Construction and repair equipment and construction and repair method for concrete lining plates of channels or riverways in running water state

Abstract

The invention relates to the field of water conservancy construction, and particularly discloses channel or river concrete lining plate construction repairing equipment and a repairing method thereof in a running water state, and the equipment comprises a truss, an operation module, an underwater non-dispersive concrete regeneration mixing module, a power system and an automatic control system, wherein the operation module comprises a cutting module, a grabbing module, a geomembrane repairing module and an underwater non-dispersive concrete printing module, and the cutting module, the grabbing module, the geomembrane repairing module and the underwater non-dispersive concrete printing module are selectively arranged on the crane beam according to operation content; and the automatic control system is respectively in electric signal connection with the power system, the underwater non-dispersible concrete regeneration mixing module and the operation module. The scheme can adapt to different channel bank slope surface or river channel slope surface conditions, and concrete lining plates at different damaged positions can be subjected to automatic cutting, dismantling, regeneration mixing, geomembrane repairing and underwater non-dispersive concrete printing operation.

Description

Technical Field

[0001] The invention relates to the technical field of water conservancy construction, and in particular to equipment for constructing and repairing concrete lining plates of channels or river courses under flowing water conditions and a method for constructing and repairing the same. Background Art

[0002] The functions of large-scale canals or rivers mainly include water supply, irrigation, improving the ecological environment and promoting economic and social development, which not only ensures the effective use of water resources, but also promotes the overall development of the region. During the long-term flow of large-scale canals or rivers, the slopes of the canals or rivers will be affected by many factors such as groundwater level, freeze-thaw, construction quality and external forces, which may cause cracking, collapse, uplift and anti-floating instability of the local concrete lining slabs on the slopes of the canals or rivers, which will have an adverse effect on the structural safety and water supply capacity of the canals or rivers; when the concrete lining slabs on the slope of the canal embankment or the slope of the river are damaged, it may cause the slope soil of the canal or river to soften and cause the slope of the canal or river to become unstable. Therefore, it is necessary to remove and repair the damaged concrete lining slabs in time to ensure the normal and safe water supply of the canal or river.

[0003] Due to the continuous flow of water in canals or rivers all year round, the repair of underwater damaged lining plates is currently mainly based on dry construction with cofferdams or underwater construction with divers. When using the dry construction with cofferdams, it is necessary to build cofferdams around the damaged concrete lining plates during periods of low water flow to exclude water and create dry land construction conditions. This limits the time window and spatial scope of construction and also increases the amount and complexity of the project. When using divers for underwater construction and repair, the divers' construction is limited by water depth, visibility and construction safety, and the efficiency is relatively low. At the same time, divers' underwater operations are more risky and require strict safety measures and insurance, which increases construction costs. Therefore, both of the above two repair methods have the problems of complex construction, low efficiency and expensive repair costs. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides equipment for constructing and repairing concrete lining slabs of channels or rivers under flowing water conditions, so as to solve the problems of greater construction difficulty, lower safety and higher construction cost in the existing methods for repairing concrete lining slabs on the slopes of channels or rivers.

[0005] In order to achieve the above object, the basic scheme of the present invention is as follows: a repair equipment for the construction of a channel or river concrete lining plate under a flowing water state, comprising: A truss, one end of which is the water-entering end and the other end is the fixed end. A walking and leveling mechanism is provided on the truss, which is used for the truss to move on the canal embankment slope or the river slope so that the water-entering end of the truss enters the water and the fixed end of the truss is exposed above the water surface. A movable traveling beam is installed on the truss, and the traveling beam moves back and forth along the length direction of the truss. Operation module, the operation module includes a cutting module, a grabbing module, a geomembrane repair module and an underwater non-dispersible concrete printing module, and the cutting module, the grabbing module, the geomembrane repair module and the underwater non-dispersible concrete printing module are selectively configured on the traveling beam according to the operation content; An underwater non-dispersible concrete regeneration mixing module, which can be connected to the underwater non-dispersible concrete printing module; The power system is used for the movement, traction, positioning of the crane beam and the operation of the operation module, as well as the movement and positioning of the truss; Automatic control system: The automatic control system is respectively connected with the power system, underwater non-dispersible concrete regeneration mixing module and operation module by electrical signals, and is used for controlling the reciprocating movement of the traveling beam, starting and stopping control of the underwater non-dispersible concrete regeneration mixing module, configuring the switching sequence of the operation module on the traveling beam, and starting and stopping control of the operation module.

[0006] The technical principle of the present invention is: when the present invention is used to construct and repair the damaged part of the canal embankment slope or the river channel slope, the truss can be installed on the surface of the canal embankment slope or the river channel slope, at least part of the truss is located in the water, and the truss located in the water can cover the damaged area of ​​the concrete lining plate. On the traveling beam, a cutting module, a grabbing module, a geomembrane repair module and an underwater non-dispersible concrete printing module can be selected in sequence according to the construction steps. When installing an operation module each time, the operation module of the previous step can be removed from the traveling beam and then another operation module can be installed, for example: First, a cutting module is installed on the traveling beam, and the cutting module is used to cut the concrete lining slab in the damaged area of ​​the concrete lining slab and clean the broken concrete in the damaged area of ​​the concrete lining slab. After the cutting action is completed, the traveling beam moves back to the assembly position, and then a grabbing module is installed on the traveling beam. The grabbing module sucks the cut concrete lining slab and transports it to the shore. The grabbing module can also directly send the cut concrete lining slab into the underwater non-dispersible concrete regeneration mixing module for regeneration. After the grabbing action is completed, the automatic control system can control the power system crane beam to return to the starting point of the truss, remove the grabbing module, and then assemble the geomembrane repair module and the underwater non-dispersible concrete printing module. The geomembrane repair module is used to level the crushed concrete in the damaged area of ​​the concrete lining plate and lay the geomembrane in the damaged area of ​​the concrete lining plate; the underwater non-dispersible concrete printing module is used to transport the underwater non-dispersible concrete and print the underwater non-dispersible concrete in the damaged area of ​​the concrete lining plate; the underwater non-dispersible concrete recycling mixing module is used to mix the recycled aggregate with the underwater non-dispersible concrete, so as to realize the recycling of the concrete lining plate and reduce the construction and repair costs.

[0007] The present invention realizes the underwater concrete lining plate cutting-removal-geomembrane repair and concrete printing operations under the drive of the power system and the control of the automatic control system through the cutting module, grabbing module, geomembrane repair module and underwater non-dispersible concrete printing module installed on the truss. The equipment can adapt to different channel embankment slope conditions or river slope conditions, and can perform automatic cutting, removal, geomembrane repair and concrete printing operations on concrete lining plates in different damaged positions. The dismantled concrete lining plate can be used for the regeneration of underwater non-dispersible concrete, which has good energy-saving and carbon-reduction benefits. At the same time, the equipment constructs and repairs the geomembrane in the damaged area, strengthens the anti-seepage effect of the channel slope or river slope, consolidates the stability of the slope, and uses underwater pouring of non-dispersible concrete to repair the damaged lining plate. It has strong adaptability, controllable quality and integrity.

[0008] In addition, the present invention also provides a method for constructing and repairing a channel or river concrete lining plate under a flowing water state, including a channel or river concrete lining plate construction and repair equipment under a flowing water state, and further comprising the following steps: S1 obtains the damaged area of ​​the concrete lining slab on the canal embankment slope or river channel slope, marked as damaged area A; The water-entering end of the S2 truss slides to the canal embankment slope or river channel slope, the truss in the water covers the damaged area A, and the fixed end of the truss is fixedly connected to the shore working platform; When the S3 crane beam is at the first position of the truss, a dismantling operation module is configured, and the automatic control system controls the crane beam configured with the dismantling operation module to move toward the water entry end on the truss; When the S4 traveling beam moves to the second position of the truss, the dismantling operation module starts to work, and the traveling beam drives the operation module to move to the third position of the truss; After the dismantling operation in step S5 completes the current working standard, the automated control system controls the crane beam to move to the first position of the truss, replaces the working module according to the next working requirement, and repeats step S4 until the working content is completed; When the S6 traveling beam moves to the first position of the truss, the geomembrane repair module and the underwater non-dispersible concrete printing module are configured. When the traveling beam moves to the second position of the truss, the underwater non-dispersible concrete printing module pours underwater non-dispersible concrete into the demolished area, and the geomembrane repair module accompanies the repair during the pouring process; Before pouring the underwater non-dispersible concrete printing module, the automatic control system controls the underwater non-dispersible concrete regeneration mixing module to regenerate and mix the underwater non-dispersible concrete, and the mixed underwater non-dispersible concrete is transported to the underwater non-dispersible concrete printing module; The first position is the fixed end of the truss or the space between the shore work platform and the truss where the traveling beam passes through, the second position is the working starting position of the truss in the damaged area A, and the third position is the working stopping position of the truss in the damaged area A; The demolition operation includes cutting of the middle area, grabbing and transportation, fine cutting of the edges and cleaning.

[0009] The technical principle of the present invention is: the present invention adopts the above repair method to enable the channel embankment slope or river channel slope to carry out automatic cutting, suction, transportation, regeneration and underwater printing repair of the damaged part of the concrete lining plate under the flowing water state, so that the water flow function of the channel or river channel is minimized by the repair, and then the damage of several damaged areas A can be repaired in a timely manner, reducing the repair risk of personnel involved, reducing the operating cost, and improving the repair efficiency; the truss, cutting and grabbing module, geomembrane repair module and underwater non-dispersible concrete printing module can be assembled, disassembled and transferred for use according to the repair steps, and can also be It can be adaptively adjusted according to the size, slope and other conditions of different channel embankment slopes or river channel slopes, and can also automatically cut, dismantle, transport, clean, level and print repair operations on concrete lining panels at different damaged locations. The channel concrete lining panel repair equipment has strong adaptability under the entire flow state, which can further reduce the repair cost for different channel embankment slopes or river channel slopes; at the same time, when using underwater non-dispersible concrete for printing repair of damaged area A, the concrete lining panel can be well repaired. The underwater non-dispersible concrete has strong adaptability, controllable quality and good integrity when repairing damaged area A.

