Underwater cutting equipment for concrete lining panel of water network channel and cutting method of underwater cutting equipment

Abstract

The invention discloses underwater cutting equipment for a concrete lining panel of a water network channel and a cutting method thereof.The underwater cutting equipment comprises a cutting component driven by an expansion piece to move and a vehicle frame, the vehicle frame is driven by a movable adjusting part to move, and the expansion piece is fixed in the vehicle frame; the frame is connected with a plurality of elastic pressing parts with a certain elastic expansion and contraction amount in the expansion and contraction direction of the expansion and contraction device, and the bottom ends of the elastic pressing parts are located below the bottom end of the cutting component; compared with the prior art, in the cutting process, the multiple elastic pressing parts are matched to press and fix the lining plate to be cut, stable cutting work is ensured, and the cutting quality can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of channel repair, and particularly to an underwater cutting equipment for a concrete lining panel of a water network channel and a cutting method thereof. Background Art

[0002] During the long-term running process of large canals or river channels with flowing water, the slopes of the canals or river channels will be affected by many factors such as groundwater level, freeze-thaw, construction quality, and external forces, resulting in possible cracking, collapse, uplift, and anti-floating instability failure of the local concrete lining plates on the slopes of the canals or river channels, which has an adverse impact on the structural safety and water supply capacity of the canals or river channels; when the concrete lining plates at the slopes of the canal embankments or river channels are damaged, it may cause the slope soil of the canals or river channels to soften, and then cause the slopes of the canals or river channels to become unstable due to seepage. Therefore, it is necessary to timely remove and repair the lining plates to be cut to ensure the normal and safe water supply of the canals or river channels.

[0003] During the process of removing the lining plates to be cut, cutting equipment is required. For example, an underwater cutting machine disclosed in CN119221427A includes an underwater cutting machine body, and also includes a telescopic frame structure connected to the underwater cutting machine body. The telescopic frame structure includes a connecting seat and an adjusting plate. The adjusting plate is hinged to the connecting seat through a plurality of telescopic devices, and the underwater cutting machine body is driven to move by the adjusting plate.

[0004] In the above-mentioned underwater cutting machine, during the cutting process, the telescopic frame structure directly drives the underwater cutting machine body to move downward and act on the lining plate to be cut, resulting in relatively poor stability during the cutting process. Summary of the Invention

[0005] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide an underwater cutting equipment and a cutting method for a concrete lining panel of a water network channel to solve the problem of relatively poor stability during the cutting process in the prior art.

[0006] To achieve the above purpose, the first aspect of the present invention adopts the following technical solution: An underwater cutting equipment for a concrete lining panel of a water network channel, including a cutting component driven to move by a telescopic device, and further including:

[0007] A vehicle frame, the vehicle frame is driven to move by a movable adjustment part and the telescopic device is fixed in the vehicle frame. A plurality of elastic pressing parts with a certain elastic telescopic amount along the telescopic direction of the telescopic device are connected to the vehicle frame, and the bottom ends of the elastic pressing parts are located below the bottom end of the cutting component.

[0008] The second aspect of the present invention adopts the following technical solution: An underwater cutting method for a concrete lining panel of a water network channel, using the underwater cutting equipment for a concrete lining panel of a water network channel as described in the first aspect of the present invention for cutting, including the following steps:

[0009] Step S1: Fix the equipment and install the truss, moving crossbeam and four-degree-of-freedom adjustment mechanism on the river bank according to the assembly requirements.

[0010] Step S2: Operate the four-degree-of-freedom adjustment mechanism and the moving crossbeam to adjust the cutting surface of the cutting component to be perpendicular to the plane where the concrete lining panel to be cut is located. Then drive the frame to drive the elastic pressing part to move along the direction perpendicular to the plane where the lining panel to be cut is located until it elastically abuts against the lining panel to be cut at the specified position.

[0011] Step S3: Operate the telescopic device to drive the cutting component into the lining panel to be cut until the sliding plate cooperating with the cutting component abuts against the bottom limiting part, and then stop further insertion.

[0012] Step S4: Slide the moving crossbeam and the four-degree-of-freedom adjustment mechanism to drive the cutting component to move along the preset cutting path for grooving cutting until the cutting is completed.

