A wharf girder slab member repairing device and repairing method

Abstract

The application discloses a kind of wharf beam slab component repair device and repair method of building beam slab technical field, to solve the problem of manual repair inconvenience in prior art.It includes control system, construction mechanism and mobile platform;The construction mechanism at least includes concrete cleaner, steel bar deruster and daubing device;The control system is connected with the mobile platform signal, to control the mobile platform drives the construction mechanism to move to target position;To drive the concrete cleaner according to the control instruction issued by the control system to execute concrete cleaning operation to target repair area, drive the steel bar deruster to execute cleaning operation to the concrete residue of target repair area and execute steel bar derusting operation to exposed steel bar, drive the daubing device to execute daubing operation to target repair area;Solved the problem that beam slab component exists in repair process, such as great operation difficulty, high cost, easy to be affected by environment during construction, there is certain dangerousness etc.

Description

TECHNICAL FIELD

[0001] The present application relates to a wharf beam slab component repairing device and a repairing method, and belongs to the technical field of building beam slabs. BACKGROUND

[0002] A beam slab component is a building structure composed of a slab and a beam supporting the slab, and is generally made of reinforced concrete material with good bending resistance. In real life, there are many beam slab components exposed to the open air, and the bottom of the beam slab component is particularly prone to damage and corrosion due to the erosion of various natural factors (such as seawater, wind and rain). Long-term erosion will cause damage to the bottom of the beam slab component, which will bring great safety hazards to the wharf operation, and the damaged component must be repaired and reinforced.

[0003] In the existing repairing construction process of beam slab components, it is difficult for manual work to accurately reach the target repair area due to the narrow space where the component to be repaired is located, resulting in high difficulty, high cost, and easy environmental influence during construction, and there is a certain danger during operation. Therefore, how to overcome the defects of manual repair of beam slab components has become an important problem to be solved.

[0004] The information disclosed in this BACKGROUND section is only intended to increase an understanding of the general context in which the present application can be practiced. It is not admitted that any of the information provided in this section is prior art. SUMMARY

[0005] The purpose of the present application is to overcome the deficiencies in the prior art, and to provide a wharf beam slab component repairing device and a repairing method, which solves the problems of high difficulty, high cost, easy environmental influence during construction, and certain danger during operation of beam slab components in the manual repair process by controlling the operation of the construction mechanism and the mobile platform through the control system.

[0006] To solve the above technical problems, the present application is realized by using the following technical scheme:

[0007] In a first aspect, the present application provides a wharf beam slab component repairing device, comprising a control system, a construction mechanism, and a mobile platform.

[0008] The construction mechanism at least includes a concrete cleaner, a steel bar deruster, and a mortar applicator.

[0009] The control system is signal connected with the mobile platform to control the mobile platform to drive the construction mechanism to move to a target position.

[0010] The construction mechanism is signal connected with the control system to drive the concrete cleaner to perform concrete cleaning operation on the target repair area, drive the steel bar deruster to perform cleaning operation on the concrete residue of the target repair area and perform steel bar derusting operation on the exposed steel bar, and / or drive the plasterer to perform plastering operation on the target repair area according to the control instruction issued by the control system.

[0011] Further, the construction mechanism further comprises a mechanical arm and a working plate in transmission connection with the mechanical arm, and the concrete cleaner, the steel bar deruster and the plasterer are connected to the working plate through telescopic rods respectively.

[0012] The control system is signal connected with the mechanical arm to control swinging of the mechanical arm so as to drive the concrete cleaner, the steel bar deruster and the plasterer to move to the target position.

[0013] Further, the concrete cleaner comprises a reamer fixing frame, a plurality of reamers elastically connected to the reamer fixing frame and a first pressure sensor for detecting pressure between the reamers and the target repair area, and the control system controls start and stop of the reamers according to the pressure signal collected by the first pressure sensor.

[0014] Further, the steel bar deruster comprises a driving shaft, a steel wire brush arranged on the driving shaft and a second pressure sensor for detecting pressure between the steel wire brush and the target repair area, and the control system controls rotation of the driving shaft according to the pressure signal collected by the second pressure sensor to drive the steel wire brush to perform derusting operation on the exposed steel bar in the target repair area.