[0010] Furthermore, the steps of the demolition operation, the underwater non-dispersible concrete regeneration mixing module, the geomembrane repair module and the underwater non-dispersible concrete printing module in the present invention are as follows: Middle area cutting: The quick-release control assembly is installed on the traveling beam, and the underwater cutting knife is assembled on the quick-release control assembly. The traveling beam is controlled to slide along the track beam, and the underwater cutting knife is driven to move to the damaged area A. The first telescopic part controls the underwater cutting knife to move downward and abut against the damaged area A. The underwater cutting knife cuts the middle area of ​​the concrete lining plate at the damaged area A under the control of the driving part, the driving sliding part, the first telescopic part, and the steering part. The cutting depth during cutting exceeds the thickness of the concrete lining plate at the damaged area A by 8-12mm, and the concrete panel to be recycled is formed by cutting, and the damaged area A after cutting is backfilled into the groove B; Grab and transport: The traveling beam slides back to the first position along the track beam, the underwater cutting knife on the quick-release control assembly is disassembled, and the vacuum grab head is installed on the disassembled quick-release control assembly; the traveling beam is controlled to slide along the track beam, and the quick-release control assembly drives the vacuum grab head to move to the backfill groove A to suck the concrete panel in the middle area after cutting; the transport assembly is controlled to move along the track beam to the top of the backfill groove B, and the vacuum grab head grabs the concrete panel and transfers it to the transport vehicle, and the concrete panel is transported out of the water by the transport vehicle; Fine edge cutting: The traveling beam slides back along the track beam to the shore working platform again, the vacuum grabbing head on the quick-release control assembly is disassembled, the wedge plate is installed on the driving part of the underwater cutting knife, the underwater cutting knife and the cleaning assembly are installed on the disassembly quick-release control assembly, the traveling beam is controlled to slide along the track beam, the quick-release control assembly drives the underwater cutting knife, the wedge plate and the cleaning assembly to move to the backfill groove B, the quick-release control assembly and the traveling beam control the underwater cutting knife to perform multiple strip cutting along the 130-160mm wide area of ​​the concrete lining plate around the edge of the backfill groove B to form a cutting seam; single cutting The cutting forms a strip-shaped cutting strip, the cutting width of the strip-shaped cutting strip is 20-30mm, and the vertical distance between the bottom of the strip-shaped cutting strip and the bottom of the concrete lining plate is 3-8mm, forming a backfill groove C; the wedge plate is embedded between the cutting seams, and the wedge plate squeezes and crushes the strip-shaped cutting strip to form broken concrete; at the same time, the cleaning shovel scrapes off the concrete with a thickness of 3-8mm at the bottom of the concrete lining plate, and the original geomembrane at the local part of the backfill groove C is exposed; the quick-release control component and the traveling beam control the cleaning shovel to clean the surface of the concrete lining plate in the 130-160mm wide area around the edge of the backfill groove C; Recycling and mixing of underwater non-dispersible concrete: After the transport component drives the concrete panels to be recycled out of the water along the track beam, the concrete panels to be recycled are put into the recycled aggregate equipment for regeneration to form aggregates; the aggregates and silicate cement are put into the concrete mixer for mixing to form underwater non-dispersible concrete; the feed pipe transports the underwater non-dispersible concrete to the screw conveyor, and the screw conveyor transports the underwater non-dispersible concrete to the underwater non-dispersible concrete printing nozzle; Geomembrane repair and concrete printing: The free end of the geomembrane is pulled out through the first gap, and the free end of the geomembrane overlaps with the original geomembrane at the bottom of the backfill groove C, and the geomembrane fits with one side of the bottom of the backfill groove C. The upper surface of the geomembrane is vertically opposite to the lower end of the underwater non-dispersible concrete printing nozzle; the side wall of the underwater non-dispersible concrete printing nozzle fits with the vertical side wall of the backfill groove C; The leveling roller, metal end and suction cup are all opposite to the surface of the concrete lining plate around the backfill groove C, and the suction cup is in contact with the surface of the concrete lining plate; The traveling beam drives the geomembrane repair module and the underwater non-dispersible concrete printing module to move along the track beam toward the other side of the backfill slot C. The second telescopic part controls the intermittent lifting and lowering of the leveling shovel, and the leveling shovel levels the broken concrete in the backfill slot C. At the same time, the screw conveyor synchronously transports the underwater non-dispersible concrete into the underwater non-dispersible concrete printing nozzle, and the free end of the geomembrane is pressed by the underwater non-dispersible concrete sprayed from the underwater non-dispersible concrete printing nozzle. During the movement, the metal end is separated from the leveling roller, and the leveling roller is pressed onto the flexible film roll. The flexible film roll is unrolled synchronously and laid flat on the underwater non-dispersible concrete. The first hook drags a number of pressure rollers from the pressure roller track through the second hook and presses them onto the upper surface of the flexible film roll, so that the underwater non-dispersible concrete is leveled and pressed without overflowing. When the underwater non-dispersible concrete in the backfill groove C stops flowing, the traveling beam drives the geomembrane repair module and the underwater non-dispersible concrete printing module to move up and be recovered along the track beam again; when the underwater non-dispersible concrete is initially solidified, the fixed end of the truss is removed, and the truss slides up under the support of the walking leveling mechanism, and the roll film recovery hook on the water-entering end of the truss drives the free end of the flexible membrane to detach from the backfill groove C.

[0011] Through the above-mentioned arrangement, in the intermediate area cutting step, the cutting knife can cooperate with the quick-release control assembly and the traveling beam to perform a complete circumferential cutting of the center of the damaged area A, thereby forming a concrete panel that is easy to grab and transfer. The driving part, the driving sliding part, the first telescopic part and the steering part can accurately and automatically control the cutting knife to cut the concrete panel, thereby improving the cutting efficiency of the damaged area A. In the grabbing step, the underwater cutting knife on the quick-release control assembly can be quickly replaced with a vacuum grabbing head, and the vacuum grabbing head can cooperate with the transport assembly to realize the grabbing, transfer and transportation of the concrete panel to the bank of the channel or river, thereby facilitating the cooperation with the subsequent underwater non-dispersible concrete recycling mixing step, thereby improving the transfer efficiency of the concrete panel.

[0012] During the fine edge cutting, the underwater cutting knife is installed on the quick-release control component again, and the underwater cutting knife cooperates with the cleaning component and the wedge plate to perform fine edge cutting on the concrete lining plate at the edge of the backfill groove B, so that the concrete lining plate at the edge of the backfill groove B forms a strip-shaped cutting strip, which is convenient for the underwater cutting knife to embed the wedge plate between the concrete strip-shaped cutting seams to squeeze and crush to form broken concrete during the cutting process, and does not damage the original geomembrane at the bottom of the concrete lining plate here. At this time, the cleaning shovel scrapes off the 3-8mm thick concrete at the bottom of the concrete lining plate to expose the original geomembrane here, so that the original geomembrane is convenient for overlapping with the newly laid geomembrane during geomembrane repair and concrete printing, thereby improving the overlapping accuracy of the geomembrane; at the same time, in this step, the cleaning shovel can clean the surface of the concrete lining plate at the edges around the backfill groove C, so that the suction cups in the geomembrane repair and concrete printing can be stably adsorbed on the surface of the concrete lining plate, thereby improving the stability of the free end limit of the flexible membrane.

[0013] In the recycling mixing of underwater non-dispersible concrete, the concrete panels can be regenerated into aggregates under the action of the recycled aggregate equipment. The aggregates can be used in underwater non-dispersible concrete, realizing the full utilization of the concrete panels to be recycled, further reducing the repair cost, and achieving good energy-saving and carbon-reduction benefits.

[0014] In geomembrane repair and concrete printing, the geomembrane repair unit and concrete printing unit can cooperate with the traveling beam and the underwater non-dispersible concrete recycling mixing module to automatically realize the laying of geomembrane, the feeding of underwater non-dispersible concrete, the printing of underwater non-dispersible concrete, and the covering, leveling and compaction of underwater non-dispersible concrete by flexible membrane, so as to realize the efficient laying and rapid repair of geomembrane and underwater non-dispersible concrete at backfill groove C, improve the repair efficiency of damaged concrete lining plates, and the whole repair process is not affected by water flow. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a top view of the truss, the traveling beam and the onshore working platform in the channel concrete lining plate repair equipment under the flowing water state in the embodiment of the present invention.

[0016] Figure 2 for Figure 1 Left side view of the center truss and traveling beam.

[0017] Figure 3 for Figure 2 Cross-sectional view at AA in the middle.

[0018] Figure 4 for Figure 2 A partial enlarged view of the walking and leveling mechanism of the Bank of China.

[0019] Figure 5This is a schematic diagram of the structure of the quick-release control assembly, underwater cutting knife and wedge plate in the channel concrete lining repair equipment under flowing water.

[0020] Figure 6 This is a schematic diagram of the structure of the quick-release control assembly and vacuum grabbing head in the channel concrete lining repair equipment under flowing water conditions.

[0021] Figure 7 This is a schematic diagram of the structure of the transport components in the channel concrete lining repair equipment under flowing water conditions.

[0022] Figure 8 This is a schematic diagram of the structure of the quick-release control component and the cleaning component in the channel concrete lining repair equipment under flowing water conditions.

[0023] Fig. 9 This is a partial thumbnail of the geomembrane repair module, underwater non-dispersible concrete printing module, underwater non-dispersible concrete recycling mixing module and onshore working platform in the channel concrete lining repair equipment under flowing water.

[0024] Fig.10 This is a side view of the geomembrane repair module and underwater non-dispersible concrete printing module in the channel concrete lining repair equipment under flowing water conditions.

[0025] Fig.11 for Fig. 9 A partial enlarged view of the side view of the middle truss, geomembrane repair module and underwater non-dispersible concrete printing module.

