Equipment and method for constructing and repairing concrete lining panels of channels or river channels under flowing water conditions

Abstract

The present invention relates to the field of water conservancy construction and specifically discloses equipment and methods for constructing and repairing concrete lining panels for channels or river channels under flowing water. The equipment comprises a truss, an operation module, an underwater non-dispersible concrete regeneration and mixing module, a power system, and an automated control system. The operation module comprises a cutting module, a grabbing module, a geomembrane repair module, and an underwater non-dispersible concrete printing module. The cutting module, grabbing module, geomembrane repair module, and underwater non-dispersible concrete printing module are selectively configured on a traveling beam according to the operation content. The automated control system is electrically connected to the power system, underwater non-dispersible concrete regeneration and mixing module, and the operation module. This solution can adapt to different channel embankment or river channel slope conditions and can perform automated cutting, removal, regeneration and mixing, geomembrane repair, and underwater non-dispersible concrete printing operations on concrete lining panels at different damaged locations.

Description

Technical Field

[0001] The present 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. They not only ensure the effective use of water resources, but also promote the comprehensive development of the region. During the long-term flow of large canals or rivers, the slopes of the canals or rivers will be affected by many factors such as groundwater levels, freeze-thaw cycles, construction quality, and external forces. This may cause local concrete lining slabs on the slopes of the canals or rivers to crack, collapse, bulge, and become unstable due to anti-floating. This has an adverse impact on the structural safety and water supply capacity of the canals or rivers. When the concrete lining slabs on the slopes of the canal embankment or river channel are damaged, it may cause the slope soil of the canal or river channel to soften and cause the slope of the canal or river channel to become unstable. Therefore, the damaged concrete lining slabs need to be removed and repaired in a timely manner to ensure the normal and safe water supply of the canal or river channel.

[0003] Due to the continuous flow of water in canals or rivers all year round, the repair of underwater damaged lining panels is currently mainly carried out by dry construction using cofferdams or underwater construction using divers. When using the dry construction method of cofferdams, it is necessary to build cofferdams around the damaged concrete lining panels during periods of low water flow to exclude water areas 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 underwater construction repair by divers, the efficiency of divers is relatively low due to the limitations of water depth, visibility and construction safety. At the same time, the risk of divers' underwater operations is high, and strict safety measures and insurance are required, which increases construction costs. Therefore, both of the above two repair methods have the problems of complex construction, low efficiency and high repair costs. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides equipment for constructing and repairing concrete lining panels of channels or rivers under flowing water conditions, so as to solve the problems of existing methods for repairing concrete lining panels on the slopes of channels or rivers, which are difficult to construct, have low safety and high construction costs during repair.

[0005] To achieve the above objectives, the basic scheme of the present invention is as follows: a device for repairing a channel or river channel with concrete lining panels under flowing water, comprising:

[0006] The truss has one end as the water-entering end and the other end as the fixed end. The truss is provided with a walking and leveling mechanism, which is used to move the truss on the slope of the canal embankment or the river channel so that the water-entering end of the truss is driven underwater and the fixed end of the truss is exposed above the water surface. The truss is equipped with a movable traveling beam, which moves back and forth along the length of the truss.

[0007] Operation module, which 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 configured on the traveling beam according to the operation content;

[0008] An underwater non-dispersible concrete recycling and mixing module, which can be connected to an underwater non-dispersible concrete printing module;

[0009] The power system is used for the movement, traction, positioning of the traveling beam and the operation of the operating module, as well as the movement and positioning of the truss;

[0010] Automatic control system, the automatic control system is connected to the power system, underwater non-dispersible concrete regeneration mixing module and operation module by electrical signals respectively, and is used to control 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.

[0011] The technical principle of the present invention is as follows: when constructing and repairing damaged areas on a canal embankment slope or a river channel slope, the present invention can install a truss on the surface of the canal embankment slope or the river channel slope, with at least part of the truss located in water. The truss located in 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. Each time an operation module is installed, the operation module of the previous step can be removed from the traveling beam before installing another operation module, for example:

[0012] First, a cutting module is installed on the traveling beam. This module is used to cut the concrete lining slabs in the damaged area and clean the broken concrete in the damaged area. After the cutting operation is completed, the traveling beam moves back to the assembly position. Then, a grabbing module is installed on the traveling beam. The grabbing module picks up the cut concrete lining slabs and transports them to shore. The grabbing module can also directly send the cut concrete lining slabs to the underwater non-dispersible concrete recycling mixing module for recycling. 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 crush and level the 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 underwater non-dispersible concrete and print 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 recycled aggregate with underwater non-dispersible concrete to achieve the recycling of the concrete lining plate and reduce the construction and repair costs.

[0013] 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-dispersive concrete printing module installed on the truss. The equipment can adapt to different channel embankment slope or river slope conditions and can automatically cut, remove, repair geomembrane and print concrete for concrete lining plates in different damaged positions. The dismantled concrete lining plate can be used for the regeneration of underwater non-dispersive 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-dispersive concrete to repair the damaged lining plate. It has strong adaptability, controllable quality and integrity.

[0014] In addition, the present invention also provides a method for constructing and repairing a concrete lining plate of a channel or river under flowing water conditions, including equipment for constructing and repairing a concrete lining plate of a channel or river under flowing water conditions, and further comprising the following steps:

[0015] S1 obtains the damaged area of ​​the concrete lining plate on the canal embankment slope or river channel slope, and marks it as damaged area A;

[0016] The submerged 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 work platform.