[0013] Step S5: Use a pneumatic pick to break the cutting dead corners left after cutting the cutting component along the preset cutting path.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. In the underwater cutting equipment for the concrete lining panel of the water network channel in the present invention, the movable adjustment part is used to drive the vehicle frame to move, and the vehicle frame drives a plurality of elastic pressing parts to move until the plurality of elastic pressing parts press and fix the lining panel to be cut; then the telescopic device extends to drive the cutting component to move and the cutting component operates to cut the lining panel to be cut, ensuring stable cutting work and being beneficial to improving the cutting quality.

[0016] 2. The underwater cutting method for the concrete lining panel of the water network channel in the present invention is suitable for efficiently and qualitatively completing the cutting work on the concrete lining panels to be cut with different heights, angles and postures caused by breakage and uplift underwater, greatly shortening the repair cycle and improving the overall construction safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0018] Figure 2 is a schematic connection diagram of the degree-of-freedom adjustment mechanism and the plate cutting end effector in an embodiment of the present invention;

[0019] Figure 3 is Figure 2 a schematic structural diagram of the plate cutting end effector in

[0020] Figure 4For Figure 3 Schematic diagram of the local structure of

[0021] Figure 5 Schematic diagram of the structure of the quick-change joint in an embodiment of the present invention

[0022] Reference numerals in the accompanying drawings of the specification include: movable adjustment part 1, truss 11, moving cross beam 12, four-degree-of-freedom adjustment mechanism 13, sheet cutting end effector 2, telescopic device 21, cutting part 22, vehicle frame 23, elastic pressing part 24, roller 241, suspension 242, guiding structure 25, guide rail 251, sliding plate 252, pipe clamp 26, bottom limiting part 27, quick-change joint 3, tenon 31, end effector connecting seat 32, mortise 33, first gear 34, first gear 35, rotary cylinder 36 Specific embodiments

[0023] The present invention will be further described in detail below through specific embodiments

[0024] As shown in Figure 1 、 Figure 2 and Figure 3 An underwater cutting equipment for the concrete lining panel of a water network channel is proposed in an embodiment of the present invention, including a movable adjustment part 1 and a sheet cutting end effector 2. Among them, the movable adjustment part 1 includes a truss 11, a moving cross beam 12 and a four-degree-of-freedom adjustment mechanism 13. The truss 11 is arranged on the plane where the slope of the channel is located and is arranged along the length direction of the plane. The moving cross beam 12 is arranged on the truss 11 along the width direction of the plane and slides along the length direction of the plane. The four-degree-of-freedom adjustment mechanism 13 is slidably connected to the moving cross beam 12 along the length direction of the moving cross beam 12. The four-degree-of-freedom adjustment mechanism 13 is detachably connected to the sheet cutting end effector 2 through a plurality of quick-change joints 3, and the four-degree-of-freedom adjustment mechanism 13 is used to drive the sheet cutting end effector 2 to rotate along the X-axis, Y-axis and / or Z-axis and translate along the Z-axis

[0025] In this embodiment, the moving cross beam 12 is driven by a traction mechanism to slide along the length direction of the truss 11. The four-degree-of-freedom adjustment mechanism 13 is driven by a transmission system on the moving cross beam 12 to slide along the length direction of the moving cross beam 12, so as to drive the sheet cutting end effector 2 to slide along the length direction of the moving cross beam 12 and the length direction of the truss 11. Here, the length direction of the moving cross beam 12 and the length direction of the truss 11 are two perpendicular directions; the four-degree-of-freedom adjustment mechanism 13 drives the sheet cutting end effector 2 to rotate along the X-axis, Y-axis and Z-axis and translate along the Z-axis, thus realizing the flexible movement of the sheet cutting end effector 2 in multiple directions

[0026] Among them, the four-degree-of-freedom adjustment mechanism 13 and the plate cutting end effector 2 are detachably connected by a number of quick-change joints 3, which facilitates the connection or disassembly between the four-degree-of-freedom adjustment mechanism 13 and the plate cutting end effector 2. The moving crossbeam 12, the transmission system, the traction mechanism, and the four-degree-of-freedom adjustment mechanism 13 can all be existing structures that can achieve their purposes, and will not be further described here; the underwater lining plate to be cut is cut through the cooperation of structures such as the moving crossbeam 12, the four-degree-of-freedom adjustment mechanism 13, and the plate cutting end effector 2.

[0027] To better understand this solution, the plate cutting end effector 2 will be described in detail below.