[0026] In the above drawings: onshore working platform 1, accommodating area 11, longitudinal support beam 10, transverse support beam 101, track beam 102, tire 103, telescopic frame 104, winch 105, wire traction rope 106, driving beam 20, underwater cutting knife 201, driving shaft 211, bearing seat 221, wedge plate 202, driving sliding part 203, first telescopic part 204, steering part 205, vacuum grabbing head 206, transport vehicle 207, limit rod 208, movable pin 209, slider 210, support roller 211, cleaning shovel 301, hydraulic shaft 302, leveling shovel 41, connecting shaft 42, The second telescopic part 43, the sealing cover 401, the first gap 402, the rolling bearing 403, the micro roller 404, the third telescopic part 405, the geomembrane 406, the underwater non-dispersible concrete printing nozzle 50, the recycled aggregate equipment 501, the concrete mixer 502, the screw conveyor 503, the feed pipe 504, the flexible film roll 601, the film roll metal shell 602, the reel 603, the fourth telescopic part 604, the leveling roller 605, the metal end 606, the suction cup 607, the first hook 608, the pressure roller track 801, the pressure roller 802, the second hook 803, and the film roll recovery hook 804. DETAILED DESCRIPTION

[0027] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0028] This embodiment is basically Figure 1-11 As shown, the embodiment of the present invention proposes a channel or river channel concrete lining plate construction and repair equipment under flowing water state, a truss, an operation module, an underwater non-dispersible concrete regeneration mixing module, a power system, an automatic control system and an onshore working platform 1, one end of the truss is a water-entering end, and the other end is a fixed end. The truss is provided with a walking and leveling mechanism, which is used for the truss to move on the channel embankment slope or the river channel slope to drive the water-entering end of the truss into the water, and the fixed end of the truss is exposed to the water surface. A movable traveling beam 20 is installed on the truss, and the traveling beam 20 moves back and forth along the length direction of the truss; the operation module includes a cutting module, a grabbing module, a geomembrane repair module and an underwater non-dispersible concrete printing module The cutting module, the grabbing module, the geomembrane repair module and the underwater non-dispersible concrete printing module are selectively arranged on the traveling beam 20 according to the operation content; the underwater non-dispersible concrete regeneration mixing module can be connected with the underwater non-dispersible concrete printing module; the power system is used for the movement, traction, positioning of the traveling beam 20 and the operation module to provide power; the automatic control system is respectively connected with the power system, the underwater non-dispersible concrete regeneration mixing module and the operation module by electrical signals, which is used for the control of the reciprocating movement of the traveling beam 20, the start and stop control of the underwater non-dispersible concrete regeneration mixing module, the switching sequence configuration of the operation module on the traveling beam 20 and the start and stop control of the operation module.

[0029] In order to facilitate the erection of trusses at the construction and repair site and the circulation and installation of various operation modules, this example also includes an onshore working platform 1, such as Figure 1 As shown, an accommodating area 11 capable of accommodating a cutting and grabbing module, a geomembrane repair module and an underwater non-dispersible concrete printing module is provided on the onshore working platform 1. The onshore working platform 1 is fixedly connected to the fixed end of the truss. A space through which a traveling beam 20 passes is formed between the accommodating area 11 and the truss. The space is provided for configuration switching of the cutting and grabbing module, the geomembrane repair module and the underwater non-dispersible concrete printing module on the traveling beam 20 respectively.

[0030] In this embodiment, the fixed end of the truss can be stably fixed by the onshore working platform 1, so that the installation of the truss is stable; at the same time, the accommodating area 11 on the onshore working platform 1 and the space for the traveling beam 20 to pass through formed between the trusses can facilitate the transfer and replacement of the cutting module, grabbing module, geomembrane repair module and underwater non-dispersible concrete printing module on the traveling beam 20, making the storage, selection and installation of the cutting module, grabbing module, geomembrane repair module and underwater non-dispersible concrete printing module more convenient.

[0031] The bottom of the onshore working platform 1 can be fixed on the canal embankment top road or the river embankment top road. The onshore working platform 1 is mainly fixedly connected to the fixed end of the truss to ensure the structural stability of the fixed end of the truss. At the same time, the accommodating area 11 and the space of the onshore working platform 1 can be the operation and installation area of ​​​​the equipment (each operation module) to facilitate the replacement and installation of each operation module.

[0032] At the same time, the power system may include a plurality of winches 105 and a steel wire traction rope 106 connected to the winches 105. The winches 105 are fixedly installed on the shore working platform 1. The winches 105 can directly provide power for the traveling beam 20 and the transport assembly to slide along the track beam 102.

[0033] like Figure 1-3 As shown, the truss includes two longitudinal support beams 10 laid along the canal embankment slope or the river channel slope, a plurality of transverse support beams 101 and a track beam 102; two longitudinal support beams 10 laid along the canal embankment slope or the river channel slope, three transverse support beams 101 and a track beam 102, as shown Figure 1 and 2 As shown, two longitudinal support beams 10 are arranged in parallel, three transverse support beams 101 are parallel to each other and are fixed between the two longitudinal support beams 10 by bolts, and the transverse support beams 101 are perpendicular to the longitudinal support beams 10, and the track beam 102 is fixed to the upper side of the longitudinal support beams 10 by bolts; the longitudinal support beams 10, the transverse support beams 101 and the track beams 102 can all be pre-fabricated in sections in the factory and then transported to the site for assembly.

[0034] The longitudinal support beam 10 can cooperate with the transverse support beam 101 to provide stable support for the cutting module, grabbing module, geomembrane repair module and underwater non-dispersible concrete printing module on the track beam 102, making it convenient for the cutting module, grabbing module, geomembrane repair module and underwater non-dispersible concrete printing module to be moved to the underwater channel or river for repair operations.

[0035] like Figure 4 As shown, the walking and leveling mechanism includes a tire 103 with a brake system that can be raised and lowered and can travel in both directions, and a telescopic frame 104 with adjustable length. A mounting groove for the tire 103 to be embedded and installed is provided on the side of the longitudinal support beam 10 close to the canal embankment slope or the river channel slope; one end of the telescopic frame 104 is installed at the top of the mounting groove of the longitudinal support beam 10, and the other end of the telescopic frame 104 is rotatably connected to the tire 103 and can extend the tire 103 out of the mounting groove of the longitudinal support beam 10, and the rotation axis of the tire 103 is perpendicular to the axis of the longitudinal support beam 10. When the canal embankment slope or the river channel slope is partially uneven, the tire 103 can be extended out of the mounting groove to support the longitudinal support beam 10 for leveling, so that the slope of the longitudinal support beam 10 is adjusted to be consistent with the slope of the canal embankment slope or the river channel slope, so that the installation support of the entire truss is more stable.

[0036] When the longitudinal support beam 10 is laid along the canal embankment slope or the river channel slope, the telescopic frame 104 is extended, the tire 103 is supported outside the installation groove, the tire 103 is in contact with the canal embankment slope or the river channel slope, and the tire 103 can support the longitudinal support beam 10 to move along the canal embankment slope or the river channel slope, making the laying of the longitudinal support beam 10 more efficient and labor-saving; when the longitudinal support beam 10 is laid to the canal embankment slope or the river channel slope, the telescopic frame 104 is shortened, the tire 103 is retracted into the installation groove, and the longitudinal support beam 10 fits the canal embankment slope or the river channel slope; when the canal embankment slope or the river channel slope is partially uneven, the telescopic frame 104 is extended to push the tire 103 to support the longitudinal support beam 10, and the telescopic frame 104 and the tire 103 with adjustable length level and support the local part of the longitudinal support beam 10, so that the slope of the longitudinal support beam 10 is adjusted to be consistent with the slope of the canal embankment slope or the river channel slope, making the truss installation more stable.

[0037] The truss in the invention can be assembled and used at the construction and repair site. For example, the truss is prefabricated in sections in the factory and then transported to the construction and repair site. The longitudinal support beam 10, the transverse support beam 101 and the track beam 102 are assembled into a two-way integral stable structure using cold connection nodes. The assembly work can be carried out on the shore working platform 1, and the sliding along the canal embankment slope or the river channel slope is achieved through the walking leveling mechanism. The launching method is to assemble section by section and slide down section by section. The entire sliding process and positioning after launching are achieved by fixing the top of the truss with the shore working platform 1. The traveling beam 20 can move back and forth on the track beam 102 under the action of the power system, thereby driving each operation module to perform underwater transportation or recovery operations. When the truss is dismantled and recovered, the power system pulls the truss to overcome the downward force, the tires 103 move in the opposite direction, and the longitudinal truss slides upward along the channel embankment slope or the river channel slope to the shore platform through the tires 103 at the bottom, and the cold connection nodes between the sections in the truss are dismantled, so that the truss is decomposed from a whole into a single section, allowing the longitudinal support beam 10, the transverse support beam 101 and the track beam 102 to go ashore section by section and be dismantled and recovered section by section.

[0038] When the tire 103 is in a walking state, the tire 103 extends the longitudinal support beam 10 out of the installation groove under the support of the telescopic frame 104, and pushes the longitudinal support beam 10 up to detach from the canal embankment slope or the river channel slope. After the water-entering end of the truss reaches a predetermined underwater depth, the tire 103 is retracted into the installation groove of the longitudinal support beam 10, so that the bottom of the longitudinal support beam 10 sinks and fits the canal embankment slope or the river channel slope; at this time, if the canal embankment slope or the river channel slope is partially uneven, the lifting stroke of the tire 103 is controlled by the telescopic frame 104, and the tire 103 and the telescopic frame 104 adjust the slope of the longitudinal support beam 10 to the same slope as the canal embankment slope or the river channel slope, thereby realizing leveling support for the longitudinal support beam 10. After the underwater non-dispersible concrete lining plate repair work is completed, the tire 103 extends the longitudinal support beam 10 out of the installation groove under the support of the telescopic frame 104, and the longitudinal support beam 10 is pushed up again to detach from the channel embankment slope or the river channel slope. The tire 103 supports the truss to move along the channel embankment slope or the river channel slope to the onshore working platform 1 for disassembly and recycling operations, or continues to drive the truss to move along the water flow direction to the adjacent working area under the walking leveling mechanism to continue the concrete lining plate repair operation.

[0039] like Figure 5-7 As shown, the cutting module is used to cut and clean the concrete lining plate in the damaged area of ​​the concrete lining plate. The cutting and grabbing module includes an underwater cutting knife 201, a wedge plate 202 and a cleaning component. The underwater cutting knife 201 is installed on the quick-release control component through a driving member; the driving member includes a driving shaft 211 and a bearing seat 221 for rotating the driving shaft 211. The underwater cutting knife 201 is coaxially fixedly installed on the driving shaft 211, and the bearing seat 221 is fixedly connected to the quick-release control component. The wedge plate 202 is fixedly connected to the driving member of the bearing seat through an "L"-shaped steel plate, and the wedge plate 202 and the underwater cutting knife 201 are located on the same vertical plane, and the blades of the wedge plate 202 and the underwater cutting knife 201 are opposite.

[0040] like Figure 8 As shown, the cleaning assembly is used to clean the broken concrete in the damaged area of ​​the concrete lining plate. The cleaning assembly includes a cleaning shovel 301 and a hydraulic shaft 302 for adjusting the contact angle between the cleaning shovel 301 and the channel embankment slope or the river channel slope. The hydraulic shaft 302 is connected to a hydraulic pump for controlling the hydraulic shaft 302, and the hydraulic pump is located on the water surface; the cleaning shovel 301 can be hingedly installed on the lower end of the steering part 205, and the cleaning shovel 301 can be opposite to the blade of the underwater cutting knife 201; the upper end of the hydraulic shaft 302 can be hinged to the lower end of the steering part 205, and the lower end of the hydraulic shaft 302 is hinged to the upper side of the cleaning shovel 301.