[0017] When the S3 traveling beam is at the first position of the truss, a dismantling operation module is configured. The automated control system controls the traveling beam equipped with the dismantling operation module to move toward the water entry end on the truss;

[0018] When the S4 traveling beam moves to the second position of the truss, the dismantling operation module starts working, and the traveling beam drives the operation module to move to the third position of the truss;

[0019] After the dismantling operation in step S5 completes the current working standard, the automated control system controls the traveling 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;

[0020] When the S6 traveling beam moves to the first truss position, the geomembrane repair module and the underwater non-dispersible concrete printing module are configured. When the traveling beam moves to the second truss position, the underwater non-dispersible concrete printing module pours underwater non-dispersible concrete into the demolished area, and the geomembrane repair module accompanies the repair process during the pouring process.

[0021] Before pouring the underwater non-dispersible concrete printing module, the automated 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;

[0022] 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. The third position is the working stopping position of the truss in the damaged area A.

[0023] The demolition operation includes cutting the middle area, grabbing and transporting, fine cutting of the edges and cleaning.

[0024] 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 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 operating costs, and improving 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 used 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 in 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-dispersive concrete for printing repair of damaged area A, the concrete lining panel can be well repaired. Underwater non-dispersive concrete has strong adaptability, controllable quality and good integrity when repairing damaged area A.

[0025] 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:

[0026] Middle area cutting: The quick-release control assembly is installed on the traveling beam, and the underwater cutter is assembled on the quick-release control assembly. The traveling beam is controlled to slide along the track beam, driving the underwater cutter to move to the damaged area A. The first telescopic part controls the underwater cutter to move downward and abut against the damaged area A. Under the control of the driving part, the driving sliding part, the first telescopic part, and the steering part, the underwater cutter cuts the middle area of ​​the concrete lining plate in the damaged area A. The cutting depth during cutting exceeds the thickness of the concrete lining plate in the damaged area A by 8-12mm, forming a concrete panel to be recycled. After cutting, the damaged area A becomes a backfill groove B.

[0027] Grab and transport: The traveling beam slides back along the track beam to the first position, the underwater cutting blade on the quick-release control assembly is removed, and the vacuum grab head is installed on the 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 slot 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 slot B, and the vacuum grab head grabs the concrete panel and transfers it to the transport vehicle, which then transports the concrete panel out of the water;

[0028] 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 cutter, the underwater cutter 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 cutter, 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 cutter to perform multiple strip cuts 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 with a cutting width of 20-30 mm, and the vertical distance between the bottom of the strip-shaped cutting strip and the bottom of the concrete lining plate is 3-8 mm, forming a backfill groove C; the wedge plate is embedded in the cutting seam, 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 3-8 mm thick concrete at the bottom of the concrete lining plate, exposing the original geomembrane in the backfill groove C; the quick-release control component and the traveling beam control the cleaning shovel to clean the surface of the concrete lining plate in the 130-160 mm wide area around the edge of the backfill groove C;

[0029] Recycling and mixing of underwater non-dispersible concrete: After the transport component moves the concrete panels to be recycled out of the water along the track beam, the panels are placed in the recycled aggregate equipment for regeneration to form aggregate. Aggregates and Portland cement are placed in the concrete mixer and mixed to form underwater non-dispersible concrete. The feed pipe transports the underwater non-dispersible concrete to the screw conveyor, which then transports the underwater non-dispersible concrete to the underwater non-dispersible concrete printing nozzle.

[0030] 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 trench C. The geomembrane is also in contact with one side of the bottom of the backfill trench C. The upper surface of the geomembrane is vertically aligned with the lower end of the underwater non-dispersive concrete printing nozzle; the side wall of the underwater non-dispersive concrete printing nozzle is in contact with the vertical side wall of the backfill trench C.

[0031] 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;

[0032] 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 groove 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 groove C. At the same time, the screw conveyor synchronously transports the underwater non-dispersible concrete into the underwater non-dispersible concrete printing nozzle. The free end of the geomembrane is pressed by the underwater non-dispersible concrete sprayed by 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 tightly onto the flexible membrane roll. The flexible membrane roll is synchronously unwound and flattened 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 membrane roll, so that the underwater non-dispersible concrete is leveled and compacted without overflowing.

[0033] 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.

[0034] 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 grasp 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 cooperation with the subsequent underwater non-dispersed concrete recycling mixing step, thereby improving the transfer efficiency of the concrete panel.

[0035] During the fine edge cutting, the underwater cutting knife is again installed on the quick-release control component, 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 cutting strip, so that during the cutting process of the underwater cutting knife, the wedge plate is embedded in the concrete strip cutting seam to squeeze and crush it to form broken concrete, without damaging the original geomembrane at the bottom of the concrete lining plate here. At this time, the cleaning shovel scrapes off 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 of the backfill groove C, so that the suction cup during 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.

[0036] 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.

[0037] In geomembrane repair and concrete printing, the geomembrane repair unit and concrete printing unit can cooperate with the traveling beam and 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, thereby realizing efficient laying and rapid repair of geomembrane and underwater non-dispersible concrete at backfill groove C, improving the repair efficiency of damaged concrete lining plates, and the entire repair process is not affected by water flow. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a top view of the truss, traveling beam and onshore working platform in the channel concrete lining plate repair equipment under flowing water in an embodiment of the present invention.

