Underwater steel bar and concrete composite printing device and method

Abstract

The invention discloses an underwater steel bar and concrete composite printing device and method. The underwater steel bar and concrete composite printing device comprises an accessory storage bin, a guide rail moving unit, a mechanical arm, an underwater concrete printing unit and an underwater laser printing unit. The accessory storage bin can suspend at an underwater to-be-repaired position, the guide rail moving unit is fixed to the periphery of the accessory storage bin, the mechanical arm base is connected with a circular rotating disc on the guide rail moving unit, the underwater concrete printing unit is composed of a drainage cover and a concrete printing nozzle, and the tail end of the underwater concrete printing unit is connected with the tail end of a mechanical arm. The underwater laser printing unit is composed of a drainage cover and a laser printing nozzle, and the tail end is connected with the mechanical arm. The drainage cover can utilize high-pressure gas to form a gas curtain, a drying condition is formed underwater, and a good working condition is provided for a concrete printing device and a laser printing device. Steel bar printing and concrete printing can be carried out at the same time underwater, and the underwater structure repairing device is suitable for repairing various damage types of underwater buildings, so that the underwater structure has higher strength after being repaired.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to an underwater steel bar and concrete composite printing device and method. Background Art

[0002] Underwater buildings are exposed to complex water flow, corrosion and scouring environments for a long time, which can easily lead to structural damage such as cracks and peeling, significantly reducing their mechanical properties and causing safety hazards. Traditional repair technologies mainly rely on the cofferdam drainage method and underwater operations by divers. The cofferdam drainage method requires the construction of a temporary cofferdam and the pumping of accumulated water to create a dry environment. It has a long construction period, high cost, and poor adaptability to large areas of water or deep water areas. Underwater repair by divers is limited by the low precision of manual operations, high operational risks, and it is difficult to achieve accurate repair of complex structures.

[0003] In recent years, concrete 3D printing technology has been introduced into the field of underwater repair due to its moldless molding, flexibility and high efficiency. For example: Chinese patent 202411243012.7 proposes to repair directly through an underwater concrete printing nozzle, but it relies on the positioning of the water surface rail, the accuracy is insufficient, and the interference of the underwater environment on the hardening and molding of concrete is not solved; Chinese patent 202310724608.8 designs a waterproof concrete nozzle. Although it avoids the drainage of the cofferdam, the concrete is still exposed to the water flow, which can easily lead to loose molding, insufficient strength, and lack of reinforcement, and the durability of the repaired structure is limited. In addition, although laser additive manufacturing technology can realize the printing of metal structures, the existing underwater repair technology focuses on a single material (concrete or steel bars) and lacks the ability of synchronous composite printing, resulting in limited improvement in the mechanical properties of the repair area. At the same time, factors such as water pressure and seepage in the underwater environment will directly interfere with the deposition and solidification of the printed material. The existing technology is difficult to completely isolate the influence of the water environment by adding protective agents or simple waterproofing designs, which restricts the quality and efficiency of repair. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to address the problems of underwater buildings being damaged by cracks and other defects after long-term operation, and the problems of low repair efficiency and poor repair quality in the current underwater printing and repair technology, and to propose an underwater steel bar and concrete composite printing device and method. Directly repairing damaged buildings underwater can avoid the economic losses caused by rebuilding the buildings. Compared with traditional drainage repairs, it also has less impact on the surrounding environment, is less difficult to construct, and requires less manpower, material resources, and economic losses. Simultaneous printing and repair of damaged underwater buildings with steel bars and concrete can improve the mechanical properties and safety factor of the damaged buildings. The device has a high-precision position adjustment capability and can accurately locate the damaged parts, adjust them, and then repair them.