[0041] The grabbing module includes a vacuum grabbing head 206 and a transport component. The vacuum grabbing head 206 can be configured on the traveling beam 20 through a quick-release control component. The transport component includes a transport vehicle 207, a limit rod 208, and a movable pin 209 that allows the transport vehicle 207 and the limit rod 208 to be detachably connected. The axis of the movable pin 209 is perpendicular to the axis of the lower end of the limit rod 208. A slider 210 is fixedly installed at the upper end of the limit rod 208. The traveling beam 20 and the limit rod 208 can be fixedly and detachably connected to the free end of the wire traction rope 106, and the slider 210 is slidably connected to the track beam 102; a support roller 211 is provided on the bottom surface of the transport vehicle 207, and the rolling axis of the support roller 211 is perpendicular to the axis of the longitudinal support beam 10, and the support roller 211 is in rolling contact with the slope of the canal embankment or the slope of the river channel.

[0042] In order to facilitate the rapid flow and installation of the cutting module and the grabbing module on the traveling beam 20, the cutting module and the grabbing module can be installed on the traveling beam 20 through a quick-release control component. The quick-release control component includes a driving sliding part 203 that drives the underwater cutting knife 201 or the vacuum grabbing head 206 to move or lock along the traveling beam 20, a first telescopic part 204 that controls the lifting and lowering of the underwater cutting knife 201 or the vacuum grabbing head 206, and a steering part 205 installed between the driving part and the first telescopic part 204. The driving sliding part 2033 is hydraulically driven; the underwater cutting knife 201 can be vertically arranged on the lower side of the traveling beam 20; the vacuum grabbing head 206 is vertically arranged on the lower side of the traveling beam 20.

[0043] The cutting module and the grabbing module can perform the following operations in sequence: cutting the middle of the damaged area of ​​the concrete lining plate → vacuum suction of the concrete panel after cutting → transportation of the cut concrete panel → fine cutting and edge cleaning of the edge of the damaged area of ​​the concrete lining plate. The underwater cutting knife 201 can flexibly move up and down, move horizontally and turn during the cutting process, which is convenient for accurate cutting of the damaged area; the cleaning component can follow the underwater cutting knife 201 by connecting with the steering part 205, and synchronously clean the concrete gravel formed by cutting during the fine cutting of the edge; the wedge plate 202 can cooperate with the underwater cutting knife 201. During the fine cutting of the edge, the wedge plate 202 can be embedded between the concrete lining plates cut in strips, and squeeze and crush the strip concrete lining plates, so that the cutting and squeezing and crushing of the concrete lining plates are coordinated, improving the construction efficiency. The vacuum grabbing head 206 can cooperate with the transportation component, so that the cutting, suction and transportation of the concrete lining plates are coordinated, and the underwater treatment of the damaged concrete lining plates is efficient.

[0044] When cutting the middle part of the damaged area of ​​the concrete lining plate, first install the quick-release control component on the traveling beam 20, and then install the underwater cutting knife 201 on the lower end of the first telescopic part 204. The winch 105 controls the traveling beam 20 to slide down along the track beam 102 of the truss to the repair area of ​​the canal embankment slope or the river slope through the wire traction rope 106. The driving part transmits power to the underwater cutting knife 201 to drive the underwater cutting knife 201 to rotate. The first telescopic part 204 controls the underwater cutting knife 201 to move downward to cut the damaged area of ​​the concrete lining plate. At the same time, the cutting knife is driven by the driving sliding part 203 to perform horizontal cutting along the damaged area of ​​the concrete lining plate. Pressure is applied by the first telescopic part 204 to make the underwater cutting knife 201 cut through the concrete panel. After the horizontal cutting is completed, the steering part 205 controls the underwater cutting knife 201 to rotate 90 degrees to complete the middle The cutting line of the intermediate area is longitudinally cut, and the steering part 205 is repeatedly rotated 90 degrees twice in sequence, so that the cutting line of the underwater cutting knife 201 is a closed loop, and the middle cutting of the damaged area of ​​the concrete lining plate can be completed. In this process, the cutting depth of the damaged area of ​​the concrete lining plate exceeds 10mm of the thickness of the concrete lining plate, ensuring that the concrete lining plate is completely cut through, so that the concrete panel and the damaged area of ​​the concrete lining plate are completely separated during the vacuum suction process; in the above cutting process, under the control of the quick-release control component and the traveling beam 20, the horizontal position and vertical position of the underwater cutting knife 201 on the canal embankment slope or the river channel slope can be accurately adjusted, and the vertical height and steering angle of the underwater cutting knife 201 can be accurately adjusted to achieve accurate cutting of the concrete panel, and accurate cutting processing can be performed on the damaged area of ​​the concrete lining plate.

[0045] After the middle cutting is completed, the winch 105 controls the traveling beam 20 to slide along the track beam 102 of the truss to the accommodation area 11 of the onshore working platform 1 through the wire traction rope 106, and the underwater cutting knife 201 is quickly removed at the quick-release control assembly, and the vacuum grabbing head 206 is installed on the lower end of the first telescopic part 204 of the quick-release control assembly; the winch 105 controls the traveling beam 20 to slide down along the track beam 102 of the truss to the cut concrete panel through the wire traction rope 106 again, so as to facilitate the suction of the concrete panel.

[0046] During the process of vacuum absorbing the concrete panel, the driving sliding part 203 cooperates with the traveling beam 20 to control the vacuum grabbing head 206 to move to the cut concrete panel, the first telescopic part 204 controls the vacuum grabbing head 206 to move downward, and the driving part drives the vacuum grabbing head 206 to absorb the concrete panel; at the same time, the winch 105 synchronously controls the transport vehicle 207, the limit rod 208 and the slider 210 to move downward along the canal embankment slope or the river channel slope to the horizontal position where the damaged area of ​​the concrete lining plate is located through the steel wire traction rope 106. The vacuum grabbing head 206 with the concrete panel sucked is controlled by driving the sliding part 203 again to move to one side of the transport vehicle 207. When the concrete panel to be recovered is opposite to the transport vehicle 207, the driving part is closed, and the vacuum grabbing head 206 releases the concrete panel to be recovered to the transport vehicle 207. At this time, the winch 105 controls the transport vehicle 207, the limit rod 208 and the slider 210 to move up along the canal embankment slope or the river channel slope to the water surface through the wire traction rope 106 to collect the concrete panel to be recovered.

[0047] After the vacuum absorption of the concrete panel is completed, the winch 105 controls the traveling beam 20 to slide up along the track beam 102 of the truss to the accommodation area 11 of the onshore working platform 1 through the wire traction rope 106, and the vacuum grabbing head 206 is quickly disassembled at the quick-release control component, and the cleaning component is quickly installed on the steering part 205 at the lower end of the first telescopic part 204 of the underwater cutting knife 201, and the wedge plate 202 is installed on the underwater cutting knife 201 to prepare for the fine cutting at the edge of the damaged area of ​​the concrete lining plate; the winch 105 controls the traveling beam 20 to slide down along the track beam 102 of the truss to the damaged area of ​​the concrete lining plate after cutting through the wire traction rope 106 again.

[0048] During the fine cutting and edge cleaning process at the edge of the damaged area of ​​the concrete lining plate, the underwater cutting knife 201, under the control of the traveling beam 20 and the quick-release control assembly, performs fine strip cutting on the edge of the damaged area of ​​the concrete lining plate again, so that a strip cutting strip is formed at the edge of the damaged area of ​​the concrete lining plate, and the thickness of the strip cutting strip is less than the thickness of the concrete lining plate. The wedge plate 202 is embedded between the strip cutting strip and the concrete lining plate, and the strip cutting strip and the concrete lining plate are broken; at the same time, the cleaning shovel 301 is driven by the steering part 205 and moves with the underwater cutting knife 201, and the cleaning shovel 301 is controlled by the hydraulic shaft 302 to break the surface of the concrete lining plate. The broken concrete can be cleaned; at the same time, the cleaning shovel 301 can further remove the concrete at the bottom of the strip cutting strip, so that the original geomembrane at the lower side of the strip cutting strip is exposed, which is convenient for overlapping the geomembrane from the original geomembrane at this place during the repair process; in the above process, the underwater cutting knife 201 can cooperate with the wedge plate 202 and the cleaning component to perform fine cutting at the edge of the damaged area of ​​the concrete lining plate, crush the strip cutting strip, clean the broken concrete, and prepare for overlapping the original geomembrane, which can prepare for the subsequent repair of the concrete lining plate, and can complete multiple construction operations in one process, so that the repair efficiency of the concrete lining plate is significantly improved.

[0049] The cutting and grabbing module of the present invention solves the problems of low efficiency and great construction difficulty in the prior art of using dry cofferdam construction or divers operating corresponding equipment to cut concrete panels during underwater construction, and then hoisting and transporting the cut concrete panels.

[0050] like Figure 9-11 As shown, the geomembrane repair module includes a leveling component, a sealing cover 401 that moves synchronously with the underwater non-dispersible concrete printing module, a rolling bearing 403, a plurality of micro rollers 404, and a third telescopic part 405 that controls the lifting and lowering of the sealing cover 401. The leveling component includes a leveling shovel 41, a connecting shaft 42, and a second telescopic part 43 that controls the lifting and lowering of the leveling shovel 41, which are fixedly connected in sequence. The upper end of the second telescopic part 43 can be fixedly mounted on the traveling beam 20, the connecting shaft 42 and the second telescopic part 43 are coaxially arranged, and the leveling shovel 41 is located on the lower side of the traveling beam 20.

[0051] like Figure 9-11As shown, the sealing cover 401 has a housing cavity for accommodating a geomembrane roll, and a first gap 402 for the free end of the geomembrane 406 to extend out is provided on one side of the sealing cover 401. The first gap 402 is along the lower side of the sealing cover 401 along the axial direction of the traveling beam 20, and a rolling bearing 403 is horizontally rotatably installed in the sealing cover 401; a plurality of micro rollers 404 are installed at the lower side of the first gap 402 of the sealing cover 401, and the micro rollers 404 can be in sliding contact with the geomembrane 406, and the axes of the rolling bearings 403 and the micro rollers 404 are perpendicular to the axis of the traveling beam 20; both ends of the traveling beam 20 are detachably connected or slidingly locked to the track beam 102, and the traveling beam 20 is fixedly and detachably connected to the free end of the steel wire traction rope 106; the end of the third telescopic portion 405 away from the sealing cover 401 is fixedly connected to the traveling beam 20, and the sealing cover 401 is located on the lower side of the traveling beam 20.