[0039] Figure 2 for Figure 1 Left side view of the center truss and traveling beam.

[0040] Figure 3 for Figure 2 Cross-sectional view at AA in the middle.

[0041] Figure 4 for Figure 2 A partial enlarged view of the Bank of China's walking and leveling mechanism.

[0042] 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 conditions.

[0043] 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.

[0044] 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.

[0045] Figure 8 This is a schematic diagram of the structure of the quick-release control component and cleaning component in the channel concrete lining repair equipment under flowing water conditions.

[0046] Figure 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 conditions.

[0047] Figure 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.

[0048] Figure 11 for Figure 9 A partial enlarged view of the side view of the middle truss, geomembrane repair module and underwater non-dispersible concrete printing module.

[0049] 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, limiting rod 208, movable pin 209, slider 210, support roller 212, cleaning shovel 301, hydraulic shaft 302, leveling shovel 41, connecting shaft 42, Second telescopic section 43, sealing cover 401, first gap 402, rolling bearing 403, micro roller 404, third telescopic section 405, geomembrane 406, underwater non-dispersible concrete printing nozzle 50, recycled aggregate equipment 501, concrete mixer 502, screw conveyor 503, feed pipe 504, flexible film roll 601, film roll metal shell 602, reel 603, fourth telescopic section 604, leveling roller 605, metal end 606, suction cup 607, first hook 608, pressure roller track 801, pressure roller 802, second hook 803, film roll recovery hook 804. DETAILED DESCRIPTION

[0050] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0051] This embodiment is basically as Figure 1-11 As shown, an embodiment of the present invention proposes a construction and repair equipment for a channel or river channel concrete lining plate under a 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 for moving the truss 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 out of the water. 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, grabbing module, geomembrane repair module and underwater non-dispersible concrete printing module are selectively configured 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 to the power system, the underwater non-dispersible concrete regeneration mixing module and the operation module by electrical signals, and is used for controlling 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.

[0052] In order to facilitate the erection of trusses at the construction and repair site and the transfer and installation of various operation modules, this example also includes an onshore working platform 1, such as Figure 1 As shown, the onshore work platform 1 is provided with an accommodating area 11 that can accommodate the cutting and grabbing module, the geomembrane repair module and the underwater non-dispersible concrete printing module. The onshore work platform 1 is fixedly connected to the fixed end of the truss. A space for a traveling beam 20 to pass through is formed between the accommodating area 11 and the truss. The space is used for the 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.

[0053] In this embodiment, the fixed end of the truss can be stably fixed by the shore work platform 1, so that the installation of the truss is stable; at the same time, the accommodating area 11 on the shore work 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 to 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.

[0054] The bottom of the onshore working platform 1 can be fixed on the canal embankment road or the river embankment 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 used as the operation and installation area of ​​the equipment (various operation modules) to facilitate the replacement and installation of each operation module.

[0055] At the same time, the power system may include several winches 105 and steel wire traction ropes 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 component to slide along the track beam 102.

[0056] 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 on the upper side of the longitudinal support beam 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.

[0057] 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-dispersive concrete printing module on the track beam 102, making it convenient for the cutting module, grabbing module, geomembrane repair module and underwater non-dispersive concrete printing module to be moved to the underwater channel or river for repair operations.

[0058] 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. 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 locally uneven, the tire 103 can be extended out of the mounting groove to level and support 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 installation support of the entire truss more stable.

[0059] When the longitudinal support beam 10 is laid along the canal embankment slope or the river channel slope, the telescopic frame 104 is extended and the tire 103 is supported outside the installation groove. The tire 103 contacts 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 and the tire 103 is retracted into the installation groove, and the longitudinal support beam 10 is in contact with the canal embankment slope or the river channel slope; when the canal embankment slope or the river channel slope is locally uneven, the telescopic frame 104 is extended to push the tire 103 to support the longitudinal support beam 10. The length-adjustable telescopic frame 104 and the tire 103 perform leveling support on 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.

[0060] 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 onshore working platform 1, and the sliding along the channel embankment slope or the river channel slope is achieved through the walking leveling mechanism. The launching method is to assemble the sections one by one and slide down the sections one by one. The entire sliding process and the positioning after launching are achieved by fixing the top of the truss with the onshore 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 the underwater transportation operation or recovery operation. 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 various segments in the truss are dismantled, so that the truss is decomposed from the whole into single segments, allowing the longitudinal support beam 10, the transverse support beam 101 and the track beam 102 to be brought ashore and dismantled and recovered segment by segment.

[0061] When the tire 103 is in the 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 separate 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 locally 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 operation 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 pushes the longitudinal support beam 10 up again to separate from the channel embankment slope or river channel slope. The tire 103 supports the truss to move along the channel embankment slope or 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.

[0062] like Figure 5-7 As shown, the cutting module is used to cut and clean the concrete lining slab in the damaged area of ​​the concrete lining slab. The cutting and grabbing module includes an underwater cutting knife 201, a wedge plate 202 and a cleaning assembly. The underwater cutting knife 201 is installed on the quick-release control assembly 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 assembly. 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.

[0063] 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 slope or the river 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 mounted 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.