[0005] Technical solution: In order to achieve the above purpose, the present invention adopts the following technical solution:

[0006] A first aspect of the present invention provides an underwater steel bar and concrete composite printing device, comprising an accessory storage bin, a guide rail moving unit, a mechanical arm, an underwater concrete printing unit and an underwater laser printing unit; the accessory storage bin is suspended at an underwater position to be repaired, the guide rail moving unit is fixed to the periphery of the accessory storage bin, the mechanical arm base is connected to a circular turntable on the guide rail moving unit, the underwater concrete printing unit comprises a first drainage cover and a concrete printing nozzle, the end of the underwater concrete printing unit is connected to the end of the mechanical arm, the underwater laser printing unit comprises a second drainage cover and a laser printing nozzle, the end of the underwater laser printing unit is connected to the mechanical arm, the first drainage cover and / or the second drainage cover form an air curtain for creating a dry environment underwater to provide dry conditions for printing concrete and steel bars.

[0007] Furthermore, the accessory storage bin includes a guide rail bearing surface, a gas thruster, a concrete silo, a steel silo, a battery, a gas cylinder and a control center; the guide rail bearing surface is used to install the guide rail moving unit; the gas thruster is used to drive the accessory storage bin to adjust its position in the water; the gas cylinder stores high-pressure gas required for the first drainage hood and / or the second drainage hood to form an air curtain, the concrete silo stores repair materials required for the underwater concrete printing unit, the steel silo stores materials for printing steel bars required for the underwater laser printing unit, the battery provides energy for the operation of the device, and the control center carries communication and remote control devices.

[0008] Furthermore, the guide rail moving unit includes an X guide rail, a Y guide rail, a guide rail slider and a circular turntable; the X guide rail is fixed on the guide rail bearing surface, and the overall length of the X guide rail is longer than the guide rail bearing surface, providing more X-direction adjustment; the Y guide rail is assembled on the X guide rail to achieve free movement in the X direction; the guide rail slider is assembled on the Y guide rail to achieve free movement in the Y direction; the circular turntable is fixed on the guide rail slider, the circular turntable can rotate 360°, and the mechanical arm is fixed on the circular turntable to achieve rotation adjustment. The guide rail moving unit can provide precise adjustment of the X, Y and circumferential directions for the mechanical arm. When the guide rail moving unit reaches the repair position in the accessory storage bin, the guide rail moving unit can adjust the underwater concrete printing unit and the underwater laser printing unit to a more precise position.

[0009] Furthermore, the mechanical arm includes a base, a large arm, a small arm, a terminal connection piece and a rotating joint; the base is fixed on the circular turntable, and the mechanical arm is driven to adjust in the circumferential direction as the circular turntable rotates. The large arm is connected to the base through the rotating joint, the small arm is connected to the large arm through the rotating joint, the small arm is connected to the terminal connection piece through the rotating joint, and the terminal connection piece is connected to the underwater concrete printing unit and the underwater laser printing unit. The mechanical arm can accurately adjust the position of the underwater concrete printing unit and the underwater laser printing unit.

[0010] Furthermore, the underwater concrete printing unit includes a concrete nozzle, a spiral stirring rod, a first drainage cover, a plurality of first connecting screws, a first one-way valve, a first waterproof cover and a motor compartment; the first drainage cover includes a first drainage cover lower connector, a first drainage cover middle connector and a first drainage cover upper connector which are combined together by the first connecting screws, and the first drainage cover includes three drainage cover modules inside to form a tortuous gas circuit, and the high-pressure gas from the first one-way valve is evenly dispersed in the circuit and sprayed out from the bottom of the first drainage cover to form a truncated cone-shaped air curtain at the bottom of the first drainage cover to create an underwater dry area; the first one-way valve is assembled at the reserved interface of the first drainage cover to provide one-way high-pressure gas; the spiral stirring rod is assembled in the concrete nozzle to stir the concrete in the concrete nozzle to prevent the concrete from solidifying, and the concrete nozzle is assembled on the first drainage cover by the first connecting screw, and the first waterproof cover is assembled on the first drainage cover and the concrete nozzle to eliminate the gap between the drainage cover and the concrete nozzle to prevent water seepage. The motor compartment is loaded with a motor to drive the spiral stirring rod to rotate, and the motor compartment cooperates with the first waterproof cover and the end connector of the robotic arm; the underwater concrete printing unit is used to realize concrete printing and repair under underwater dry conditions.

