out to drive the upper butt joint seat to move downwards, the lower butt joint seat is clamped into the guide groove of the upper butt joint seat, the positioning block is embedded into the positioning notch to enable the upper butt joint seat to be quickly butted with the lower butt joint seat, the upper oil port is opposite to the lower oil port at the moment, the clamping jaw oil cylinder is driven to retract to enable the lower end of the clamping jaw to clamp the butt joint notch, the butt joint of the upper butt joint seat and the lower butt joint seat is completed, the control system controls the telescopic oil cylinder to retract to lift the hydraulic mill, the manipulator drives the moving mechanism to drive the hydraulic mill to move to an operation surface to be repaired, the periphery of the operation surface is polished, the operation water pump is simultaneously started, residues after the operation surface is polished are cleaned by using a high pressure water gun, the reverse operation is carried out, putting the hydraulic mill and the high-pressure water gun back to the original position;

and a sixth step: coating slurry: the control system controls the material storage hydraulic cylinders of the material storage bins to drive the raw materials in the material storage bin raw material chambers to enter the mixing barrel, the quantity of the raw materials discharged by each storage bin is controlled by a storage detection displacement sensor, and after the required quantity is reached, the material storage hydraulic cylinder corresponding to the material storage bin is closed, the control system starts the stirring motor to stir, the raw materials are stirred for a certain time to form mixed slurry, simultaneously, an operating water pump is started, the operating water pump delivers water into a water inlet chamber of the pressurized-water bin, an air chamber of the pressurized-water bin injects air into the stirring barrel to drive the slurry in the stirring barrel to enter a grouting machine, meanwhile, the air is injected into each storage bin through the exhaust hole of the stirring barrel to maintain the air pressure balance of the storage bins and the stirring barrel, after the slurry enters the grouting machine, a discharge port of the grouting machine is connected with a grouting head through a hose, and a control system drives a mechanical arm to drive a moving mechanism, so that a mechanical clamping jaw of the mechanical arm is enabled to grab the grouting head to put the slurry on a damaged working surface;

the seventh step: after grouting is finished, if excess materials exist in the stirring barrel, the excess materials are completely discharged through the grouting machine, a water inlet can be formed in the stirring barrel and is connected with an operation water pump through a water pipe, water is conveyed into the stirring barrel by starting the operation water pump, and then the excess materials enter the grouting machine through a discharge port of the stirring barrel and are discharged until clear water is discharged by the grouting machine;

eighth step: leveling a damaged operation surface: after the slurry is coated, the control system drives the manipulator to drive the moving mechanism, the manipulator grabs a floating handle of a floating tool through the mechanical clamping jaw, a swing cylinder of the swing mechanism is started, the manipulator rotates to take the floating tool out of the floating positioning seat, then the manipulator drives the moving mechanism to perform floating operation on a damaged operation surface, after the floating operation is completed, the manipulator clamps a hydraulic gun, an operation water pump is started to clean the floating tool, after the cleaning is completed, the control system drives the manipulator to drive the moving mechanism and the swing mechanism, and the floating tool is placed back to the floating positioning seat to complete the repairing operation;

and the second method comprises the following steps: detect and discover that the inclined plane is damaged by a large scale or the inclined plane structure seam is damaged, when needing to be repaired:

the first step to the fifth step are the same as the first step to the fifth step of the first type;

and a sixth step: and (3) covering a cover plate: the control system drives the mechanical arm to drive the moving mechanism, the mechanical arm grabs a sucker handle of the cover plate sucker through the mechanical clamping jaw, a swing cylinder of the swing mechanism is started to enable the mechanical arm to rotate and take out the cover plate sucker from the sucker seat, the control system drives the mechanical arm to drive the moving mechanism, the mechanical arm drives the cover plate sucker to move to a cover plate suction port of the cover plate cabin, the adsorption driver is started to enable the cover plate sucker to suck the cover plate and to move out from a cover plate outlet in a translation mode, then the mechanical arm drives the cover plate to move to an operation surface to be repaired, glue is coated on the bottom surface of the cover plate in advance and used for being adhered to the operation surface to be repaired, no glue is arranged on the periphery of the boss to prevent the multilayer cover plates from being adhered, the cover plate is adhered to cover a damaged operation surface, the control system drives the mechanical arm to drive the moving mechanism, the mechanical clamping jaw of the other mechanical arm is enabled to grab a leveling handle of a leveling tool, and the swing cylinder of the swing mechanism is started, the manipulator rotates, the floating tool is taken out of the floating positioning seat, then the manipulator is driven to drive the moving mechanism, the mechanical clamping jaw of the manipulator drives the floating tool to move to the cover plate, and the cover plate is tightly pressed, so that the cover plate is tightly adhered to the damaged operation surface;