[0064] The grabbing module includes a vacuum grabbing head 206 and a transport assembly. The vacuum grabbing head 206 can be configured on the traveling beam 20 through a quick-release control assembly. The transport assembly includes a transport trolley 207, a limiting rod 208, and a movable pin 209 that allows the transport trolley 207 and the limiting rod 208 to be detachably connected. The axis of the movable pin 209 is perpendicular to the axis of the lower end of the limiting rod 208. A slider 210 is fixedly installed at the upper end of the limiting rod 208. The traveling beam 20 and the limiting rod 208 can be fixedly and detachably connected to the free end of the wire traction rope 106. The slider 210 is slidably connected to the track beam 102; a support roller 212 is provided on the bottom surface of the transport trolley 207, and the rolling axis of the support roller 212 is perpendicular to the axis of the longitudinal support beam 10. The support roller 212 is in rolling contact with the channel embankment slope or the river channel slope.

[0065] 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.

[0066] The cutting module and the grabbing module can sequentially perform the following operations: cutting the center of the damaged concrete lining panel → vacuum suction of the cut concrete panel → transporting the cut concrete panel → fine cutting and edge cleaning of the damaged concrete lining panel. The underwater cutter 201 can flexibly move up and down, horizontally, and steer during the cutting process, facilitating precise cutting of the damaged area. The cleaning assembly, connected to the steering unit 205, can follow the underwater cutter 201 and simultaneously clean the concrete debris formed during the fine edge cutting process. The wedge plate 202 can cooperate with the underwater cutter 201. During fine edge cutting, the wedge plate 202 can be inserted between the strips of concrete lining panel, crushing the strips, and coordinating the cutting and crushing of the concrete lining panel to improve construction efficiency. The vacuum grabbing head 206 can cooperate with the transport assembly to coordinate the cutting, suction, and transportation of the concrete lining panel, achieving efficient underwater treatment of damaged concrete lining panels.

[0067] When cutting the middle part of the damaged area of ​​the concrete lining plate, the quick-release control component is first installed on the traveling beam 20, and then the underwater cutting knife 201 is installed on the lower end of the first telescopic part 204. The winch 105 controls the traveling beam 20 to slide down along the truss track beam 102 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 cut vertically, 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 part of the damaged area of ​​the concrete lining plate can be cut. 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 driving beam 20, the horizontal position and vertical position of the underwater cutting knife 201 on the canal embankment slope or 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.

[0068] After the middle cutting is completed, the winch 105 controls the traveling beam 20 through the wire traction rope 106 to slide along the track beam 102 of the truss to the accommodation area 11 of the shore working platform 1, 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 again through the wire traction rope 106 to slide along the track beam 102 of the truss to the cut concrete panel, so as to facilitate the suction of the concrete panel.

[0069] During the vacuum suction process of 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 suck the concrete panel. At the same time, the winch 105 synchronously controls the transport vehicle 207, the limit rod 208 and the slider 210 through the wire traction rope 106 to move downward along the canal embankment slope or river channel slope to the horizontal position where the damaged area of ​​the concrete lining panel is located. The vacuum grabbing head 206 with the concrete panel sucked is controlled by driving the sliding part 203 again to move to the 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 onto the transport vehicle 207. At this time, the winch 105 controls the transport vehicle 207, the limiting rod 208 and the slider 210 to move along the canal embankment slope or the river channel slope to the water surface through the steel wire traction rope 106 to collect the concrete panel to be recovered.

[0070] After the vacuum suction of the concrete panel is completed, the winch 105 controls the traveling beam 20 through the wire traction rope 106 to slide along the track beam 102 of the truss to the accommodation area 11 of the shore working platform 1, and the vacuum grabbing head 206 is quickly disassembled at the quick-release control component. The cleaning component is quickly installed on the steering part 205 on 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 fine cutting at the edge of the damaged area of ​​the concrete lining plate; the winch 105 controls the traveling beam 20 again through the wire traction rope 106 to slide along the track beam 102 of the truss to the damaged area of ​​the concrete lining plate after cutting.

[0071] 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 component, 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. The thickness of the strip cutting strip is less than the thickness of the concrete lining plate, and 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 location 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.

[0072] 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 construction with cofferdams or underwater construction by divers to manually operate corresponding equipment to cut concrete panels and then hoist and transport the cut concrete panels away.

[0073] 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.

[0074] like Figure 9-11As shown, the sealing cover 401 has a accommodating cavity for accommodating the 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 axial sealing cover 401 of the traveling beam 20, and the rolling bearing 403 is installed in the sealing cover 401 for horizontal rotation; a number of micro rollers 404 are installed on 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 bearing 403 and the micro rollers 404 are perpendicular to the axis of the traveling beam 20; the two 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 wire traction rope 106; the third telescopic part 405 is fixedly connected to the traveling beam 20 at one end away from the sealing cover 401, and the sealing cover 401 is located on the lower side of the traveling beam 20.

[0075] When using the geomembrane repair module, the cutting and grabbing module on the traveling beam 20 can be removed first, and 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 of the broken concrete on the area where the geomembrane 406 is to be repaired, 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 channel 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 channel 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 smoother when the geomembrane 406 is pulled out, so that the pulled out geomembrane 406 remains flat and accurately laid on the channel embankment slope or the river channel slope to be repaired.

[0076] 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 nozzle end is 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.