[0015] Further, the plasterer comprises a plastering mold connected to a grout tank through a constant-pressure grouting system, and the plastering mold is provided with a plastering opening and a demolding opening, and a side door is sealingly connected to the demolding opening; the side door is openably and closably connected to the plastering mold.

[0016] During plastering, the control system controls the plastering opening of the plastering mold to cover and seal the target repair area to form a sealed grouting interval, and controls the constant-pressure grouting system to inject grout into the grouting interval; after the grout in the grouting interval is formed, the side door is opened, and the plastering mold is controlled to move so that the formed grout is demolded from the plastering mold.

[0017] Further, a plurality of demolding agent sprayers are arranged on the plastering mold, and the control system controls each demolding agent sprayer to spray demolding agent into the plastering mold before grouting.

[0018] Further, the constant pressure grouting system comprises a constant pressure grouting pump, a grouting valve, an electric flow control valve and a third pressure sensor for detecting the pressure in the grouting interval, the constant pressure grouting pump is connected with the grouting valve through the electric flow control valve, and the control system controls the start and stop of the constant pressure grouting pump and the grouting valve and the flow of the electric flow control valve according to the data collected by the third pressure sensor.

[0019] Further, the image acquisition mechanism is further included, and the control system determines the target repair area and the working condition image of the target repair area according to image analysis of images collected by the image acquisition mechanism.

[0020] Further, the cooling mechanism is further included, and the cooling mechanism is used for cooling the concrete remover and / or the steel bar deruster in the working state.

[0021] In a second aspect, the present application provides a repair method of a wharf beam slab component repair device, which is executed by the control system and characterized in that the method comprises the following steps.

[0022] The moving platform is controlled to move to a target position;

[0023] The concrete remover is driven to perform a concrete removing operation on the target repair area, the steel bar deruster is driven to perform a cleaning operation on concrete residues of the target repair area and a steel bar derusting operation on exposed steel bars, and / or the troweling device is driven to perform a troweling operation on the target repair area.

[0024] Compared with the prior art, the present application has the following beneficial effects:

[0025] The control system is used for controlling the moving platform to drive the construction mechanism to move to a target position, so that the problem that manual operation is difficult to accurately reach the target repair area due to narrow space where the target repair component is located is solved; the control system is used for driving the concrete remover to perform a concrete removing operation on the target repair area, driving the steel bar deruster to perform a cleaning operation on concrete residues of the target repair area and a steel bar derusting operation on exposed steel bars, and / or driving the troweling device to perform a troweling operation on the target repair area, so that the problems of high operation difficulty, high cost, easy to be affected by the environment during construction and certain danger in the manual repair process of the beam slab component are solved.

[0026] The image acquisition mechanism is arranged, so that the control system can determine the target repair area and the working condition image of the target repair area according to image analysis of images collected by the image acquisition mechanism, and the target repair area is surveyed, which is convenient for subsequent repair. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic view of the wharf beam slab component repair device provided in Embodiment One.

[0028] Figure 2 is the structural schematic diagram of the concrete remover in the wharf beam slab component repairing device provided in embodiment one;

[0029] Figure 3 is the structural schematic diagram of the steel bar deruster in the wharf beam slab component repairing device provided in embodiment one;

[0030] Figure 4 is the structural schematic diagram of the troweling device side door when closed in the wharf beam slab component repairing device provided in embodiment one;

[0031] Figure 5 is the structural schematic diagram of the troweling device side door when opened in the wharf beam slab component repairing device provided in embodiment one;

[0032] In the figure: 1, a moving platform; 2, a mechanical arm; 3, a working plate; 4, an extension rod; 5, a concrete remover; 6, a steel bar deruster; 7, a troweling device; 8, a reamer fixing frame; 9, a reamer; 10, a driving shaft; 11, a steel wire brush; 12, a troweling mold; 13, a side door; 14, a release agent sprayer; 15, an image acquisition mechanism; 16, a cooling mechanism. DETAILED DESCRIPTION