[0011] Furthermore, the underwater laser printing unit includes a laser printing head, a second drainage cover, a second one-way valve, a second waterproof cover, a connecting piece and a plurality of second connecting screws; the second drainage cover is composed of a second drainage cover lower connecting piece, a second drainage cover middle connecting piece and a second drainage cover upper connecting piece, the three modules of the second drainage cover are assembled together in the order of top, middle and bottom, and fixed together by the second connecting screws, forming a tortuous gas circuit inside the second drainage cover, and the high-pressure gas enters the drainage cover through the second one-way valve, is evenly dispersed in the gas circuit, and then sprays out from the bottom of the second drainage cover, forming a truncated cone-shaped air curtain at the bottom of the second drainage cover, creating an underwater dry area; the second one-way valve is installed at the reserved interface of the second drainage cover to provide one-way high-pressure gas; the laser printing head is installed inside the second waterproof cover, and the laser printing head has the function of underwater printing of steel bars, the second waterproof cover is connected with the second drainage cover and the laser printing head, the connecting piece is arranged at the end of the laser printing head, and cooperates with the connecting piece at the end of the mechanical arm to realize the position adjustment of the underwater laser printing unit, and the laser printing nozzle can realize the steel bar printing under underwater dry conditions.

[0012] The second aspect of the present invention provides an underwater steel bar and concrete composite printing method based on the above-mentioned device, using the underwater concrete printing unit and the underwater laser printing unit to alternately perform layered printing repairs on the steel bar structure and the concrete structure of the damaged building structure underwater; after the accessory storage bin is put into the water, it is adjusted to the repair area using a gas thruster, and the device uses the guide rail movement system and the robotic arm to adjust the underwater laser printing unit to the corresponding damaged position to print the steel bar. After the steel bar printing is completed, the underwater concrete printing unit is adjusted to the steel bar position through the guide rail movement system and the robotic arm to perform concrete printing repair; the underwater concrete printing unit works closely following the underwater laser printing unit.

[0013] Furthermore, the method comprises the following steps:

[0014] S1: After the accessory storage bin is put into the water, it is adjusted to the repair area by using a gas propeller;

[0015] S2: the guide rail moving unit and the mechanical arm loaded on the accessory storage bin adjust the underwater laser printing unit and the underwater concrete printing unit to corresponding damaged positions;

[0016] S3: The one-way valve inputs high-pressure gas into the gas circuit inside the drainage cover. After being evenly dispersed, the high-pressure gas is discharged from the bottom of the drainage cover to form an air curtain to create a dry area;

[0017] S4: the underwater laser printing unit prints steel bars at a certain height at the damaged part. After the printing is completed, the underwater laser printing unit is adjusted to the next position for printing. The printing height is the same as above. After one layer of printing is completed, the laser printing unit is adjusted back to the initial position.

[0018] S5: After the laser printing unit completes the steel bar printing at one position, the underwater concrete printing unit starts to work and is adjusted to the corresponding position to print concrete. The printing height of the concrete is slightly lower than the height of the printed steel bar. The underwater concrete printing unit works closely following the laser printing unit.

[0019] S6: After completing one layer of printing, the underwater laser printing unit adjusts its position to the position of the steel bars printed in the previous layer, and continues to print the steel bars on the basis of the existing steel bars to increase the height of the steel bars. Subsequently, the underwater concrete printing unit works, and the height of the printed concrete is slightly lower than the height of the printed steel bars.

[0020] S7: After completing one layer of printing, the underwater laser printing unit and the concrete printing unit return to the initial position, and then print the next layer according to the above steps, and repeat the cycle until the printing work is completed.