[0052] When using the geomembrane repair module, the cutting and grabbing module on the traveling beam 20 can be removed first, and then the geomembrane repair module can be installed as a whole on the traveling beam 20, so that the geomembrane repair module and the cutting and grabbing module can be disassembled, assembled and replaced on the traveling beam 20, thereby improving the integration of the equipment; at the same time, when performing the repair construction of the geomembrane 406, the leveling shovel 41 cooperates with the connecting shaft 42 and the second telescopic part 43 to first perform a leveling treatment on the area where the geomembrane 406 is to be repaired by crushing concrete, so that the laying of the geomembrane 406 is smoother and more precise. When the traveling beam 20 drives the geomembrane repair module to move along the track beam 102, the leveling shovel 41 continuously levels the broken concrete under the control of the second telescopic part 43. At the same time, the third telescopic part 405 controls the sealing cover 401 to move down close to the canal embankment slope or the river channel slope, so that the free end of the geomembrane 406 is pulled out from the first gap 402 of the sealing cover 401 and close to the canal embankment slope or the river channel slope to be repaired. At this time, the sealing cover 401 and the micro roller 404 can limit the pulling out of the geomembrane 406, and the rolling bearing 403 can make the rotation of the geomembrane roll of the geomembrane 406 smoother when it is pulled out, so that the pulled out geomembrane 406 remains flat and accurately laid on the canal embankment slope or the river channel slope to be repaired.

[0053] like Figure 9-11 As shown, the underwater non-dispersible concrete printing module includes an underwater non-dispersible concrete printing nozzle 50, a flexible film roll 601, an unwinding and recovery component for unwinding the flexible film roll 601, and a pressing and flattening component for flattening the upper surface of the flexible film roll 601. The printing nozzle end can be directly opposite to the canal embankment slope or the river channel slope, and the upper end of the underwater non-dispersible concrete printing nozzle 50 is fixedly connected to the lower end of the third telescopic part 405.

[0054] In this embodiment, the unwinding and recycling assembly includes a roll film metal shell 602 for accommodating the flexible film roll 601, a reel 603 coaxially mounted on the flexible film roll 601, a fourth telescopic portion 604 for controlling the lifting and lowering of the reel 603, a plurality of flat rollers 605 and a metal end 606. The roll film metal shell 602 is provided with a second gap for the free end of the flexible film roll 601 to be pulled out at one side close to the underwater non-dispersible concrete printing nozzle 50; the axis of the reel 603 is perpendicular to the axis of the rolling bearing 403, and the reel 603 is horizontally rotatably mounted on the roll film. The metal shell 602 is inside; the upper end of the fourth telescopic part 604 can be fixedly connected to the traveling beam 20; a plurality of flat rollers 605 are horizontally fixedly installed at the lower side of the roll film metal shell 602, and the plurality of flat rollers 605 can be fitted with the upper surface of the flexible film roll 601; a suction cup 607 that can be adsorbed on the concrete lining surface outside the damaged area of ​​the concrete lining plate is fixedly provided on the lower side of the metal end 606, and the free end of the flexible film roll 601 can be fixedly connected to the metal end 606, and the metal end 606 can be magnetically attracted to the flat roller 605; Fig. 9 As shown, the unwinding and recycling assembly is fixedly mounted on one end of the third telescopic portion 405 close to the sealing cover 401 , and the underwater non-dispersible concrete printing nozzle 50 is located between the unwinding assembly and the sealing cover 401 . The roll film metal shell 602 can protect the flexible film roll, and the reel can make the unwinding and recycling of the flexible film roll more convenient; while unwinding the flexible film, the suction cup on the metal end head 606 can be adsorbed on the surface of the concrete lining, and the metal end head 606 is separated from the leveling roller 605, and the leveling roller 605 can then fix the free end of the flexible film. At this time, when the traveling beam drives the unwinding and recycling component to slide along the track beam, the flexible film is automatically pulled out from the second gap to realize automatic unwinding of the flexible film. At the same time, the leveling roller 605 is attached to the unrolled flexible film, which is convenient for leveling the underwater non-dispersible concrete under the flexible film, so that the underwater non-dispersible concrete at the final repair site is more regular; in this process, the free end of the flexible film is fixed, unrolled, and the underwater non-dispersible concrete is leveled and covered, and the laying of the flexible film is convenient and accurate, which can improve the printing flatness of the underwater non-dispersible concrete and reduce the loss rate of the underwater non-dispersible concrete.

[0055] The underwater non-dispersible concrete printing nozzle 50 located underwater cooperates with the third telescopic part 405, so that the underwater non-dispersible concrete printing nozzle 50 and the unwinding and recycling component can cooperate with the geomembrane repair module. While the underwater non-dispersible concrete printing module sprays out the underwater non-dispersible concrete, the pressing and leveling component can press and cover the underwater non-dispersible concrete, and the flexible film roll 601 can unwind and cover the upper surface of the underwater non-dispersible concrete, which can improve the printing flatness of the underwater concrete and reduce the loss rate of the underwater concrete.

[0056] At the same time, as shown in FIG. 9 , the underwater non-dispersible concrete regeneration and mixing module includes a regeneration aggregate device 501, a concrete mixer 502, a screw conveyor 503 and a flexible feed pipe 504. The feed pipe 504 sequentially connects the regeneration aggregate device 501, the concrete mixer 502, the screw conveyor 503 and the underwater non-dispersible concrete printing module. The regeneration aggregate device 501 regenerates the concrete lining plate and the broken concrete in the damaged area of ​​the concrete lining plate; the screw conveyor 503 is also connected to the underwater non-dispersible concrete printing nozzle 50 through the feed pipe 504, and the feed pipe 504 is close to the underwater non-dispersible concrete printing nozzle 50 and is in a "Y" shape, so as to facilitate more uniform distribution of concrete into the underwater non-dispersible concrete printing nozzle 50; the feed pipe 504 connects the concrete mixer 502 and the screw conveyor 503.

[0057] The recycled aggregate equipment 501 can recycle and reuse the concrete lining panels and broken concrete in the damaged area of ​​the lining panels, so as to make full use of the concrete panels to be recycled, further reduce the repair cost, and achieve good energy-saving and carbon-reduction benefits; at the same time, the screw conveyor 503 cooperates with the underwater non-dispersible concrete printing module, and controls the speed of conveying the underwater non-dispersible concrete to the underwater non-dispersible concrete printing module according to the moving speed of the underwater non-dispersible concrete printing module driven by the traveling beam 20 and the coverage area of ​​the underwater non-dispersible concrete printing module, so as to achieve uniform coating of the underwater non-dispersible concrete in the damaged area of ​​the concrete lining panels.

[0058] In this embodiment, the number of underwater non-dispersible concrete regeneration mixing modules can be two groups. The two groups of underwater non-dispersible concrete regeneration mixing modules are symmetrically arranged on the canal embankment top road or the river embankment top road along the vertical center line of the printing nozzle, and can also be installed on the shore working platform 1.

[0059] In addition, if Fig.11As shown, the unwinding and recycling assembly also includes a first hook 608, which is fixedly connected to the end of the film roll metal shell 602 or the reel 603, and the first hook 608 is opposite to the lower side of the flexible film roll 601; the pressing and leveling assembly includes a pressure roller track 801, a plurality of pressure rollers 802, and a film roll recycling hook 804, and the upper end of the pressure roller track 801 is fixedly connected to the water inlet end of the truss; the longitudinal section of the pressure roller track 801 is arc-shaped, and a plurality of pressure rollers 802 are sequentially arranged and slidably installed in the pressure roller track 801. The lower end of the pressure roller track 801 is an exit for a plurality of pressure rollers 802 to slide out and is horizontally opposite to the leftmost smoothing roller 605; the pressure roller 802 located at the front end of the pressure roller track 801 is provided with a second hook 803 which can be engaged with the first hook 608, and the first hook 608 and the second hook 803 are James-type hooks that can be matched and connected; the film roll recovery hook 804 is provided on one end of the pressure roller track 801 close to the smoothing roller 605, and the film roll recovery hook 804 can be connected to the free end of the flexible film roll 601.

[0060] The pressure roller track 801 can guide the pressure roller 802 to be stored and moved, so that the pressure roller 802 can move to the upper surface of the flexible film roll 601 under the traction of the first hook 608 and the second hook 803, and compact the underwater non-dispersible concrete to make the underwater non-dispersible concrete further regular and dense; at the same time, when the underwater non-dispersible concrete does not flow, the traveling beam 20 drives the geomembrane repair module and the underwater non-dispersible concrete printing module to move upward as a whole; when the underwater non-dispersible concrete is initially solidified and the truss is recovered, the film roll recovery hook 804 on the water-entering end of the truss drives the free end of the flexible film to separate from the initially solidified underwater non-dispersible concrete, and the flexible film can be rolled up again, which is convenient for recycling and using the flexible film.

[0061] When repairing the concrete lining plate, the winch 105 controls the traveling beam 20 through the steel wire traction rope 106 to slide up along the track beam 102 of the truss to the accommodation area 11 of the onshore working platform 1, removes the cutting and grabbing module on the traveling beam 20, and installs the geomembrane repair module and the underwater non-dispersible concrete printing module on the traveling beam 20 as a whole; the winch 105 controls the traveling beam 20 through the steel wire traction rope 106 again to slide down along the track beam 102 of the truss to the damaged area of ​​the concrete lining plate.

[0062] The second telescopic part 43 controls the intermittent lifting of the leveling shovel 41, and the leveling shovel 41 impacts the broken concrete at the damaged area of ​​the concrete lining plate to level the broken concrete, which can improve the flatness and accuracy of the subsequent geomembrane laying; then, the underwater non-dispersible concrete printing nozzle 50 and the sealing cover 401 are lowered to the bottom of the underwater non-dispersible concrete printing area through the third telescopic part 405, and the free end of the geomembrane 406 is pulled out through the first gap 402, and the geomembrane 406 is supported by the micro roller 404. It is supported and pulled out smoothly, and the free end of the geomembrane 406 overlaps with the original geomembrane at the damaged area of ​​the concrete lining board, and the free end of the geomembrane 406 covers one side of the damaged area of ​​the concrete lining board; then the flexible film roll 601 descends through the fourth telescopic part 604, the first hook 608 on the film roll shaft 603 is connected with the second hook 803 on the front end pressure roller 802, and the suction cup 607 under the metal end 606 adsorbs the surface of the concrete lining board at the edge of the damaged area of ​​the concrete lining board.