[0033] The application will be further described below in conjunction with the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0034] In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second" and the like are only used for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0035] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] Embodiment one

[0037] The present embodiment provides a wharf beam slab component repairing device to solve the problems of high difficulty, high cost, easy to be affected by environment during construction, and certain danger in the manual repairing process of the prior art; with reference to Figure 1 , including a control system, a construction mechanism, and a mobile platform 1; the construction mechanism at least includes a concrete remover 5, a steel bar deruster 6, and a daubing device 7; the control system is in signal connection with the mobile platform 1 to control the mobile platform 1 to drive the construction mechanism to move to a target position, solving the problem that the target repairing component is located in a narrow space, which makes it difficult for manual work to accurately reach the target repairing area; the construction mechanism is in signal connection with the control system, which can first drive the concrete remover 5 to perform a concrete removing operation on the target repairing area according to the control instruction issued by the control system, and then drive the steel bar deruster 6 to perform a cleaning operation on the concrete residues of the target repairing area and a steel bar derusting operation on the exposed steel bars after the concrete removing operation is completed, and finally drive the daubing device 7 to perform a daubing operation on the target repairing area, the above three construction operations can be selectively performed according to the actual working condition of the target repairing area, and the cooperation of the control system and the construction mechanism replaces the traditional series of repairing work processes of concrete removing, steel bar derusting, and daubing by manual work, saving the labor cost and avoiding the danger caused by manual work.

[0038] To realize that the construction mechanism can accurately reach the target repair area, the construction mechanism further comprises a mechanical arm 2 and a work plate 3 in transmission connection with the mechanical arm 2, the concrete cleaner 5, the steel bar deruster 6 and the plastering device 7 are connected to the work plate 3 through the telescopic rod 4, preferably, the concrete cleaner 5, the steel bar deruster 6 and the plastering device 7 are detachably connected with the telescopic rod 4, so as to select the construction mechanism with different sizes according to different working conditions, the control system controls the telescopic rod 4 to expand and contract, so that the concrete cleaner 5, the steel bar deruster 6 and the plastering device 7 can approach or move away from the target repair area in the parallel direction of the telescopic rod 4; the control system is in signal connection with the mechanical arm 2, so as to control the mechanical arm 2 to swing, thereby driving the concrete cleaner 5, the steel bar deruster 6 and the plastering device 7 to move to the target position, and specifically, how the mechanical arm 2 and the telescopic rod 4 cooperate to realize that the concrete cleaner 5, the steel bar deruster 6 and the plastering device 7 are close to the target repair area is determined according to the actual working site condition.

[0039] Reference Figure 2 The concrete cleaner 5 comprises a reamer fixing frame 8, a plurality of reamers 9 elastically connected to the reamer fixing frame 8 and a first pressure sensor for detecting the pressure between the reamer 9 and the target repair area, preferably, the reamer is detachably connected with the reamer fixing frame, so as to replace the reamer, preferably, considering that the erosion and damage effects of the environment and many other incentives on the concrete are not the same, the thicknesses of different damage layers of the same area are also not the same, the rotation of each reamer 9 can be controlled by the control system, the same first pressure sensor is arranged in each reamer 9, through cleaning a concrete area, the corresponding position reamer 9 is stretched and retracted by the elastic force, continues to adhere to the working area, and the above operation is repeated until the cleaning work is completed, the design is flexible, and the original concrete with good strength is maximally guaranteed; the telescopic amount of the reamer 9 is also proportional to the pressure received by the reamer 9, which can better play the cleaning effect, and the control system controls the start and stop of the reamer 9 according to the pressure signal collected by the first pressure sensor;