[0077] 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 head 606. The roll film metal shell 602 is provided with a second gap on one side close to the underwater non-dispersible concrete printing nozzle 50 for pulling out the free end of the flexible film roll 601; the axis of the reel 603 is perpendicular to the axis of the rolling bearing 403, and the reel 603 is horizontally mounted on the roll film. Inside the metal shell 602; the upper end of the fourth telescopic portion 604 can be fixedly connected to the driving beam 20; a number of smoothing rollers 605 are horizontally fixedly installed on the lower side of the roll film metal shell 602, and the number of smoothing rollers 605 can be in contact 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 smoothing roller 605; Figure 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 makes the unwinding and recycling of the flexible film roll more convenient; while the flexible film is unwinding, 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, realizing automatic unwinding of the flexible film, and at the same time, the leveling roller 605 is attached to the unwound flexible film, which is convenient for leveling the underwater non-dispersible concrete under the flexible film, making the underwater non-dispersible concrete at the final repair site more regular; in this process, the free end of the flexible film is fixed, unwound, 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.

[0078] 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 be unrolled to 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.

[0079] At the same time, as shown in Figure 9, the underwater non-dispersible concrete recycling and mixing module includes a recycled aggregate device 501, a concrete mixer 502, a screw conveyor 503 and a flexible feed pipe 504. The feed pipe 504 sequentially connects the recycled aggregate device 501, the concrete mixer 502, the screw conveyor 503 and the underwater non-dispersible concrete printing module. The recycled aggregate device 501 is used to regenerate the concrete lining slab and broken concrete in the damaged area of ​​the concrete lining slab; 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 "Y"-shaped near the underwater non-dispersible concrete printing nozzle 50 to facilitate more uniform distribution of concrete to the underwater non-dispersible concrete printing nozzle 50; the feed pipe 504 connects the concrete mixer 502 and the screw conveyor 503.

[0080] The recycled aggregate equipment 501 can recycle and reuse the concrete lining panels and broken concrete in the damaged area of ​​the lining panels, thereby fully utilizing the concrete panels to be recycled, further reducing repair costs, and achieving good energy-saving and carbon-reduction benefits; at the same time, the screw conveyor 503 cooperates with the underwater non-dispersible concrete printing module to control the speed at which the underwater non-dispersible concrete printing module is transported 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, thereby achieving uniform coating of the underwater non-dispersible concrete in the damaged area of ​​the concrete lining panels.

[0081] In this embodiment, the number of underwater non-dispersible concrete recycling mixing modules can be two groups, and the two groups of underwater non-dispersible concrete recycling mixing modules are symmetrically arranged on the canal embankment road or river embankment road along the vertical center line of the printing nozzle, and can also be installed on the shore work platform 1.

[0082] In addition, if Figure 11As shown, the unwinding and recycling assembly further 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 the plurality of pressure rollers 802 are arranged and slidably installed in the pressure roller track 801 in sequence. The lower end of the pressure roller track 801 forms an outlet for several 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 that can be engaged with the first hook 608, and the first hook 608 and the second hook 803 are cooperable and connected James-type hooks; the roll film recovery hook 804 is provided on one end of the pressure roller track 801 close to the smoothing roller 605, and the roll film recovery hook 804 can be connected to the free end of the flexible film roll 601.

[0083] The pressure roller track 801 can guide the storage and movement of the pressure roller 802, 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, so that the underwater non-dispersible concrete can be further regularized and dense; at the same time, when the underwater non-dispersible concrete stops flowing, the driving 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, when 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 use of the flexible film.

[0084] When repairing the concrete lining plate, the winch 105 controls the traveling beam 20 through the steel wire traction rope 106 to slide along the track beam 102 of the truss to the accommodation area 11 of the shore 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 as a whole on the traveling beam 20; the winch 105 controls the traveling beam 20 again through the steel wire traction rope 106 to slide along the track beam 102 of the truss to the damaged area of ​​the concrete lining plate.

[0085] The second telescopic part 43 controls the intermittent lifting of the leveling shovel 41, and the leveling shovel 41 impacts the broken concrete in 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, and 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.

[0086] After the printing of the underwater non-dispersible concrete begins, the underwater non-dispersible concrete is transported into the printing area by the underwater non-dispersible concrete printing nozzle 50. 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 by the winch 105 through the wire traction rope 106, the film reel 603 rotates, and the flexible film roll 601 is output from the film reel metal shell 602 to cover the newly printed underwater non-dispersible concrete. The flattening roller below the film reel metal shell 602 presses 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 is pulled off the pressure roller track 801 by the first hook 608 and the second hook 803 on the film reel 603, and is pressed against the flattening roller 605 on the flexible film roll 601 to press the newly printed underwater non-dispersible concrete, reduce the overflow of the underwater non-dispersible concrete, and simultaneously flatten the underwater non-dispersible concrete.

[0087] After the underwater non-dispersible concrete printing nozzle 50 completes printing on a damaged area of ​​a concrete lining panel, it moves upward via the third telescopic portion 405, leaving the printing area. At this point, the flexible film roll 601 is free from the metal casing 602 and completely covers the area directly below the newly printed concrete. The pressure roller 802 presses on the flexible film roll 601. The geomembrane repair module and underwater non-dispersible concrete printing module described herein can be installed simultaneously on the traveling beam 20 for combined use.