[0021] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0022] (1) The present invention proposes an underwater steel bar and concrete composite printing device and method, which can directly repair underwater damaged buildings, avoiding the time cost loss caused by traditional demolition and reconstruction repair, and greatly reducing the economic cost of repair compared to traditional drainage repair;

[0023] (2) The present invention proposes an underwater steel bar and concrete composite printing device and method, which uses a drainage cover to create a dry environment underwater, avoiding the negative impact of water on the printing process, and effectively overcoming the problem that traditional concrete printing and laser printing cannot be performed in water;

[0024] (3) The present invention proposes an underwater steel bar and concrete composite printing device and method, which can print steel bars and concrete at the same time. The existing underwater repair mainly prints concrete at the damaged part. Compared with the single use of concrete to repair damaged buildings, adding steel bars to the damaged area can significantly improve the strength of the repaired area.

[0025] (4) The present invention proposes an underwater steel bar and concrete composite printing device and method, which uses the movement of the accessory storage bin, the guide rail moving unit and the mechanical arm to adjust the position of the printing nozzle, and can accurately control the nozzle to move to the repair position. Compared with the existing single use of the guide rail moving unit or the mechanical arm device, the combination of the three methods has a higher degree of freedom and more accurate positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is a schematic diagram of the structure of the accessory storage bin of the present invention;

[0028] Figure 3 It is a schematic diagram of the structure of the guide rail moving unit of the present invention;

[0029] Figure 4 It is a schematic diagram of the structure of the mechanical arm of the present invention;

[0030] Figure 5 It is a schematic diagram of the structure of the underwater concrete printing unit of the present invention;

[0031] Figure 6 It is a schematic diagram of the structure of the underwater laser printing unit of the present invention.

[0032] Figure numerals: 1. accessory storage bin; 101. guide rail bearing surface; 102. gas thruster; 103. concrete silo; 104. steel silo; 105. battery; 106. gas cylinder; 107. control center; 2. guide rail moving unit; 201. X guide rail; 202. Y guide rail; 203. guide rail slider; 204. circular turntable; 3. robotic arm; 301. robotic arm base; 302. upper arm; 303. lower arm; 304. end connector; 305. rotary joint; 4. underwater concrete printing unit; 401. concrete nozzle; 402. 02. Spiral stirring rod; 403. Connecting piece under the first drain cover; 404. Connecting piece in the middle of the first drain cover; 405. Connecting piece on the upper part of the first drain cover; 406. First connecting screw; 407. First one-way valve; 408. First waterproof shell; 409. Motor compartment; 5. Underwater laser printing unit; 501. Laser printing head; 502. Connecting piece under the second drain cover; 503. Connecting piece in the middle of the second drain cover; 504. Connecting piece on the upper part of the second drain cover; 505. Second one-way valve; 506. Second waterproof shell; 507. Connecting piece; 508. Second connecting screw. DETAILED DESCRIPTION

[0033] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. The present embodiments are implemented based on the technical solutions of the present invention. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0034] An underwater steel bar and concrete composite printing device of this embodiment includes an accessory storage bin 1, a guide rail moving unit 2, a mechanical arm 3, an underwater concrete printing unit 4, and an underwater laser printing unit 5. The accessory storage bin 1 can be suspended at the underwater repair position, the guide rail moving unit 2 is fixed on the surface of the accessory storage bin 1, the mechanical arm base 301 is connected to the circular turntable 304 on the guide rail moving unit 1, the underwater concrete printing unit 4 is composed of a drainage cover and a concrete printing device, and the end is connected to the mechanical arm end connector 304, and the underwater laser printing unit 5 is composed of a drainage cover and a laser printing device, and the end is connected to the mechanical arm end connector 304. The air curtain formed by the drainage cover creates a dry environment underwater, providing dry conditions for printing concrete and steel bars.

[0035] In some embodiments, the guide rail bearing surface 101 of the accessory storage bin provides a laying position for the guide rail moving unit 2; the accessory storage bin is equipped with a gas thruster 102 for adjusting the position in the water; the accessory storage bin is equipped with a gas cylinder 106, which can store the high-pressure gas required for the drainage hood to form an air curtain; the accessory storage bin is equipped with a concrete silo 103, which can store the repair materials required for the underwater concrete printing unit; the accessory storage bin is equipped with a steel bar silo 104, which can store the materials for printing steel bars required for the underwater laser printing unit; the accessory storage bin is equipped with a battery 105, which can provide the electricity and other energy required for the operation of the device; the accessory storage bin is equipped with a control center 107, which can carry communication and remote control devices.