[0040] In order to make the reamer 9 only clean the concrete part with insufficient strength, in the actual operation process, since the f tk The standard value of the concrete axial tensile strength is a fixed value, so there is a maximum force that cannot clean the concrete with standard strength, and the calculation formula is f rk S, specifically, the calculation formula of the actual maximum power value of the reamer is Wherein P=torque*W, f tk S is the maximum setting value of the internal force sensor of the reamer, S is the contact area of the reamer with the component during work, W=2πn, torque=f tkS*r (working radius of the reamer), k is a correction factor, which is less than 1 considering the decay of the strength of the damaged concrete, and θ is the angle between the front end face of the reamer and the surface of the component. The power of the reamer 9 can be continuously increased by the control system. When the concrete in the current target area can be removed, the power of the reamer 9 is maintained. When the concrete in the current target area cannot be removed, the power of the reamer 9 is increased. The power of the reamer 9 cannot be greater than the maximum power value of the existing concrete that cannot be removed. The process of increasing the power of the reamer 9 enables the reamer 9 to remove only the part of the concrete that does not meet the strength requirement and cannot damage the concrete that meets the strength requirement, thereby avoiding unnecessary damage to the beam and slab component.

[0041] With reference to Figure 3 The steel bar rust remover 6 comprises a driving shaft 10, a steel wire brush 11 arranged on the driving shaft 10, and a second pressure sensor for detecting the pressure between the steel wire brush 11 and the target repair area. The control system controls the rotation of the driving shaft 10 according to the pressure signal collected by the second pressure sensor to drive the steel wire brush 11 to perform rust removal operation on the exposed steel bars in the target repair area. The steel wire brush 11 and the driving shaft 10 can be arranged in detachable connection, thereby facilitating the cleaning and replacement of the steel wire brush 11.

[0042] With reference to Figure 4 The plastering device 7 comprises a plastering mold 12 connected to a grout tank through a constant pressure grouting system. The plastering mold 12 is provided with a plastering opening and a demolding opening. A side door 13 is sealingly connected to the demolding opening. A rubber pad can be arranged at the demolding opening and the side door 13 to increase the sealing performance. The side door 13 is hingedly connected to the plastering mold 12.

[0043] During plastering, the control system controls the plastering opening of the plastering mold 12 to cover the target repair area to form a sealed grouting interval, and controls the constant pressure grouting system to inject grout into the grouting interval. After the grout in the grouting interval is formed, the side door 13 is opened, and the plastering mold 12 is controlled to move, so that the formed grout is demolded from the plastering mold 12 and falls into the sealed grouting interval, thereby achieving the plastering of the target repair area.

[0044] The plastering mold 12 is provided with a plurality of demolding agent sprayers 14. Before grouting, the control system controls the demolding agent sprayers 14 to spray demolding agent into the plastering mold 12. The demolding agent is a coating layer used on the interface between the surfaces of two objects that are easy to stick to each other. It can make the surfaces easy to separate, smooth and clean, so that the formed grout is more easily demolded from the plastering mold 12.

[0045] The constant pressure grouting system comprises a constant pressure grouting pump, a grouting valve, an electric flow control valve, and a third pressure sensor for detecting the pressure in the grouting area, the constant pressure grouting pump is connected to the grouting valve through the electric flow control valve, the control system controls the start and stop of the constant pressure grouting pump and the grouting valve according to the data collected by the third pressure sensor, and controls the flow of the electric flow control valve; the constant pressure grouting system can be arranged in the mobile platform 1, and the constant pressure grouting is realized through the control system.

[0046] Further comprising an image acquisition mechanism 15, the control system determines the target repair area and the working condition image of the target repair area according to the image analysis of the image collected by the image acquisition mechanism 15, the image acquisition mechanism 15 can be arranged on the working plate 3 and used for collecting the working condition image of the target repair area, and the image acquisition mechanism 15 can be selected from a camera, an image acquisition card and the like.

[0047] Further comprising a cooling mechanism 16 for cooling the concrete remover 5 and / or the steel bar deruster 6 in the working state; the cooling mechanism 16 can be arranged in the mobile platform 1, and the cooling mechanism 16 comprises a water tank, a water pump and a water delivery pipe, the water pump is connected to the water tank, the output end of the water pump is connected to the water delivery pipe, the other end of the water delivery pipe extends to the working plate 3 through the mechanical arm 2, and the output end of the water delivery pipe is provided with a water sprayer, the water sprayer and the working plate 3 are connected to each other, the water pump is started by the control system when cooling is needed, the cooling liquid is conveyed from the water tank to the water sprayer along the water delivery pipe, and is sprayed for cooling; the cooling liquid can be any liquid that can play a cooling role and will not cause damage to the construction mechanism, so that damage of the construction mechanism caused by high temperature due to friction or other reasons is prevented.