[0028] As Figure 3 and Figure 4 shown, according to another embodiment of the present invention, in the underwater cutting equipment for the concrete lining panel of the water network channel, the plate cutting end effector 2 includes a cutting component 22 driven to move by a telescopic device 21 and a vehicle frame 23. The vehicle frame 23 is driven to move by the active adjustment part 1, and the telescopic device 21 is fixed in the vehicle frame 23. A plurality of elastic pressing parts 24 with a certain elastic expansion amount are connected to the vehicle frame 23 along the telescopic direction of the telescopic device 21. The bottom end of the elastic pressing part 24 is located below the bottom end of the cutting component 22.

[0029] In this embodiment, the top of the vehicle frame 23 is connected to the bottom of the four-degree-of-freedom adjustment mechanism 13 through a number of quick-change joints 3; during the cutting process:

[0030] Confirm that the cutting surface of the cutting component 22 is vertically arranged with respect to the plane where the lining plate to be cut is located. If not satisfied, start the four-degree-of-freedom adjustment mechanism 13 to drive the vehicle frame 23 to rotate along the X-axis, Y-axis, and / or Z-axis to adjust the cutting surface of the cutting component 22 to be vertically arranged with respect to the plane where the lining plate to be cut is located;

[0031] Then the four-degree-of-freedom adjustment mechanism 13 drives the frame body to move towards the direction close to the lining plate to be cut until a plurality of elastic pressing parts 24 are elastically abutted after contacting the lining plate to be cut, so as to realize the pressing and fixing of the lining plate to be cut;

[0032] Next, the telescopic device 21 operates to drive the running cutting component 22 to extend into the lining plate to be cut for deep cutting until the preset cutting depth is reached. Generally, the cutting depth is stably controlled at about 8 cm;

[0033] Next, through the cooperation of structures such as the traction mechanism, the transmission system, and the four-degree-of-freedom adjustment mechanism 13, the cutting component 22 is driven to move and the moving direction is changed to move along the preset cutting path for grooving cutting until the cutting is completed;

[0034] After the cutting is completed, exit the cutting state.

[0035] Based on the above solution:

[0036] A plurality of the elastic pressing parts 24 are distributed on both sides of the cutting path of the cutting member 22, and each of the elastic pressing parts 24 includes a roller 241 whose rolling path is parallel to the cutting path of the cutting member 22.

[0037] In this embodiment, the number of the elastic pressing parts 24 is six, and three are distributed on each side of the cutting path of the cutting member 22. The number of the elastic pressing parts 24 and the number distributed on each side of the cutting path of the cutting member 22 can be reasonably adjusted according to actual requirements.

[0038] Here: The roller 241 not only presses and fixes the lining plate to be cut, but also rolls on the lining plate to be cut during the moving cutting process of the cutting member 22, reducing the resistance during this process; the roller 241 is specifically a tire.

[0039] Furthermore, each of the elastic pressing parts 24 further includes a suspension 242 connected between the roller 241 and the vehicle frame 23, and the bottom end of the roller 241 is located below the bottom end of the cutting member 22. The suspension 242 is connected between the roller 241 and the vehicle frame 23 and also provides a certain elastic expansion amount along the expansion and contraction direction of the telescopic device 21, ensuring that the roller 241 presses and fixes the lining plate to be cut and the cutting work of the cutting member 22 is not blocked.

[0040] When not in the working state, the three pairs of suspensions 242 on both sides of the cutting member 22 are fully opened and the tires are fully lowered; when contacting the surface of the lining plate to be cut, at this time, the six groups of tires will rise relative to the vehicle frame 23, and the six groups of suspensions 242 are forced, realizing the function of pressing and fixing the lining plate to be cut.

[0041] In order to make the telescopic device 21 more stable during the telescopic process, as Figure 3 and Figure 4 shown, according to another embodiment of the present invention, for the underwater cutting equipment for the concrete lining panel of the water network channel, a guiding structure 25 cooperating with the telescopic device 21 is arranged on the vehicle frame 23, and the telescopic movement of the telescopic device 21 is guided through the guiding structure 25, thereby ensuring that the movement of the cutting member 22 along the telescopic direction of the telescopic device 21 is more stable.

[0042] Wherein, the guiding structure 25 includes a guide rail 251 and a sliding plate 252. There is at least one guide rail 251 and it is arranged on the vehicle frame 23 along the telescopic direction of the telescopic device 21; the sliding plate 252 is connected to the telescopic end of the telescopic device 21 and is also slidably connected to each guide rail 251.