the seventh step: installing an expansion screw: the step can select whether to install according to the site working condition, when the expansion screw needs to be installed, before the expansion screw enters underwater, a screw hole can be punched in advance on the cover plate, the control system drives the mechanical arm to drive the moving mechanism and the swinging mechanism, so that the upper butt joint seat of the mechanical arm moves to the upper part of the lower butt joint seat of the hydraulic drill, the control system controls the telescopic oil cylinder to extend out to drive the upper butt joint seat to move downwards, the lower butt joint seat is clamped into the guide groove of the upper butt joint seat, the positioning block is embedded into the positioning notch to enable the upper butt joint seat to be in quick butt joint with the lower butt joint seat, the upper oil port is opposite to the lower oil port at the moment, the claw oil cylinder is driven to retract, so that the lower end of the claw clamps the butt joint notch, the upper butt joint seat is in butt joint with the lower butt joint seat, the control system controls the telescopic oil cylinder to retract, the hydraulic drill is lifted, the mechanical arm drives the moving mechanism to drive the hydraulic drill to move onto the cover plate, and holes are punched downwards along the screw hole punched in advance on the cover plate, then, the mechanical clamping jaw of the other mechanical arm grabs the expansion screw and puts the expansion screw into the drilled hole by driving the moving mechanism through the mechanical arm, and the mechanical clamping jaw rotates to tighten the expansion screw so that the cover plate is firmly adhered to the operation surface to be repaired;

and a sixth step: coating slurry: before entering underwater, grouting holes can be punched on the cover plate at intervals in advance, the control system controls the storage hydraulic cylinders of the storage bins to drive raw materials in the storage bin raw material chambers to enter a stirring barrel, the quantity of the raw materials discharged from the storage bins is controlled through a storage detection displacement sensor, the storage hydraulic cylinders corresponding to the storage bins are closed after the required quantity is reached, the control system starts a stirring motor to stir, the raw materials are stirred for a certain time to form mixed slurry, meanwhile, an operation water pump is started to convey water into a water inlet chamber of a pressurized-water bin, an air is injected into the stirring barrel through a pressurized-water bin air chamber to drive the slurry in the stirring barrel to enter a grouting machine, meanwhile, air is injected into the storage bins through exhaust holes of the stirring barrel, the air pressure balance of the storage bins and the stirring barrel is maintained, after the slurry enters the grouting machine, a discharge port of the grouting machine is connected with a grouting head through a hose, and the control system drives a manipulator to drive a moving mechanism, the mechanical clamping jaw of the manipulator is prompted to grab the grouting head and perform grouting in the grouting hole of the cover plate until the space between the cover plate and the operation surface to be repaired is full of grouting, the grouting machine performs grouting while an operation water pump transmits water to the pressurized-water bin to keep the underwater quality balance of the whole support, and meanwhile, the pressurized-water bin injects air into the stirring barrel to prevent the stirring barrel from being vacuumized due to slurry output;

the seventh step: after grouting is finished, if excess materials exist in the stirring barrel, the excess materials need to be completely discharged through a grouting machine, the stirring barrel can be provided with a water inlet and is connected with an operation water pump through a water pipe, water is conveyed into the stirring barrel by starting the operation water pump, then the water enters the grouting machine through a discharge port of the stirring barrel and is discharged until the discharge of the grouting machine is clean water, and the repair of the operation surface to be repaired is finished;

and the third is that: when the horizontal plane and the inclined plane cracks need to be repaired:

the first to third steps are the same as the first to third steps of the first type;