[0048] Embodiment two

[0049] The embodiment provides a repair method of a wharf beam plate component repair device, the repair method can be realized by using the beam plate component repair device provided in embodiment one, and specifically comprises the following steps:

[0050] The control system controls the mobile platform 1 to reach the bottom of the specified damaged beam plate component, then controls the image acquisition mechanism 15 to observe and analyze the damaged area, and uploads the observation data to the control system; after the control system analyzes and determines the working condition image and the working range, the control system controls the mechanical arm 2 to move to a suitable working position;

[0051] The control system controls the concrete remover 5 to start working, and the telescopic rod 4 is used to tightly adhere the concrete remover 5 to the damaged surface of the component; the control system sets a maximum running power for the reamer 9 according to the strength grade of the original component The control system controls the mechanical arm 2 to drive the concrete remover 5 to perform the removing operation, preferably, when the reamer removes a concrete area, the corresponding position of the reamer is stretched and retracted upward by the elastic force to continue running closely with the new damaged position; if the control system detects that the reamer force sensor value reaches the maximum set value, at this time, it is considered that the reamer contacts the concrete or steel structure with perfect strength, the corresponding position of the reamer stops running, and the remaining reamers continue to perform the removing work until the concrete removing work is completed; in addition, the control system starts the cooling mechanism 16 to cool the concrete remover 13 at a certain time interval;

[0052] The control system controls the steel bar deruster 6 to start working, and uses the telescopic rod 4 to tightly adhere the steel bar deruster 6 to the surface of the above-mentioned concrete area which has been removed; the control system 3 starts the drive shaft 10 to drive the steel wire brush 11 to work, and controls the image acquisition mechanism 15 to observe at the same time, if the above-mentioned concrete removing operation has not removed to the steel bar area, the control system controls the steel bar deruster 6 to remove the concrete residue, if the concrete removing operation has removed to the steel bar area, the control system controls the steel bar deruster 6 to remove the concrete residue and perform the derusting treatment on the steel bar; in addition, the control system starts the cooling mechanism 16 to cool the concrete remover 13 at a certain time interval;

[0053] The control system controls the steel bar deruster 6 to start working, and uses the telescopic rod 4 to tightly adhere the steel bar deruster 6 to the surface of the above-mentioned concrete area which has been removed; the control system 3 starts the drive shaft 10 to drive the steel wire brush 11 to work, and controls the image acquisition mechanism 15 to observe at the same time, if the above-mentioned concrete removing operation has not removed to the steel bar area, the control system controls the steel bar deruster 6 to remove the concrete residue, if the concrete removing operation has removed to the steel bar area, the control system controls the steel bar deruster 6 to remove the concrete residue and perform the derusting treatment on the steel bar; in addition, the control system starts the cooling mechanism 16 to cool the concrete remover 13 at a certain time interval;

[0054] Thus, the problems of high difficulty, high cost, being easily affected by environment during construction, and certain danger in the manual repairing process of the beam slab component are solved.

[0055] The beam slab component repairing device provided by the application is suitable for repairing the beam slab component of a high-pile wharf. A large number of beam slab components exist in the high-pile wharf, which is a wharf structure type with piles as the foundation and beam slab components as the main components. The structure is simple and has strong adaptability, but the durability is poor, the structure is easy to be damaged, and it is difficult to maintain and reinforce. In the marine environment, the bottom of the beam slab component of the high-pile wharf is easy to be damaged and corroded due to the erosion of seawater. Under the long-term erosion, the bottom of the beam slab component of most of the in-service high-pile wharfs in China is damaged.