[0043] In this embodiment, there are two guide rails 251 arranged facing each other, and the number of guide rails 251 can also be reasonably adjusted according to actual needs. When the telescopic end of the telescopic device 21 is adjusted telescopically, the sliding plate 252 moves synchronously with the telescopic end of the telescopic device 21, and the guide rails 251 guide the sliding of the sliding plate 252.

[0044] In order to stably connect the telescopic end of the telescopic device 21, the cutting component 22, and the sliding plate 252; as Figure 3 and Figure 4 shown, according to another embodiment of the present invention, in the underwater cutting equipment for the concrete lining panel of the water network channel, a pipe clamp 26 connected to the cutting component 22 is detachably connected to the telescopic end of the telescopic device 21, and the pipe clamp 26 has a clamping installation hole through which the sliding plate 252 passes and is clamped and fixed.

[0045] Here is: the cutting component 22 is a 230-type pneumatic stone cutting machine, the pipe clamp 26 is a horizontal pipe bolt clamp 26, and the two clamping blocks of the pipe clamp 26 clamp and fix the body of the 230-type pneumatic stone cutting machine; the telescopic end of the telescopic device 21 passes through one end of the two clamping blocks and is fixed by at least two bolts, and a clamping installation hole is formed between the two clamping blocks for the sliding plate 252 to pass through and be clamped and fixed. Through the simple structure of the pipe clamp 26, the telescopic end of the telescopic device 21, the cutting component 22, and the sliding plate 252 are stably connected. During the telescopic adjustment of the telescopic device 21, the guide is carried out through the cooperation of the guide rails 251 and the sliding plate 252 to ensure the stable movement of the cutting component 22.

[0046] Among them, there are two telescopic devices 21 arranged facing each other in the vehicle frame 23. Both telescopic devices 21 are provided with a guiding structure 25, and the sliding plates 252 of the two guiding structures 25 are correspondingly distributed at both ends of the pipe clamp 26 for fixation, further improving the stable movement of the cutting component 22.

[0047] In order to ensure the accuracy of the cutting depth, as Figure 3 and Figure 4As shown, according to another embodiment of the present invention, for the underwater cutting equipment of the concrete lining panel of the water network channel, a bottom limiting part 27 is fixedly connected to the bottom end of the vehicle frame 23, and the ends of the guide rails 251 are all connected to the bottom limiting part 27. In this embodiment, on the one hand, the bottom limiting part 27 ensures the installation stability of the guide rails 251, and on the other hand, it limits the moving amount of the sliding plate 252 on the guide rails 251 to ensure the accuracy of the cutting depth. Specifically: when the telescopic device 21 extends to drive a plurality of elastic pressing parts 24 to contact the lining plate to be cut, the telescopic device 21 continues to extend to contact the lining plate to be cut and then operates, and the telescopic device 21 continues to extend; during this process, the sliding plate 252 slides on the guide rails 251 until the sliding plate 252 abuts against the bottom limiting part 27, and at this time, the cutting depth reaches the preset cutting depth.

[0048] Furthermore, a top limiting part is connected between the top end of the vehicle frame 23 and the top ends of the guide rails 251 of each guiding structure 25, mainly to improve the installation stability of the guide rails 251. Among them, both the bottom limiting part 27 and the top limiting part are strip-shaped structures formed by adding steel plates.

[0049] Here, the vehicle frame 23 is refined, as Figure 3 As shown, according to another embodiment of the present invention, for the underwater cutting equipment of the concrete lining panel of the water network channel, the vehicle frame 23 includes a square frame body connected by a number of profiles, and two adjacent profiles can be connected and fixed by an "L" connecting plate or an angle plate; among them, the profile is a 4040 aluminum profile, and the 4040 aluminum profile has excellent characteristics such as high standardization, easy processing and cutting, good interchangeability, convenient assembly, light self-weight, rich types of connectable fittings, and no rust, and is very suitable for operation scenarios with low load requirements.

[0050] Finally, the quick-change joint 3 is optimized, as Figure 5 As shown, according to another embodiment of the present invention, for the underwater cutting equipment of the concrete lining panel of the water network channel, each quick-change joint 3 includes a tenon head 31, an end effector connecting seat 32, and a rotation adjustment part. The tenon head 31 is rotatably connected to the output end of the four-degree-of-freedom adjustment mechanism 13; the end effector connecting seat 32 is connected to the vehicle frame 23 and a mortise 33 for inserting the tenon head 31 is formed on the end effector connecting seat 32; the rotation adjustment part is connected to the tenon head 31 and is used to drive the tenon head 31 to rotate a preset angle and then lock it after the tenon head 31 is inserted into the mortise 33.