the fourth step: cleaning a crack working face: the control system drives the manipulator to drive the moving mechanism, the manipulator grabs the water gun through the mechanical clamping jaw, a swing cylinder of the swing mechanism is started, the manipulator rotates to take the water gun out of a water gun slot and move the water gun to a crack operation surface, and the control system starts an operation water pump to clean the crack operation surface by spraying water through the water gun;

the fifth step: sealing the crack working face: the control system drives the mechanical arm to drive the moving mechanism, the mechanical arm grabs a sucker handle of the cover plate sucker through the mechanical clamping jaw, a swing cylinder of the swing mechanism is started to enable the mechanical arm to rotate and take out the cover plate sucker from the sucker seat, the control system drives the mechanical arm to drive the moving mechanism, the mechanical arm drives the cover plate sucker to move to a cover plate suction port of the cover plate cabin, the adsorption driver is started to enable the cover plate sucker to suck the cover plate and move out from a cover plate outlet in a translation mode, then the mechanical arm drives the cover plate to move to a crack operation surface to cover the crack, the bottom surface of the cover plate is coated with glue in advance and is used for being adhered to the crack operation surface, no glue is arranged on the periphery of the boss to prevent multiple layers of cover plates from being adhered to the crack of the crack operation surface, the control system drives the mechanical arm to drive the moving mechanism, so that the mechanical clamping jaw of the other mechanical arm grabs a leveling handle of the leveling tool, and starts the swing cylinder of the swing mechanism, the manipulator rotates, the floating tool is taken out of the floating positioning seat, then the manipulator is driven to drive the moving mechanism, the mechanical clamping jaw of the manipulator drives the floating tool to move to the cover plate, and the cover plate is tightly pressed, so that the cover plate is tightly adhered to the crack operation surface;

and a sixth step: installing an expansion screw: the step can be selected according to the field working condition, when an expansion screw needs to be installed, before the expansion screw enters underwater, a screw hole can be punched in advance on the cover plate, the control system drives the mechanical arm to drive the moving mechanism and the swinging mechanism, so that the upper butt joint seat of the mechanical arm moves to the upper part of the lower butt joint seat of the hydraulic drill, the control system controls the telescopic oil cylinder to extend out to drive the upper butt joint seat to move downwards, the lower butt joint seat is clamped into the guide groove of the upper butt joint seat, the positioning block is embedded into the positioning notch to enable the upper butt joint seat to be in quick butt joint with the lower butt joint seat, the upper oil port is opposite to the lower oil port at the moment, the claw oil cylinder is driven to retract, so that the lower end of the claw clamps the butt joint notch, the upper butt joint seat is in butt joint with the lower butt joint seat, the control system controls the telescopic oil cylinder to retract, the hydraulic drill is lifted, the mechanical arm drives the moving mechanism to drive the hydraulic drill to move onto the cover plate, and the screw hole punched downwards along the screw hole punched in advance on the cover plate, then, the mechanical clamping jaw of the other mechanical arm grabs an expansion screw and puts the expansion screw into the drilled hole by driving the moving mechanism through the mechanical arm, and the expansion screw is screwed by the mechanical clamping jaw in a rotating manner so that the cover plate is firmly adhered to the crack working surface;

the seventh step: drilling a grouting hole: the control system controls the driving manipulator to drive the moving mechanism, the manipulator drives the hydraulic drill to drill grouting holes downwards at intervals on the cover plates on two sides of the upper end face of the crack, the grouting holes point to the crack from the cover plates, and after drilling is finished, the hydraulic drill is placed back to the original position;

eighth step: cleaning a grouting hole: the control system drives the manipulator to drive the moving mechanism, the manipulator grabs the water gun through the mechanical clamping jaw and moves to the grouting hole, and the control system starts the operation water pump to spray water through the water gun to clean the grouting hole;

the ninth step: installing a grouting nozzle: the control system drives the mechanical arm to drive the moving mechanism, the mechanical arm grabs a grouting nozzle in the storage bin through a mechanical clamping jaw, and the mechanical arm is correspondingly inserted and fixed to one grouting hole in the previous step and screwed down and fixed;