[0056] The above merely describes the preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A wharf deck beam member repair apparatus characterised by, The construction mechanism comprises a concrete remover (5), a reinforcing bar deruster (6) and a plastering device (7); The control system is in signal connection with the mobile platform (1) to control the mobile platform (1) to drive the construction mechanism to move to a target position; The construction mechanism is in signal connection with the control system to drive the concrete remover (5) to perform a concrete removing operation on a target repair area according to a control instruction issued by the control system, drive the reinforcing bar deruster (6) to perform a cleaning operation on concrete residues of the target repair area and a reinforcing bar derusting operation on exposed reinforcing bars, and / or drive the plastering device (7) to perform a plastering operation on the target repair area; The concrete remover (5) comprises a reamer fixing frame (8), a plurality of reamers (9) elastically connected to the reamer fixing frame (8) and a first pressure sensor for detecting pressure between the reamers (9) and the target repair area, and the control system controls start and stop of the reamers (9) according to a pressure signal collected by the first pressure sensor; The reinforcing bar deruster (6) comprises a driving shaft (10), a steel wire brush (11) arranged on the driving shaft (10) and a second pressure sensor for detecting pressure between the steel wire brush (11) and the target repair area, and the control system controls rotation of the driving shaft (10) to drive the steel wire brush (11) to perform a derusting operation on exposed reinforcing bars in the target repair area according to a pressure signal collected by the second pressure sensor; The plastering device (7) comprises a plastering mold (12) connected to a slurry tank through a constant-pressure grouting system, the plastering mold (12) is provided with a plastering opening and a demolding opening, and a side door (13) is sealingly connected to the demolding opening; the side door (13) is in openable and closable connection with the plastering mold (12); During plastering, the control system controls the plastering opening of the plastering mold (12) to cover and seal the target repair area to form a grouting interval, and controls the constant-pressure grouting system to grout the grouting interval; after the slurry in the grouting interval is formed, the side door (13) is opened, and the plastering mold (12) is controlled to move so that the formed slurry is demolded from the plastering mold (12); The construction mechanism further comprises an image acquisition mechanism (15), and the control system analyzes and determines a target repair area and a working condition image of the target repair area according to an image collected by the image acquisition mechanism (15); The construction mechanism further comprises a cooling mechanism (16) for cooling and cooling the concrete remover (5) and / or the reinforcing bar deruster (6) in a working state. The construction mechanism further comprises a mechanical arm (2) and a working plate (3) in transmission connection with the mechanical arm (2), and the concrete remover (5), the reinforcing bar deruster (6) and the plastering device (7) are connected to the working plate (3) through telescopic rods (4) respectively; 2. A quay girder slab member repair apparatus according to claim 1, characterized in that, ​ The control system is signal connected with the mechanical arm (2) to control the swing of the mechanical arm (2) to drive the concrete cleaner (5), the reinforcing steel bar rust remover (6) and the plastering device (7) to move to the target position.

3. A quay girder slab member repair apparatus according to claim 1, characterized in that, A plurality of release agent sprayers (14) are arranged on the plastering mold (12), and the control system controls the release agent sprayers (14) to spray release agent into the plastering mold (12) before grouting.

4. A wharf deck beam member repair apparatus according to claim 1, characterised in that, The constant pressure grouting system comprises a constant pressure grouting pump, a grouting valve, an electric flow control valve and a third pressure sensor for detecting the pressure in the grouting interval, the constant pressure grouting pump is connected with the grouting valve through the electric flow control valve, and the control system controls the start and stop of the constant pressure grouting pump and the grouting valve and the flow of the electric flow control valve according to the data collected by the third pressure sensor.

5. A method of repairing a wharf deck member according to any one of claims 1 to 4, performed by the control system, characterised by, Comprise: Controlling the mobile platform (1) to move to a target position; Driving the concrete cleaner (5) to perform a concrete cleaning operation on the target repair area, driving the reinforcing steel bar rust remover (6) to perform a cleaning operation on the concrete residue of the target repair area and a reinforcing steel bar rust removal operation on the exposed reinforcing steel bar, and / or driving the plastering device (7) to perform a plastering operation on the target repair area.

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