[0063] After the printing of the underwater non-dispersible concrete begins, the underwater non-dispersible concrete is transported to the printing area through the underwater non-dispersible concrete printing nozzle 50, and the underwater non-dispersible concrete printing nozzle 50 and the flexible film roll 601 are driven forward by the traveling beam 20. During this process, the traveling beam 20 is pulled and moved by the winch 105 through the wire traction rope 106, and the film roll reel 603 rotates. The flexible film roll 601 is output from the film roll metal shell 602 to cover the newly printed underwater non-dispersible concrete. The flattening roller below the film roll metal shell 602 is pressed on the flexible film roll 601 to flatten the incoming line of the newly printed underwater non-dispersible concrete. At the same time, the pressure roller 802 leaves the pressure roller track 801 through the pulling of the first hook 608 and the second hook 803 on the film roll reel 603, and is pressed on the flexible film roll 601 close to the flattening roller 605, pressing the newly printed underwater non-dispersible concrete, reducing the overflow of the underwater non-dispersible concrete, and simultaneously leveling the underwater non-dispersible concrete.

[0064] After the underwater non-dispersible concrete printing nozzle 50 has finished printing a certain concrete lining plate damaged area, it moves upward through the third telescopic part 405 and leaves the printing area. At this time, the flexible film roll 601 has been separated from the roll film metal shell 602 and completely covers the area directly below the newly printed concrete area, and the pressure roller 802 presses on the flexible film roll 601. The geomembrane repair module and the underwater non-dispersible concrete printing module of the present invention can be installed on the traveling beam 20 at the same time for combined use.

[0065] At the same time, in the above process, the concrete panel to be recycled is transferred to the recycled aggregate equipment 501, and the concrete panel to be recycled is recycled to form underwater non-dispersible concrete that can be used in the repair process. The underwater non-dispersible concrete can be transported to the underwater non-dispersible concrete printing nozzle 50 by the screw conveyor 503. The screw conveyor 503 cooperates with the underwater non-dispersible concrete printing module. According to the moving speed of the underwater non-dispersible concrete printing module driven by the traveling beam 20 and the coverage area of ​​the underwater non-dispersible concrete printing module, the speed of conveying the underwater non-dispersible concrete to the underwater non-dispersible concrete printing module is controlled to achieve uniform coating of the underwater non-dispersible concrete at the damaged area of ​​the concrete lining plate, so as to make full use of the concrete panel to be recycled, further reduce the repair cost, and achieve good energy-saving and carbon reduction benefits.

[0066] This embodiment provides a method for constructing and repairing a channel or river concrete lining plate under flowing water, using a channel or river concrete lining plate under flowing water to construct and repair equipment, including the following steps: S1 obtains the damaged area of ​​the concrete lining slab on the canal embankment slope or river channel slope, marked as damaged area A; S2 transports the longitudinal support beam 10, the transverse support beam 101 and the track beam 102 to the canal embankment top road or the river channel top road opposite to the damaged area A, selects an appropriate number of longitudinal support beams 10, transverse support beams 101 and track beams 102 according to the location of the damaged area A, so that the assembled truss can cover the damaged area A; the water-entering end of the truss slides to the canal embankment slope or the river channel slope, the longitudinal support beam 10 and the track beam 102 are arranged in a direction perpendicular to the water flow, the tire 103 and the telescopic frame 104 adjust the slope of the longitudinal support beam 10 to the same slope as the canal embankment slope or the river channel slope, the truss in the water covers the damaged area A, and the fixed end of the truss is fixedly connected to the onshore working platform 1; the traveling beam 20 is connected to the wire traction rope 106 on the winch 105; S3: When the traveling beam 20 is at the first position of the truss, a dismantling operation module is configured, and the automatic control system controls the traveling beam 20 configured with the dismantling operation module to move toward the water entry end on the truss; S4 When the traveling beam 20 moves to the second position of the truss, the dismantling operation module starts to work, and the traveling beam 20 drives the operation module to move to the third position of the truss; After the dismantling operation in step S5 completes the current working standard, the automated control system controls the traveling beam 20 to move to the first position of the truss, replaces the working module according to the next working requirement, and repeats step S4 until the working content is completed; S6 The traveling beam 20 moves to the first position of the truss to configure the geomembrane repair module and the underwater non-dispersible concrete printing module. When the traveling beam 20 moves to the second position of the truss, the underwater non-dispersible concrete printing module pours underwater non-dispersible concrete into the area after demolition, and the geomembrane repair module accompanies the repair during the pouring process; Before pouring the underwater non-dispersible concrete printing module, the automatic control system controls the underwater non-dispersible concrete regeneration mixing module to regenerate and mix the underwater non-dispersible concrete, and the mixed underwater non-dispersible concrete is transported to the underwater non-dispersible concrete printing module; the first position is the fixed end of the truss or the space between the onshore working platform 1 and the truss where the traveling beam 20 passes through, the second position is the working starting position of the truss in the damaged area A, and the third position is the working stop position of the truss in the damaged area A; the demolition operation includes cutting of the middle area, grabbing and transportation, fine cutting of the edge and cleaning in sequence.

[0067] In the above steps, the specific description of steps S3 to S6 is as follows: first, a cutting module is configured on the traveling beam 20 (the traveling beam 20 is in the first position on the truss), and the cutting module is moved underwater to cut the damaged area A. The starting position (second position) of the cutting work is at the upper end of the damaged area A, and the stopping position (third position) of the cutting work is at the lower end of the damaged area A. The cutting process is from top to bottom on the damaged area A. After the cutting is completed, the traveling beam 20 returns to the first position of the truss with the cutting module, removes the cutting module, and then assembles the vacuum grabbing head 206 on the traveling beam 20. The transport component is connected to the track beam 102, and the lining plate cut off from the damaged area A is sucked into the transport component by the vacuum grabbing head 206. Through the transport component, it is transported to the shore or sent to the underwater non-dispersible concrete recycling mixing module for recycling. After the grabbing and transportation are completed, the traveling beam 20 returns to the truss with the grabbing module The first position of the transport component can also be removed from the truss track beam 102. If the damaged area A meets the requirements of underwater non-dispersible concrete printing, the subsequent geomembrane repair module and underwater non-dispersible concrete printing steps can be carried out (underwater non-dispersible concrete printing is to pour underwater non-dispersible concrete on the damaged area A where the lining plate is removed). If the damaged area A still needs to be finely cut at the edge, the cutting module and the grabbing and transporting operations can be repeated in sequence, and then the geomembrane repair module and underwater non-dispersible concrete printing steps can be carried out. Before the underwater non-dispersible concrete printing module is poured, the underwater non-dispersible concrete regeneration and mixing module will regenerate and mix the broken lining plate sent into the transport component with other materials. During the construction and repair operation process, the power system can be used to provide power for the movement, traction, positioning of the traveling beam 20 and the operation of each operation module, as well as the walking and positioning of the truss.

[0068] In this embodiment, the specific construction and repair steps in combination with the corresponding modules are as follows: Cutting of the middle area: the quick-release control assembly is installed on the traveling beam 20, and the underwater cutting knife 201 is assembled on the quick-release control assembly. The traveling beam 20 is controlled to slide along the track beam 102, driving the underwater cutting knife 201 to move to the damaged area A. The first telescopic part 204 controls the underwater cutting knife 201 to move downward and abut against the damaged area A. The underwater cutting knife 201 cuts the middle area of ​​the concrete lining plate at the damaged area A under the control of the driving part, the driving sliding part 203, the first telescopic part 204, and the steering part 205. The cutting depth during cutting exceeds 10 mm of the thickness of the concrete lining plate at the damaged area A. After completing the transverse cutting, the steering part 205 controls the underwater cutting knife 201 to rotate 90 degrees to complete the longitudinal cutting of the cutting line in the middle area. The steering part 205 then repeatedly rotates 90 degrees twice in sequence, so that the cutting line of the underwater cutting knife 201 is a closed loop, and the middle cutting of the damaged area of ​​the concrete lining plate can be completed, and the concrete panel to be recycled is formed by cutting, and the damaged area A after cutting is a backfill groove B; Grabbing and transportation: After the middle cutting is completed, the winch 105 controls the traveling beam 20 to slide up along the track beam 102 of the truss to the accommodation area 11 of the shore working platform 1 through the wire traction rope 106, and the underwater cutting knife 201 is quickly disassembled at the quick-release control component, and the vacuum grabbing head 206 is installed on the lower end of the first telescopic part 204 of the quick-release control component. The underwater cutting knife 201 on the quick-release control component is disassembled, and the vacuum grabbing head 206 is installed on the disassembled quick-release control component; the winch 105 controls the traveling beam 20 to slide down along the track beam 102 of the truss to the backfilling groove B again through the wire traction rope 106, and the sliding part 203 is driven to coordinate with the traveling beam 20 to control The vacuum grabbing head 206 is controlled to move to the cut concrete panel, the first telescopic part 204 controls the vacuum grabbing head 206 to move downward, and the driving part drives the vacuum grabbing head 206 to move to the backfilling groove A to suck the concrete panel in the middle area after the cut; the winch 105 synchronously controls the transport vehicle 207, the limit rod 208 and the slide block 210 to move downward along the canal embankment slope or the river slope to the horizontal position where the damaged area of ​​the concrete lining plate is located through the wire traction rope 106, and controls the transport component to move along the track beam 102 to the top of the backfilling groove B, and the vacuum grabbing head 206 is controlled to descend under the control of the driving sliding part 203 to grab and transfer the concrete panel to the transport vehicle 207; Fine edge cutting: After the vacuum absorption of the concrete panel is completed, the winch 105 controls the traveling beam 20 to slide up along the track beam 102 of the truss to the accommodation area 11 of the onshore working platform 1 through the wire traction rope 106, and the vacuum grab head 206 is quickly disassembled at the quick-release control component, and the underwater cutting knife 201 is installed on the lower end of the first telescopic part 204. The wedge plate 202 can be installed on the bearing seat 221 through the extended steel plate, and the cleaning component is quickly installed on the steering part 205; the winch 105 controls the traveling beam 20 to slide down along the track beam 102 of the truss to the backfilling groove B again through the wire traction rope 106, and the quick-release control component drives the underwater cutting knife 201, the wedge plate 202 and the cleaning component to move to the backfilling groove B, and the quick-release control component and the traveling beam 20 controls the underwater cutting knife 201 to perform multiple strip cuttings along the 150mm wide area of ​​the edge of the backfill groove B to form a cutting seam; a single cutting forms a strip cutting strip, the cutting width of the strip cutting strip is 25mm, and the vertical distance between the bottom of the strip cutting strip and the bottom of the concrete lining plate is 5mm, forming a backfill groove C; the wedge plate 202 is embedded between the cutting seams, and the wedge plate 202 squeezes and crushes the strip cutting strip to form crushed concrete; at the same time, the cleaning shovel 301 scrapes off the 5mm thick concrete at the bottom of the concrete lining plate, and the original geomembrane at the local part of the backfill groove C is exposed; the quick-release control component and the traveling beam 20 control the cleaning shovel 301 to clean the surface of the concrete lining plate in the 150mm wide area around the edge of the backfill groove C; Regeneration and mixing of underwater non-dispersible concrete: After the transport component drives the concrete panel to be recycled to move out of the water along the track beam 102, the concrete panel to be recycled is put into the recycled aggregate equipment 501 for regeneration to form aggregate; the aggregate and silicate cement are put into the concrete mixer 502 for mixing to form underwater non-dispersible concrete; the feed pipe 504 transports the underwater non-dispersible concrete to the screw conveyor 503, and the screw conveyor 503 transports the underwater non-dispersible concrete to the underwater non-dispersible concrete printing nozzle 50; Geomembrane repair and concrete printing: The winch 105 controls the traveling beam 20 to slide up along the track beam 102 of the truss to the accommodation area 11 of the shore working platform 1 through the wire traction rope 106, removes the cutting and grabbing module on the traveling beam 20, and installs the geomembrane repair module and the underwater non-dispersible concrete printing module on the traveling beam 20 as a whole; the winch 105 controls the traveling beam 20 to slide down along the track beam 102 of the truss to the backfill groove C again through the wire traction rope 106; The free end of the geomembrane 406 is pulled out through the first gap 402, and the free end of the geomembrane 406 overlaps with the original geomembrane at the bottom of the backfill groove C, and the geomembrane 406 is in contact with one side of the bottom of the backfill groove C, and the upper surface of the geomembrane 406 is vertically opposite to the lower end of the underwater non-dispersible concrete printing nozzle 50; the side wall of the underwater non-dispersible concrete printing nozzle 50 is in contact with the vertical side wall of the backfill groove C; The leveling roller 605, the metal end 606 and the suction cup 607 are all opposite to the surface of the concrete lining plate around the backfill groove C, and the suction cup 607 is in contact with the surface of the concrete lining plate; The traveling beam 20 drives the geomembrane repair module and the underwater non-dispersible concrete printing module to move along the track beam 102 toward the other side of the backfill groove C, and the second telescopic part 43 controls the intermittent lifting and lowering of the leveling shovel 41, and the leveling shovel 41 levels the broken concrete in the backfill groove C; at the same time, the screw conveyor 503 synchronously conveys the underwater non-dispersible concrete into the underwater non-dispersible concrete printing nozzle 50, and the free end of the geomembrane 406 is pressed by the underwater non-dispersible concrete sprayed by the underwater non-dispersible concrete printing nozzle 50. During the movement, the metal end 606 is separated from the leveling roller 605, and the leveling roller 605 is pressed against the flexible film roll 601, and the flexible film roll 601 is unrolled synchronously and laid flat on the underwater non-dispersible concrete. The first hook 608 drags a plurality of pressure rollers 802 from the pressure roller track 801 through the second hook 803 and is pressed against the upper surface of the flexible film roll 601, so that the underwater non-dispersible concrete is leveled and pressed without overflowing; When the underwater non-dispersible concrete in the backfill groove C stops flowing, the traveling beam 20 drives the geomembrane repair module and the underwater non-dispersible concrete printing module to move up and be recovered along the track beam 102 again; when the underwater non-dispersible concrete is initially solidified, the fixed end of the truss is removed, and the truss slides up under the support of the walking and leveling mechanism, and the longitudinal supporting beam 10, the transverse supporting beam 101 and the track beam 102 are brought ashore and disassembled and recovered section by section. At the same time, the film recovery hook 804 on the water-entering end of the truss drives the free end of the flexible membrane to leave the backfill groove C.