[0088] At the same time, in the above process, the concrete panels to be recycled are transferred to the recycled aggregate equipment 501, and the concrete panels to be recycled are 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 to control the speed of the underwater non-dispersible concrete printing module according to the moving speed of the underwater non-dispersible concrete printing module driven by the driving 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 on the damaged area of ​​the concrete lining plate, realize full utilization of the concrete panels to be recycled, further reduce the repair cost, and achieve good energy-saving and carbon reduction benefits.

[0089] 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:

[0090] S1 obtains the damaged area of ​​the concrete lining plate on the canal embankment slope or river channel slope, and marks it as damaged area A;

[0091] S2 transports the longitudinal support beams 10, transverse support beams 101 and track beams 102 to the canal embankment road or river channel road facing 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 river channel slope, and the longitudinal support beams 10 and track beams 102 are arranged in a direction perpendicular to the water flow. The tires 103 and telescopic frames 104 adjust the slope of the longitudinal support beams 10 to the same slope as 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 onshore working platform 1; the driving beam 20 is connected to the wire traction rope 106 on the winch 105;

[0092] S3: When the traveling beam 20 is at the first position of the truss, a dismantling operation module is configured, and the automated control system controls the traveling beam 20 configured with the dismantling operation module to move toward the water entry end on the truss;

[0093] S4 When the traveling beam 20 moves to the second position of the truss, the dismantling operation module starts working, and the traveling beam 20 drives the operation module to move to the third position of the truss;

[0094] After the dismantling operation in step S5 has completed 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;

[0095] S6: The traveling beam 20 moves to the first truss position to be equipped with a geomembrane repair module and an underwater non-dispersible concrete printing module. When the traveling beam 20 moves to the second truss position, the underwater non-dispersible concrete printing module pours underwater non-dispersible concrete into the demolished area, and the geomembrane repair module accompanies the repair process during the pouring process.

[0096] Before pouring the underwater non-dispersible concrete printing module, the automated 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 driving 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 dismantling operation includes cutting the middle area, grabbing and transporting, fine cutting of the edges, and cleaning.

[0097] 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 recycling and mixing module will regenerate and mix the crushed lining plate fed 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 travel and positioning of the truss.

[0098] In this embodiment, the specific construction and repair steps in combination with the corresponding modules are as follows:

[0099] Cutting 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. Under the control of the driving part, the driving sliding part 203, the first telescopic part 204, and the steering part 205, the underwater cutting knife 201 cuts the middle area of ​​the concrete lining plate at the damaged area A. The cutting depth 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 repeats the rotation of 90 degrees twice in sequence, so that the cutting line of the underwater cutting knife 201 forms a closed loop, thereby completing the cutting of the middle part of the damaged area of ​​the concrete lining plate, cutting to form a concrete panel to be recycled, and the damaged area A after cutting is backfilled into the groove B.

[0100] Grab and transport: 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 quickly disassembles the underwater cutting knife 201 at the quick-release control component, and installs the vacuum grab head 206 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 removed, and the vacuum grab head 206 is installed on the disassembly 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 backfill groove B again through the wire traction rope 106, and drives the sliding part 203 to cooperate 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 backfill groove A to suck the concrete panel in the middle area after the cut; the hoist 105 synchronously controls the transport vehicle 207, the limit rod 208 and the slider 210 through the wire traction rope 106 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 panel is located, and controls the transport assembly to move along the track beam 102 to the top of the backfill groove B. The vacuum grabbing head 206 descends under the control of the driving sliding part 203, grabs the concrete panel and transfers it to the transport vehicle 207;

[0101] Fine edge cutting: After the vacuum suction of the concrete panel 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 shore 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 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 along the track beam 102 of the truss to the backfill 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 backfill groove B, and the quick-release control component and the traveling beam 20 controls the underwater cutting blade 201 to make multiple strip cuts along the 150mm wide area around the edge of the backfill groove B, forming a cutting seam; a single cut forms a strip-shaped cutting strip with a cutting width of 25mm, and the vertical distance between the bottom of the strip and the bottom of the concrete lining plate is 5mm, forming the backfill groove C; the wedge plate 202 is inserted into the cutting seam, and the wedge plate 202 squeezes and crushes the strip-shaped 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, exposing the original geomembrane in the backfill groove C; the quick-release control component and the driving 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;

[0102] Recycling and mixing of underwater non-dispersible concrete: After the transport assembly moves the concrete panels to be recycled out of the water along the track beam 102, the panels are fed into the regeneration aggregate equipment 501 for regeneration to form aggregate. The aggregate and Portland cement are fed into the concrete mixer 502 for mixing to form underwater non-dispersible concrete. The feed pipe 504 conveys the underwater non-dispersible concrete to the screw conveyor 503, which conveys the underwater non-dispersible concrete to the underwater non-dispersible concrete printing nozzle 50.

[0103] Geomembrane repair and concrete printing: The winch 105 controls the traveling beam 20 via the steel traction rope 106 to slide up along the truss track beam 102 to the accommodation area 11 of the onshore working platform 1. The cutting and grabbing module on the traveling beam 20 is removed, and the geomembrane repair module and the underwater non-dispersible concrete printing module are integrally installed on the traveling beam 20. The winch 105 controls the traveling beam 20 again via the steel traction rope 106 to slide down along the truss track beam 102 to the backfill groove C.