[0036] In some embodiments, the guide rail moving unit 2 is composed of an X-guide rail 201, a Y-guide rail 202, a guide rail slider 203, and a circular turntable 204. The X-guide rail 201 in the guide rail moving unit 1 is fixed on a specific bearing surface of the accessory storage bin 1. The overall length of the X-guide rail 201 is longer than the bearing surface of the accessory storage bin 1, providing more X-direction adjustment. The Y-guide rail 202 in the guide rail moving unit 2 is assembled on the X-guide rail 201 to achieve free movement in the X direction. The guide rail slider 203 in the guide rail moving unit 2 is assembled on the Y-guide rail 202 to achieve free movement in the Y direction. The circular turntable 204 in the guide rail moving unit 2 is fixed on the guide rail slider 203. The circular turntable 203 can rotate 360°, and the robot arm 3 fixed on the circular turntable 204 can achieve rotation adjustment. The guide rail moving unit 2 can provide precise adjustment of the robot arm 3 in the X, Y and circumferential directions.

[0037] In some embodiments, after the guide rail moving unit 2 reaches the repair position in the accessory storage bin 1 , the guide rail moving unit 2 can adjust the underwater concrete printing unit 4 and the underwater laser printing unit 5 to a more precise position.

[0038] In some embodiments, the robot arm 3 is composed of a base 301, a large arm 302, a small arm 303, a terminal connection piece 304, and a rotating joint 305. The base 301 is fixed on the circular turntable 204, and the rotation of the circular turntable 204 drives the robot arm 3 to adjust in the circumferential direction. The large arm 302 is connected to the base 301 through the rotating joint 305, the small arm 303 is connected to the large arm 302 through the rotating joint 305, the small arm 303 is connected to the terminal connection piece 304 through the rotating joint 305, and the terminal connection piece 304 is connected to the underwater concrete printing unit 4 and the underwater laser printing unit 5. The robot arm 3 can accurately adjust the position of the underwater concrete printing unit 4 and the underwater laser printing unit 5.

[0039] In some embodiments, the underwater concrete printing unit 4 includes a concrete nozzle 401 , a spiral stirring rod 402 , drainage covers 403 - 405 , connecting screws 406 , a one-way valve 407 , a waterproof cover 408 , and a motor compartment 409 .

[0040] In some embodiments, the drain cover 403-405 includes a first drain cover lower connector 403, a first drain cover middle connector 404, and a first drain cover upper connector 405, which are combined together by connecting screws 406. The interior of the drain cover 403-405 is composed of three drain cover modules 403, 404, and 405, forming a tortuous gas circuit, and the high-pressure gas from the first one-way valve 407 is evenly dispersed in the circuit, and sprayed from the bottom of the first drain cover 403-405, forming a truncated cone-shaped air curtain at the bottom of the first drain cover 403-405, creating an underwater dry area. The first one-way valve 407 is assembled at the reserved interface of the drain cover to provide one-way high-pressure gas. The spiral stirring rod 402 is assembled in the concrete nozzle 401 to stir the concrete in the concrete nozzle 401 to prevent the concrete from solidifying. The concrete nozzle 401 is assembled on the drain cover 403-405 by the first connecting screw 406. The first waterproof cover 408 is assembled on the first drainage cover 403-405 and the concrete nozzle 401 to eliminate the gap between the first drainage cover 403-405 and the concrete nozzle 401 to prevent water seepage. The motor compartment 409 is loaded with a motor to drive the spiral stirring rod 402 to rotate. The motor compartment 409 cooperates with the first waterproof cover 408 and the mechanical arm end connector 304. The underwater concrete printing unit 4 can realize concrete printing repair under underwater dry conditions.

[0041] In some embodiments, the underwater laser printing unit 5 is composed of a laser printing head 501 , a second drainage cover 502 - 504 , a second one-way valve 505 , a second waterproof cover 506 , a connecting piece 507 and a second connecting screw 508 .