the tenth step: injecting slurry: the control system controls the material storage hydraulic cylinders of the material storage bins to drive the raw materials in the material storage bin raw material chambers to enter a stirring barrel, the material storage detection displacement sensors control the quantity of the raw materials discharged from the material storage bins, the material storage hydraulic cylinders corresponding to the material storage bins are closed after the required quantity is reached, the control system starts a stirring motor to stir, the raw materials are stirred for a certain time to form mixed slurry, meanwhile, an operation water pump is started, the operation water pump conveys water into a water inlet chamber of a pressurized-water bin, air is injected into the stirring barrel through an air chamber of the pressurized-water bin, the slurry in the stirring barrel is driven to enter a grouting machine, meanwhile, air is injected into the material storage bins through exhaust holes of the stirring barrel, the air pressure balance of the material storage bins and the stirring barrel is maintained, after the slurry enters the grouting machine, a discharge port of the grouting machine is connected with a grouting head through a hose, the control system drives a mechanical arm driving moving mechanism to enable mechanical clamping jaws of the mechanical arm to grab the grouting head, grouting into the grouting holes with the grouting nozzles until the next grouting hole emits the slurry, then driving a mechanical arm to grab the grouting nozzles in the storage bin through a mechanical clamping jaw, inserting the grouting nozzles into the grouting holes emitting the slurry, screwing and fixing the grouting nozzles, starting grouting until the next grouting hole emits the slurry, repeating the steps until the crack is filled with the slurry, installing a one-way valve in the grouting nozzles, not discharging the slurry after grouting, and conveying water into a pressurized water bin by an operating water pump while grouting by the grouting machine to keep the underwater quality balance of the whole support, and simultaneously injecting air into the stirring barrel by the pressurized water bin to prevent the stirring barrel from being vacuumized due to slurry output;

the eleventh step: cutting off the exposed part of the grouting nozzle: after the slurry is initially solidified, the control system drives the manipulator to drive the moving mechanism and the swinging mechanism, so that the upper butt joint seat of the manipulator moves above the lower butt joint seat of the hydraulic mill, the control system controls the telescopic oil cylinder to extend out to drive the upper butt joint seat to move downwards, the lower butt joint seat is clamped into the guide groove of the upper butt joint seat, the positioning block is embedded into the positioning notch to enable the upper butt joint seat to be in quick butt joint with the lower butt joint seat, the upper oil port is opposite to the lower oil port at the moment, the claw oil cylinder is driven to retract, the lower end of the claw clamps the butt joint notch, the butt joint of the upper butt joint seat and the lower butt joint seat is completed, the control system controls the telescopic oil cylinder to retract, the hydraulic mill is lifted, the manipulator drives the moving mechanism to drive the hydraulic mill to move to the grouting nozzle, the leaked part of the grouting nozzle is cut off, the manipulator sequentially cuts off the leaked part of each grouting nozzle, and the hydraulic mill is returned to the original position after the cutting off is completed, completing the crack repairing operation; the invention has simple structure, a plurality of water guns can be arranged, water gun sockets can be independently arranged in the working cavity of the support, the water guns are limited and fixed in the water gun sockets by adopting a structure similar to a cover plate sucker and a sucker seat, in addition, the raw materials pushed out of each storage bin can be determined according to the formula requirement of the required coating slurry, the moving distance of the storage partition plate can be known through a storage detection displacement sensor, then the volume of the pushed raw materials can be calculated by honest interface agents on the inner wall of the storage bin, similarly, a pull line sensor is arranged in the pressurized water bin, the moving distance of the air-water partition plate can be known through the pull line sensor, and the volume of the air exhausted by the pressurized water bin can be known through multiplying the interface agents of the pressurized water bin, therefore, the invention has high flexibility, the slurry can be freely configured according to the requirement, the pressurized water bin can not only balance the whole support under water through water injection, but also can ensure the balance of the stirring bin under water through exhaust, The air pressure in the storage bin is balanced, so that the grouting machine can smoothly discharge materials, and the manipulator is connected with an underwater operation tool through the butt joint mechanism, so that the underwater repair operation is more systematic and complete.

Due to the adoption of the structure, the invention has the advantages of reusability, low use cost, good stability, high safety, capability of repairing large-area damage, high operation efficiency and the like.