[0104] The free end of the geomembrane 406 is pulled out through the first gap 402. The free end of the geomembrane 406 overlaps the existing geomembrane at the bottom of the backfill trench C. The geomembrane 406 is also in contact with one side of the bottom of the backfill trench C. The upper surface of the geomembrane 406 is vertically aligned with 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 trench C.

[0105] 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;

[0106] 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. 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 transports the underwater non-dispersible concrete into the underwater non-dispersible concrete printing nozzle 50. 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 separates from the leveling roller 605, and the leveling roller 605 is pressed onto the flexible film roll 601. The flexible film roll 601 is synchronously unwound and flattened 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 presses them onto the upper surface of the flexible film roll 601, so that the underwater non-dispersible concrete is leveled and compacted without overflowing.

[0107] 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 leveling mechanism, and the longitudinal support beam 10, the transverse support 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 detach from the backfill groove C.

[0108] The channel lining plate repair equipment developed by the present invention can meet the practical needs of rapid and automated repair of channel slope lining plates under flowing water conditions. Taking a flowing 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 to adapt to different channel slope conditions, and automatically and quickly remove and repair damaged lining plates in different locations. This 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. The removed concrete lining plates are used to mix underwater non-dispersible concrete, which has excellent 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 channel slopes, and further consolidate the stability of the slopes. The use of underwater non-dispersible concrete to cast and repair damaged lining plates has strong adaptability, controllable quality, and good integrity.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. 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 solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. Equipment for the construction and repair of concrete lining panels for channels or rivers under flowing water conditions, characterized in that: include: A truss, wherein 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 for moving the truss on the slope of a canal embankment or a river channel so that the water-entering end of the truss is driven underwater 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, comprising a cutting module, a grabbing module, a geomembrane repair module, and an underwater non-dispersible concrete printing module, wherein 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 and mixing module, which can be connected to an underwater non-dispersible concrete printing module; The power system is used for the movement, traction, positioning of the traveling beam and the operation of the operating module, as well as the movement and positioning of the truss; An automated control system, which is electrically connected to the power system, the underwater non-dispersible concrete regeneration mixing module, and the operating module, and is used to control the reciprocating movement of the traveling beam, start and stop the underwater non-dispersible concrete regeneration mixing module, configure the switching sequence of the operating module on the traveling beam, and start and stop the operating module; The geomembrane repair module includes: A leveling assembly, the leveling assembly comprising a leveling shovel, a connecting shaft, and a second telescopic portion for controlling the raising and lowering of the leveling shovel, wherein an end of the second telescopic portion away from the leveling shovel can be fixedly mounted on the traveling beam, and the leveling shovel is located on 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 can be in sliding contact with the geomembrane; a third telescopic portion for controlling the lifting and lowering of the sealing cover, wherein one end of the third telescopic portion away from the sealing cover is fixedly connected to the traveling beam, and the sealing cover is located on the lower side of the traveling beam; The underwater non-dispersible concrete printing module includes: An underwater non-dispersible concrete printing nozzle, with the nozzle end facing the canal embankment slope or the river channel slope, and the other end of the underwater non-dispersible concrete printing nozzle fixedly connected to the end of the third telescopic part close to the sealing cover; Flexible film rolls; An unwinding and recovery assembly for unwinding the flexible film roll, wherein the unwinding and recovery assembly can be fixedly mounted on the traveling beam, and the underwater non-dispersible concrete printing nozzle is located between the unwinding and recovery assembly and the sealing cover; A pressing and flattening component for flattening the upper surface of the flexible film roll; The unwinding and recycling assembly further includes a first hook, which is fixedly connected to the end of the film roll metal shell or the reel; The unwinding and recycling component includes: A roll film metal housing for accommodating a flexible film roll, wherein a second gap is provided on a side of the roll film metal housing close to the underwater non-dispersive 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 horizontal rotation in the metal housing of the film roll; A fourth telescopic portion for controlling the lifting and lowering of the reel, wherein an end of the fourth telescopic portion 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, wherein a suction cup capable of adsorbing onto the surface of the concrete lining outside the damaged area of ​​the concrete lining plate is fixedly provided on the lower side of the metal end head, 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; 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 are slidably mounted in sequence in a pressure roller track, wherein an end of the pressure roller track away from the traveling beam forms an outlet for the plurality of pressure rollers to slide out and is directly opposite the leveling roller; a second hook that can be engaged with the first hook is provided 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 flat roller, and the film roll recovery hook can be connected to the free end of the flexible film roll.

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, which is provided with an accommodating area that can accommodate 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 the fixed end of the truss, and a space for a traveling beam to pass through is formed between the accommodating area and the truss. The space is used for switching the configuration 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 panels 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 embankment or 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 according to claim 3, characterized in that: The walking and leveling mechanism comprises: A tire with a brake system that can be lifted and moved in both directions, wherein a mounting groove for the tire to be embedded and installed is provided on the side of the longitudinal support beam close to the canal embankment slope or river channel slope; A telescopic frame with adjustable length, one end of which is installed at the top of the longitudinal support beam installation slot, and the other end of which is rotatably connected to the tire and can extend the tire outside the longitudinal support beam installation slot.