[0042] In some embodiments, the second drain cover 502-504 includes a second drain cover lower connector 502, a second drain cover middle connector 503, and a second drain cover upper connector 504. The three modules of the second drain cover 502-504 are assembled together in the order of top, middle and bottom, and fixed together by the second connecting screw 508 to form a tortuous gas circuit inside the drain cover. High-pressure gas enters the drain cover through the second one-way valve 505, is evenly dispersed in the gas circuit, and then sprays out from the bottom of the second drain cover 502-504, forming a truncated cone-shaped air curtain at the bottom of the second drain cover 502-504 to create an underwater dry area. The second one-way valve 505 is installed at the reserved interface of the second drain cover 502-504 to provide one-way high-pressure gas. The laser print head 5 is installed inside the second waterproof cover 502-504, and the laser print head 5 has the function of printing steel bars underwater. The second waterproof cover 506 is connected with the drain cover 502-504 and the laser print head 5 to eliminate the gap and prevent water seepage. The end of the laser printing head 5 is provided with a connector 507, which cooperates with the connector 304 at the end of the mechanical arm to achieve position adjustment of the underwater laser printing unit 5. The laser printing nozzle 5 can achieve steel bar printing under underwater dry conditions.

[0043] An underwater steel bar and concrete composite printing method based on the above embodiment includes the following steps:

[0044] S1: After the accessory storage bin 1 is put into the water, it is adjusted to the repair area using a gas propeller.

[0045] S2: The guide rail moving unit 2 and the mechanical arm 3 loaded on the accessory storage bin 1 adjust the underwater laser printing unit 5 and the underwater concrete printing unit 4 to corresponding damaged positions.

[0046] S3: The one-way valve inputs high-pressure gas into the gas circuit inside the drain hood. After the high-pressure gas is evenly dispersed, it is discharged from the bottom of the drain hood to form an air curtain and create a dry area.

[0047] S4: The underwater laser printing unit 4 works to print steel bar repairs in the damaged area.

[0048] S5: The guide rail moving unit 2 and the robot arm 3 adjust the concrete printing unit 5 to the position where the steel bars have been printed, and perform concrete printing.

[0049] In some embodiments, the specific operation steps of the composite printing in S4-5 are as follows:

[0050] Step 1: The underwater laser printing unit 4 prints steel bars at a certain height at the damaged part. After the printing is completed, the underwater laser printing unit 4 is adjusted to the next position for printing, and the printing height is the same as above. After completing one layer of printing, the laser printing unit 4 is adjusted back to the initial position.

[0051] Step 2: After the laser printing unit 4 completes the steel bar printing at one position, the underwater concrete printing unit 5 starts working and adjusts to the corresponding position to print concrete. The printing height of the concrete is slightly lower than the height of the printed steel bar. The underwater concrete printing unit 5 works closely following the laser printing unit 4.

[0052] Step 3: After completing one layer of printing, the underwater laser printing unit adjusts the position 5 to the position of the previous layer of printing to the steel bar position, and continues to print the steel bars on the basis of the existing steel bars to increase the height of the steel bars. Subsequently, the underwater concrete printing unit 4 works, and the height of the printed concrete is slightly lower than the height of the printed steel bars.

[0053] Step 4: After completing one layer of printing, the underwater laser printing unit 5 and the concrete printing unit 4 return to the initial position, and then print the next layer according to the above steps, and repeat the cycle until the printing work is completed.

Claims

1. An underwater steel bar and concrete composite printing device, characterized in that: The invention comprises an accessory storage bin (1), a guide rail moving unit (2), a mechanical arm (3), an underwater concrete printing unit (4) and an underwater laser printing unit (5); the accessory storage bin (1) is suspended at a position to be repaired underwater, the guide rail moving unit (2) is fixed to the periphery of the accessory storage bin (1), the base of the mechanical arm (3) is connected to a circular turntable on the guide rail moving unit (2), the underwater concrete printing unit (4) comprises a first drainage cover and a concrete printing nozzle (401), the end of the underwater concrete printing unit (4) is connected to the end of the mechanical arm (3), the underwater laser printing unit (5) comprises a second drainage cover and a laser printing nozzle (501), the end of the underwater laser printing unit (5) is connected to the mechanical arm (3), the first drainage cover and / or the second drainage cover form an air curtain for creating a dry environment underwater, thereby providing dry conditions for printing concrete and steel bars.