[0069] The channel lining plate repair equipment developed by the present invention can meet the actual needs of rapid and automated repair of the lining plates on the canal slopes under flowing water conditions; taking a flowing water channel as an example, without interrupting the flow of water, the equipment developed by the present invention can automatically adjust the equipment position on the channel slope, adapt to different channel slope conditions, and automatically and quickly remove and repair damaged lining plates at different positions, which greatly shortens the construction period, reduces construction costs and improves construction quality. The equipment developed by the present invention can automatically cut and remove damaged lining plates, and the removed concrete lining plates are used to mix underwater non-dispersible concrete, which has good energy-saving and carbon-reduction benefits. At the same time, the device developed by the present invention can repair damaged geomembranes 406, enhance the anti-seepage effect of the channel slope, and further consolidate the stability of the slope. The use of underwater non-dispersible concrete to cast and repair damaged lining plates has strong adaptability, controllable quality and good integrity.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. Equipment for the construction and repair of concrete lining panels of channels or rivers under flowing water, characterized in that: include: A truss, one end of the truss is a water-entering end, and the other end is a fixed end. The truss is provided with a walking and leveling mechanism, which is used for the truss to move on the canal embankment slope or the river channel slope so that the water-entering end of the truss enters the water and the fixed end of the truss is exposed above the water surface. A movable traveling beam is installed on the truss, and the traveling beam moves back and forth along the length direction of the truss; An operation module, wherein the operation module comprises a cutting module, a grabbing module, a geomembrane repairing module and an underwater non-dispersible concrete printing module, and the cutting module, the grabbing module, the geomembrane repairing module and the underwater non-dispersible concrete printing module are selectively arranged on the traveling beam according to the operation content; An underwater non-dispersible concrete regeneration mixing module, wherein the underwater non-dispersible concrete regeneration mixing module can be connected to the underwater non-dispersible concrete printing module; The power system is used for the movement, traction, positioning of the crane beam and the operation of the operation module, as well as the movement and positioning of the truss; An automated control system, wherein the automated control system is electrically connected to the power system, the underwater non-dispersible concrete regeneration mixing module and the operation module, and is used for controlling the reciprocating movement of the traveling beam, the start and stop control of the underwater non-dispersible concrete regeneration mixing module, the switching sequence configuration of the operation module on the traveling beam, and the start and stop control of the operation module.

2. The equipment for constructing and repairing concrete lining panels of channels or rivers under flowing water conditions according to claim 1, characterized in that: It also includes an onshore work platform, on which is provided an accommodation area capable of accommodating a cutting and grabbing module, a geomembrane repair module and an underwater non-dispersible concrete printing module. The onshore work platform is fixedly connected to a fixed end of the truss, and a space for a traveling beam to pass through is formed between the accommodation area and the truss, and the space is used for configuration switching of the cutting and grabbing module, the geomembrane repair module and the underwater non-dispersible concrete printing module on the traveling beam.

3. The equipment for constructing and repairing concrete lining slabs of channels or rivers under flowing water conditions according to claim 1, characterized in that: The truss comprises: Two longitudinal supporting beams laid along the slope of the canal bank or the slope of the river channel; A plurality of transverse support beams, wherein the transverse support beams are installed between the two longitudinal support beams; The track beam is fixedly mounted on the longitudinal support beam, and both ends of the traveling beam are slidably mounted on the track beam.

4. The equipment for constructing and repairing concrete lining panels of channels or rivers under flowing water conditions as claimed in claim 3, characterized in that: The walking leveling mechanism comprises: A tyre with a brake system that can be lifted and lowered and can travel in both directions, wherein a mounting groove for embedding and mounting the tyre is provided on one side of the longitudinal support beam close to the canal embankment slope or the river channel slope; A telescopic frame with adjustable length, one end of which is installed at the top of the installation slot of the longitudinal support beam, and the other end of which is rotatably connected to the tire and can extend the tire outside the installation slot of the longitudinal support beam.

5. The equipment for constructing and repairing concrete lining panels of channels or rivers under flowing water conditions as claimed in claim 1, characterized in that: The cutting module comprises: An underwater cutting knife, wherein the underwater cutting knife is mounted on a quick-release control assembly via a driving member; A wedge plate, wherein the wedge plate is connected to the fixed end of the driving member, and the wedge plate and the underwater cutting knife are located on the same vertical plane, and the blade of the wedge plate and the underwater cutting knife are opposite; A cleaning assembly, the cleaning assembly comprising a cleaning shovel and a hydraulic shaft for adjusting the contact angle between the cleaning shovel and the canal bank slope or the river channel slope, the cleaning shovel can be hingedly mounted on the lower end of the steering part; one end of the hydraulic shaft can be hingedly connected to the lower end of the steering part, and the other end of the hydraulic shaft can be hingedly connected to the upper side of the cleaning shovel; The capture module comprises: Vacuum grabbing head; the vacuum grabbing head is arranged on the traveling beam through a quick-release control assembly; A transport assembly is located on a truss on one side of the vacuum grabbing head, and the transport assembly includes a transport vehicle and a limit rod, one end of the limit rod is detachably connected to the transport vehicle, and the other end of the limit rod is slidably connected to the track beam and is detachably connected; the bottom surface of the transport vehicle can be in contact with or in rolling contact with the slope of a canal embankment or a river channel.

6. The equipment for constructing and repairing concrete lining panels of channels or rivers under flowing water conditions as claimed in claim 5, characterized in that: The quick-release control assembly comprises: A driving sliding part, wherein the driving sliding part can be horizontally slidably installed on the traveling beam; A steering part, the steering part is installed on the lower side of the driving sliding part, and the cleaning shovel is detachably installed on the steering part; A first telescopic part, one end of which is fixedly mounted on the lower end of the steering part, and the other end of which is detachably connected to an underwater cutting knife or a vacuum grabbing head.

7. The equipment for constructing and repairing concrete lining slabs of channels or rivers under flowing water conditions as claimed in claim 1, characterized in that: The geomembrane repair module comprises: A leveling assembly, the leveling assembly comprising a leveling shovel, a connecting shaft and a second telescopic part for controlling the lifting of the leveling shovel, which are fixedly connected in sequence. An end of the second telescopic part away from the leveling shovel can be fixedly mounted on the traveling beam, and the leveling shovel is located at the lower side of the traveling beam; A sealing cover that moves synchronously with the underwater non-dispersible concrete printing module, wherein the sealing cover has a receiving cavity for receiving the geomembrane roll, and a first gap is provided on one side of the sealing cover for the free end of the geomembrane to extend out; A rolling bearing, wherein the rolling bearing is installed in a sealing cover for horizontal rotation; A plurality of micro rollers, wherein the micro rollers are installed at the first gap of the sealing cover, and the micro rollers can be in sliding contact with the geomembrane; A third telescopic part controls the lifting and lowering of the sealing cover, wherein one end of the third telescopic part away from the sealing cover is fixedly connected to the traveling beam, and the sealing cover is located at the lower side of the traveling beam.