5. The equipment for constructing and repairing concrete lining panels of channels or rivers in a flowing state according to claim 1, characterized in that: The cutting module comprises: An underwater cutting knife, wherein the underwater cutting knife is mounted on the quick-release control assembly via a driving member; a wedge plate connected to the fixed end of the driving member, wherein the wedge plate and the underwater cutting knife are located on the same vertical plane, and the wedge plate and the cutting edge of the underwater cutting knife are opposite; A 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 river channel slope. The cleaning shovel can be hingedly mounted on the lower end of the steering portion. One end of the hydraulic shaft can be hingedly connected to the lower end of the steering portion, and the other end of the hydraulic shaft can be hingedly connected to the upper side of the cleaning shovel. The crawling module includes: Vacuum grabbing head; the vacuum grabbing head is configured on the traveling beam through a quick-release control assembly; A transport assembly is located on the truss on one side of the vacuum grabbing head. The transport assembly includes a transport trolley and a limit rod. One end of the limit rod is detachably connected to the transport trolley, 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 trolley can be in contact with or in rolling contact with the slope of the canal embankment or the slope of the river channel.

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

7. The equipment for constructing and repairing concrete lining panels of channels or rivers in a flowing state according to claim 1, characterized in that: The underwater non-dispersible concrete recycling mixing module includes: Recycled aggregate equipment, which is used to recycle the concrete lining slab and broken concrete in the damaged area of ​​the concrete lining slab; concrete mixers; A screw conveyor, which can convey underwater non-dispersible concrete to the underwater non-dispersible concrete printing module; A flexible feed pipe is sequentially connected to the recycled aggregate equipment, the concrete mixer, the screw conveyor and the underwater non-dispersible concrete printing module.

8. A method for constructing and repairing a concrete lining plate of a channel or river in a flowing state, characterized in that: The equipment for constructing and repairing a channel or river concrete lining plate under flowing water conditions according to any one of claims 2 to 7 further comprises the following steps: S1 obtains the damaged area of ​​the concrete lining plate on the canal embankment slope or river channel slope, and marks it 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 work platform. When the S3 traveling beam is at the first position of the truss, a dismantling operation module is configured. The automated control system controls the traveling beam equipped 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 working, 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 traveling 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 truss position, the geomembrane repair module and the underwater non-dispersible concrete printing module are configured. When the traveling beam moves to the second truss position, the underwater non-dispersible concrete printing module pours underwater non-dispersible concrete into the demolished area, and the geomembrane repair module accompanies the repair process during the pouring process. Before pouring the underwater non-dispersible concrete printing module, the automated 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; 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 the middle area, grabbing and transporting, fine cutting of the edges and cleaning.

9. The construction and repair method according to claim 8, characterized in that: The steps of the demolition operation, underwater non-dispersible concrete regeneration mixing module, 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 cutter is assembled on the quick-release control assembly. The traveling beam is controlled to slide along the track beam, driving the underwater cutter to move to the damaged area A. The first telescopic part controls the underwater cutter to move downward and abut against the damaged area A. Under the control of the driving part, the driving sliding part, the first telescopic part, and the steering part, the underwater cutter cuts the middle area of ​​the concrete lining plate in the damaged area A. The cutting depth during cutting exceeds the thickness of the concrete lining plate in the damaged area A by 8-12mm, forming a concrete panel to be recycled. After cutting, the damaged area A becomes a backfill groove B. Grab and transport: The traveling beam slides back along the track beam to the onshore work platform, the underwater cutting blade on the quick-release control assembly is removed, and the vacuum grab head is installed on the 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 backfill slot A to suck up the cut concrete panel in the middle area; the transport assembly is controlled to move along the track beam to above backfill slot B, and the vacuum grab head grabs the concrete panel and transfers it to the transport vehicle, which then transports the concrete panel out of the water; 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 cutter, the underwater cutter 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 cutter, 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 cutter to perform multiple strip cuts 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 with a cutting width of 20-30 mm, and the vertical distance between the bottom of the strip-shaped cutting strip and the bottom of the concrete lining plate is 3-8 mm, forming a backfill groove C; the wedge plate is embedded in the cutting seam, 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 3-8 mm thick concrete at the bottom of the concrete lining plate, exposing the original geomembrane in the backfill groove C; the quick-release control component and the traveling beam control the cleaning shovel to clean the surface of the concrete lining plate in the 130-160 mm wide area around the edge of the backfill groove C; Recycling and mixing of underwater non-dispersible concrete: After the transport component moves the concrete panels to be recycled out of the water along the track beam, the panels are placed in the recycled aggregate equipment for regeneration to form aggregate. Aggregates and Portland cement are placed in the concrete mixer and mixed to form underwater non-dispersible concrete. The feed pipe transports the underwater non-dispersible concrete to the screw conveyor, which then 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 trench C. The geomembrane is also in contact with one side of the bottom of the backfill trench C. The upper surface of the geomembrane is vertically aligned with the lower end of the underwater non-dispersive concrete printing nozzle; the side wall of the underwater non-dispersive concrete printing nozzle is in contact with the vertical side wall of the backfill trench 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 groove 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 groove C. At the same time, the screw conveyor synchronously transports the underwater non-dispersible concrete into the underwater non-dispersible concrete printing nozzle. The free end of the geomembrane is pressed by the underwater non-dispersible concrete sprayed by 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 tightly onto the flexible membrane roll. The flexible membrane roll is synchronously unwound and flattened 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 membrane roll, so that the underwater non-dispersible concrete is leveled and compacted 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.

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