2. The underwater steel bar and concrete composite printing device according to claim 1, characterized in that: The accessory storage bin (1) comprises a guide rail bearing surface (101), a gas thruster (102), a concrete silo (103), a steel silo (104), a battery (105), a gas cylinder (106) and a control center (107); the guide rail bearing surface (101) is used to install the guide rail moving unit (2); the gas thruster (102) is used to drive the accessory storage bin (1) to adjust its position in water; the gas cylinder (106) stores high-pressure gas required for the first drainage hood and / or the second drainage hood to form an air curtain, the concrete silo (103) stores repair materials required for the underwater concrete printing unit, the steel silo (104) stores materials for printing steel bars required for the underwater laser printing unit, the battery (105) supplies energy for the device to operate, and the control center (107) carries a communication and remote control device.

3. The underwater steel bar and concrete composite printing device according to claim 2, characterized in that: The guide rail moving unit (2) comprises an X guide rail (201), a Y guide rail (202), a guide rail slider (203) and a circular turntable (204); the X guide rail (201) is fixed on the guide rail bearing surface (101), and the overall length of the X guide rail (201) is longer than the guide rail bearing surface (101); the Y guide rail (202) is mounted on the X guide rail (201) to achieve free movement in the X direction; the guide rail slider (203) is mounted on the Y guide rail (202) to achieve free movement in the Y direction; the circular turntable (204) is fixed on the guide rail slider (203), and the circular turntable (204) can rotate 360 ​​degrees, and the mechanical arm (3) is fixed on the circular turntable (204) to achieve rotation adjustment.

4. The underwater steel bar and concrete composite printing device according to claim 3 is characterized in that: The mechanical arm (3) comprises a base (301), a large arm (302), a small arm (303), a terminal connecting piece (304) and a rotating joint (305); the base (301) is fixed on the circular turntable (204); the large arm (302) is connected to the base (301) via a rotating joint (305); the small arm (303) is connected to the large arm (302) via the rotating joint (305); the small arm (303) is connected to the terminal connecting piece (304) via the rotating joint (305); and the terminal connecting piece (304) is connected to the underwater concrete printing unit (4) and the underwater laser printing unit (5).

5. The underwater steel bar and concrete composite printing device according to claim 4, characterized in that: The underwater concrete printing unit (4) comprises a concrete nozzle (401), a spiral stirring rod (402), a first drainage cover (403-405), a plurality of first connecting screws (406), a first one-way valve (407), a first waterproof cover (408) and a motor compartment (409); the first drainage cover (403-405) comprises a first drainage cover lower connecting piece (403), a first drainage cover middle connecting piece (404) and a first drainage cover upper connecting piece (405) which are combined together by the first connecting screws (406); the first drainage cover (403-405) comprises three drainage cover modules inside to form a tortuous gas circuit, so that the high-pressure gas from the first one-way valve (407) is evenly dispersed in the circuit and sprayed from the bottom of the first drainage cover (403-405). The invention relates to a method for manufacturing a concrete mixer for conveying water to a concrete body, wherein the concrete mixer is provided with a first one-way valve (407) and a first one-way valve (407) provided at a reserved interface of the first drainage cover (403-405) to provide one-way high-pressure gas; the spiral stirring rod (402) is installed in the concrete nozzle (401), and the concrete nozzle (401) is installed on the first drainage cover (403-405) through the first connecting screw (406); the first waterproof cover (408) is installed on the first drainage cover (403-405) and the concrete nozzle (401); the motor is loaded inside the motor compartment (409) to drive the spiral stirring rod (402) to rotate, and the motor compartment (409) cooperates with the first waterproof cover (408) and the end connector (304) of the mechanical arm; The underwater concrete printing unit (4) is used to realize concrete printing and repair under underwater dry conditions.