8. The equipment for constructing and repairing concrete lining panels of channels or rivers under flowing water conditions as claimed in claim 7, characterized in that: The underwater non-dispersible concrete printing module includes: An underwater non-dispersible concrete printing nozzle, wherein the nozzle end of the underwater printing nozzle can be directly opposite to the canal bank slope or the river channel slope, and the other end of the underwater non-dispersible concrete printing nozzle is fixedly connected to an end of the third telescopic part close to the sealing cover; Flexible film rolls; An unwinding and recycling assembly for unwinding the flexible film roll, wherein the unwinding and recycling assembly can be fixedly mounted on the traveling beam, and the underwater non-dispersible concrete printing nozzle is located between the unwinding and recycling assembly and the sealing cover; A pressing and flattening component for flattening the upper surface of a flexible film roll.

9. The equipment for constructing and repairing concrete lining panels of channels or rivers under flowing water conditions as claimed in claim 1, characterized in that: The underwater non-dispersible concrete regeneration mixing module comprises: A recycled aggregate device, wherein the recycled aggregate device is used to regenerate the concrete lining slab and the broken concrete in the damaged area of ​​the concrete lining slab; Concrete mixers; A screw conveyor, wherein the screw conveyor can convey underwater non-dispersible concrete to the underwater non-dispersible concrete printing module; A flexible feed pipe is connected in sequence to a recycled aggregate device, a concrete mixer, a screw conveyor and an underwater non-dispersible concrete printing module.

10. The equipment for constructing and repairing concrete lining slabs of channels or rivers under flowing water conditions according to claim 8, characterized in that: The unwinding and recycling assembly comprises: A roll film metal shell for accommodating a flexible film roll, wherein a second gap is provided on a side of the roll film metal shell close to the underwater non-dispersible concrete printing nozzle for pulling out a free end of the flexible film roll; A reel for coaxial installation of the flexible film roll, wherein the axis of the reel is perpendicular to the axis of the rolling bearing, and the reel is installed in a horizontally rotatable metal housing of the film roll; A fourth telescopic part for controlling the lifting and lowering of the reel, wherein an end of the fourth telescopic part away from the reel can be fixedly connected to the traveling beam; A plurality of leveling rollers, wherein the plurality of leveling rollers are horizontally fixedly mounted on the lower side of the metal shell of the film roll, and the plurality of leveling rollers can be in contact with the upper surface of the flexible film roll; A metal end head is fixedly provided with a suction cup on the lower side thereof which can be adsorbed on the concrete lining surface outside the damaged area of ​​the concrete lining plate, the free end of the flexible membrane roll can be fixedly connected to the metal end head, and the metal end head can be magnetically attracted to the flattening roller.

11. The equipment for constructing and repairing concrete lining slabs of channels or rivers under flowing water conditions as claimed in claim 10, characterized in that: The unwinding and recycling assembly further comprises a first hook, which is fixedly connected to the end of the film roll metal shell or the reel; The pressing and leveling assembly comprises: A pressure roller track, one end of which is fixedly connected to the water-entering end of the truss; A plurality of pressure rollers, wherein the plurality of pressure rollers are slidably installed in the pressure roller track in sequence, and an end of the pressure roller track away from the traveling beam is an outlet for the plurality of pressure rollers to slide out and is directly opposite to the leveling roller; a second hook which can be engaged with the first hook is arranged on the pressure roller located at the front end of the pressure roller track; The film roll recovery hook is arranged on one end of the pressure roller track close to the flattening roller, and the film roll recovery hook can be connected to the free end of the flexible film roll.

12. A method for constructing and repairing a concrete lining plate of a channel or river under flowing water, characterized in that: It comprises the equipment for repairing the concrete lining slab of a channel or a river in a flowing state according to any one of claims 2 to 11, and further comprises the following steps: S1 obtains the damaged area of ​​the concrete lining slab on the canal embankment slope or river channel slope, marked as damaged area A; The water-entering end of the S2 truss slides to the canal embankment slope or river channel slope, the truss in the water covers the damaged area A, and the fixed end of the truss is fixedly connected to the shore working platform; When the S3 crane beam is at the first position of the truss, a dismantling operation module is configured, and the automatic control system controls the crane beam configured with the dismantling operation module to move toward the water entry end on the truss; When the S4 traveling beam moves to the second position of the truss, the dismantling operation module starts to work, and the traveling beam drives the operation module to move to the third position of the truss; After the dismantling operation in step S5 completes the current working standard, the automated control system controls the crane beam to move to the first position of the truss, replaces the working module according to the next working requirement, and repeats step S4 until the working content is completed; When the S6 traveling beam moves to the first position of the truss, the geomembrane repair module and the underwater non-dispersible concrete printing module are configured. When the traveling beam moves to the second position of the truss, the underwater non-dispersible concrete printing module pours underwater non-dispersible concrete into the demolished area, and the geomembrane repair module accompanies the repair during the pouring process; Before the underwater non-dispersible concrete printing module is poured, the automatic control system controls the underwater non-dispersible concrete regeneration mixing module to regenerate and mix the underwater non-dispersible concrete, and the mixed underwater non-dispersible concrete is transported to the underwater non-dispersible concrete printing module; The first position is the fixed end of the truss or the space between the shore work platform and the truss where the traveling beam passes through, the second position is the working starting position of the truss in the damaged area A, and the third position is the working stopping position of the truss in the damaged area A; The demolition operation includes cutting of the middle area, grabbing and transportation, fine cutting of the edges and cleaning.

13. The construction and repair method according to claim 12, characterized in that: The steps of the demolition operation, underwater non-dispersible concrete regeneration mixing module and geomembrane repair module and underwater non-dispersible concrete printing module are as follows; Middle area cutting: The quick-release control assembly is installed on the traveling beam, and the underwater cutting knife is assembled on the quick-release control assembly. The traveling beam is controlled to slide along the track beam, and the underwater cutting knife is driven to move to the damaged area A. The first telescopic part controls the underwater cutting knife to move downward and abut against the damaged area A. The underwater cutting knife cuts the middle area of ​​the concrete lining plate at the damaged area A under the control of the driving part, the driving sliding part, the first telescopic part, and the steering part. The cutting depth during cutting exceeds the thickness of the concrete lining plate at the damaged area A by 8-12mm, and the concrete panel to be recycled is formed by cutting, and the damaged area A after cutting is backfilled into the groove B; Grab and transport: The traveling beam slides back along the track beam to the onshore working platform, the underwater cutting knife on the quick-release control assembly is disassembled, and the vacuum grab head is installed on the disassembled quick-release control assembly; the traveling beam is controlled to slide along the track beam, and the quick-release control assembly drives the vacuum grab head to move to the backfill groove A to absorb the concrete panel in the middle area after cutting; the transport assembly is controlled to move along the track beam to the top of the backfill groove B, and the vacuum grab head grabs the concrete panel and transfers it to the transport vehicle, and the concrete panel is transported out of the water by the transport vehicle; Fine edge cutting: The traveling beam slides back along the track beam to the shore working platform again, the vacuum grabbing head on the quick-release control assembly is disassembled, the wedge plate is installed on the driving part of the underwater cutting knife, the underwater cutting knife and the cleaning assembly are installed on the disassembly quick-release control assembly, the traveling beam is controlled to slide along the track beam, the quick-release control assembly drives the underwater cutting knife, the wedge plate and the cleaning assembly to move to the backfill groove B, the quick-release control assembly and the traveling beam control the underwater cutting knife to perform multiple strip cutting along the 130-160mm wide area of ​​the concrete lining plate around the edge of the backfill groove B to form a cutting seam; single cutting The cutting forms a strip-shaped cutting strip, the cutting width of the strip-shaped cutting strip is 20-30mm, and the vertical distance between the bottom of the strip-shaped cutting strip and the bottom of the concrete lining plate is 3-8mm, forming a backfill groove C; the wedge plate is embedded between the cutting seams, and the wedge plate squeezes and crushes the strip-shaped cutting strip to form broken concrete; at the same time, the cleaning shovel scrapes off the concrete with a thickness of 3-8mm at the bottom of the concrete lining plate, and the original geomembrane at the local part of the backfill groove C is exposed; the quick-release control component and the traveling beam control the cleaning shovel to clean the surface of the concrete lining plate in the 130-160mm wide area around the edge of the backfill groove C; Recycling and mixing of underwater non-dispersible concrete: After the transport component drives the concrete panels to be recycled out of the water along the track beam, the concrete panels to be recycled are put into the recycled aggregate equipment for regeneration to form aggregates; the aggregates and silicate cement are put into the concrete mixer for mixing to form underwater non-dispersible concrete; the feed pipe transports the underwater non-dispersible concrete to the screw conveyor, and the screw conveyor transports the underwater non-dispersible concrete to the underwater non-dispersible concrete printing nozzle; Geomembrane repair and concrete printing: The free end of the geomembrane is pulled out through the first gap, and the free end of the geomembrane overlaps with the original geomembrane at the bottom of the backfill groove C, and the geomembrane fits with one side of the bottom of the backfill groove C. The upper surface of the geomembrane is vertically opposite to the lower end of the underwater non-dispersible concrete printing nozzle; the side wall of the underwater non-dispersible concrete printing nozzle fits with the vertical side wall of the backfill groove C; The leveling roller, metal end and suction cup are all opposite to the surface of the concrete lining plate around the backfill groove C, and the suction cup is in contact with the surface of the concrete lining plate; The traveling beam drives the geomembrane repair module and the underwater non-dispersible concrete printing module to move along the track beam toward the other side of the backfill slot C. The second telescopic part controls the intermittent lifting and lowering of the leveling shovel, and the leveling shovel levels the broken concrete in the backfill slot C. At the same time, the screw conveyor synchronously transports the underwater non-dispersible concrete into the underwater non-dispersible concrete printing nozzle, and the free end of the geomembrane is pressed by the underwater non-dispersible concrete sprayed from the underwater non-dispersible concrete printing nozzle. During the movement, the metal end is separated from the leveling roller, and the leveling roller is pressed onto the flexible film roll. The flexible film roll is unrolled synchronously and laid flat on the underwater non-dispersible concrete. The first hook drags a number of pressure rollers from the pressure roller track through the second hook and presses them onto the upper surface of the flexible film roll, so that the underwater non-dispersible concrete is leveled and pressed without overflowing. When the underwater non-dispersible concrete in the backfill groove C stops flowing, the traveling beam drives the geomembrane repair module and the underwater non-dispersible concrete printing module to move up and be recovered along the track beam again; when the underwater non-dispersible concrete is initially solidified, the fixed end of the truss is removed, and the truss slides up under the support of the walking leveling mechanism, and the roll film recovery hook on the water-entering end of the truss drives the free end of the flexible membrane to detach from the backfill groove C.

Images