6. The underwater steel bar and concrete composite printing device according to claim 4, characterized in that: The underwater laser printing unit (5) comprises a laser printing head (501), a second drainage cover (502-504), a second one-way valve (505), a second waterproof cover (506), a connecting piece (507) and a plurality of second connecting screws (508); the second drainage cover (502-504) comprises a second drainage cover lower connecting piece (502), a second drainage cover middle connecting piece (503) and a second drainage cover upper connecting piece (504); the three modules of the second drainage cover (502-504) are assembled together in the order of top, middle and bottom and fixed together by the second connecting screws (508), forming a tortuous gas circuit inside the second drainage cover; the high-pressure gas enters the drainage cover through the second one-way valve (505), is evenly dispersed in the gas circuit, and then flows out from the second drainage cover (502-504) to form a tortuous gas circuit. 04), forming a truncated cone-shaped air curtain at the bottom of the second drainage cover (502-504), creating an underwater dry area; the second one-way valve (505) is installed at the reserved interface of the second drainage cover (502-504) to provide one-way high-pressure gas; the laser printing head (5) is installed inside the second waterproof cover (502-504), and the laser printing head (5) has the function of printing steel bars underwater. The second waterproof cover (506) is connected with the second drainage cover (502-504) and the laser printing head (5). The connecting piece (507) is configured at the end of the laser printing head (5) and cooperates with the connecting piece (304) at the end of the mechanical arm to realize the position adjustment of the underwater laser printing unit (5). The laser printing nozzle (5) can realize steel bar printing under underwater dry conditions.

7. An underwater steel bar and concrete composite printing method, characterized in that: Using the underwater steel bar and concrete composite printing device as described in any one of claims 1 to 6, the underwater concrete printing unit (4) and the underwater laser printing unit (5) alternately perform layered printing repair of the steel bar structure and the concrete structure on the damaged building structure underwater; after the accessory storage bin (1) is put into the water, it is adjusted to the repair area by using the gas propeller (102), and the device uses the guide rail moving system (2) and the mechanical arm (3) to adjust the underwater laser printing unit (5) to the corresponding damaged position to print the steel bar; after the steel bar printing is completed, the underwater concrete printing unit (4) is adjusted to the steel bar position by using the guide rail moving system (2) and the mechanical arm (3) to perform concrete printing repair; the underwater concrete printing unit (4) works closely following the underwater laser printing unit (5).

8. The underwater steel bar and concrete composite printing method according to claim 7 comprises the following steps: S1: After the accessory storage bin is put into the water, it is adjusted to the repair area by using a gas propeller; S2: the guide rail moving unit and the mechanical arm loaded on the accessory storage bin adjust the underwater laser printing unit and the underwater concrete printing unit to corresponding damaged positions; S3: The one-way valve inputs high-pressure gas into the gas circuit inside the drainage cover. After being evenly dispersed, the high-pressure gas is discharged from the bottom of the drainage cover to form an air curtain to create a dry area; S4: the underwater laser printing unit prints steel bars at a certain height at the damaged part. After the printing is completed, the underwater laser printing unit is adjusted to the next position for printing. The printing height is the same as above. After one layer of printing is completed, the laser printing unit is adjusted back to the initial position. S5: After the laser printing unit completes the steel bar printing at one position, the underwater concrete printing unit starts to work and is adjusted to the corresponding position to print concrete. The printing height of the concrete is slightly lower than the height of the printed steel bar. The underwater concrete printing unit works closely following the laser printing unit. S6: After completing one layer of printing, the underwater laser printing unit adjusts its position to the position of the steel bars printed in the previous layer, and continues to print the steel bars on the basis of the existing steel bars to increase the height of the steel bars. Subsequently, the underwater concrete printing unit works, and the height of the printed concrete is slightly lower than the height of the printed steel bars. S7: After completing one layer of printing, the underwater laser printing unit and the concrete printing unit return to the initial position, and then print the next layer according to the above steps, and repeat the cycle until the printing work is completed.

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