[0051] In this embodiment, the rotation adjustment part includes a first gear 3534 connected to the tenon head 31 and a second gear meshing with the first gear 3534, and the second gear is driven to rotate by a rotary cylinder 36.

[0052] When connecting: Insert the tenon 31 into the mortise 33, then rotate the cylinder 36 by 90°, drive the second gear to rotate by 90°, the second gear drives the first gear 3534 to rotate by 90°, drive the tenon 31 to rotate by 90° in the mortise 33 to be locked, so as to realize the connection between the four-degree-of-freedom adjustment mechanism and the plate cutting end effector 2.

[0053] When it needs to be disassembled: Rotate the cylinder 36 reversely by 90°, drive the tenon 31 to rotate reversely by 90° in the mortise 33 to release the lock, at this time, the tenon 31 can be removed from the mortise 33 to complete the disassembly between the four-degree-of-freedom adjustment mechanism and the plate cutting end effector 2.

[0054] Provide a cutting method for the concrete lining panel of the water network channel. According to another embodiment of the present invention, the underwater cutting method for the concrete lining panel of the water network channel uses the underwater cutting equipment for the concrete lining panel of the water network channel for cutting, including the following steps:

[0055] Step S1, fix the equipment, and complete the installation of the truss 11, the moving cross beam 12 and the four-degree-of-freedom adjustment mechanism 13 on the river bank according to the assembly requirements;

[0056] Step S2, operate the four-degree-of-freedom adjustment mechanism 13 and the moving cross beam 12 to adjust the cutting surface of the cutting component 22 to be perpendicular to the plane where the concrete lining panel to be cut is located, and then drive the frame body to drive the elastic pressing part 24 to move along the direction perpendicular to the plane where the lining panel to be cut is located until it elastically abuts against the lining panel to be cut at the specified position;

[0057] Step S3, operate the telescopic device 21 to drive the cutting component 22 to extend into the lining panel to be cut until the sliding plate 252 cooperating with the cutting component 22 abuts against the bottom limiting part 27, and stop further extending;

[0058] Step S4, slide the moving cross beam 12 and the four-degree-of-freedom adjustment mechanism 13 to drive the cutting component 22 to move along the preset cutting path for grooving cutting until the cutting is completed;

[0059] Step S5, use a pickaxe to break the cutting dead corners left after cutting the cutting component 22 along the preset cutting path;

[0060] Step S6, drive the pickaxe to extend into the backfill groove formed after taking out the concrete lining panel to be cut and contact the inner side wall of the backfill groove, and then the pickaxe moves along the inner edge of the backfill groove for trimming until the trimming is completed.

[0061] It should be noted that: since the cutting blade of the cutting component 21 is circular and the formed backfill groove has a certain direction to avoid over-cutting problems, when the cutting component 21 cuts to the corner, it will turn in advance, and a dead corner will be formed at the cutting corner, so step S5 needs to be carried out. After completing step S4, the plate cutting end effector 2 needs to be moved to the shore to be replaced with a plate clamping end effector. To simplify the procedure, a pneumatic pick is cooperatively arranged on the plate clamping end effector, and the sliding moving beam 12 and the four-degree-of-freedom adjustment mechanism 13 are used to move the pneumatic pick to the four dead corners for crushing; then the cut concrete lining panel is removed to the river bank by the plate clamping end effector, and the plate clamping end effector is moved underwater again, and the pneumatic pick is moved into the backfill groove through the sliding moving beam 12 and the four-degree-of-freedom adjustment mechanism 13 to carry out the steps to ensure that the size of the backfill groove can be adapted to the new concrete lining panel.

[0062] The plate clamping end effector can be an existing structure suitable for clamping plates underwater, and will not be further elaborated here; the plate clamping end effector and the four-degree-of-freedom adjustment mechanism 13 are also connected by the above-mentioned quick-change joint 3.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. An underwater cutting device for concrete lining panels of a water network channel, comprising a cutting part driven and moved by a telescopic device, characterized in that: Also includes: The frame is driven to move by the movable adjusting part and the telescope is fixed in the frame. The frame is connected with a plurality of elastic pressing parts with a certain elastic expansion and contraction amount along the expansion and contraction direction of the telescope, and the bottom end of the elastic pressing part is located below the bottom end of the cutting part.

2. The underwater cutting equipment for water network channel concrete lining panels according to claim 1 is characterized in that: The plurality of elastic pressing portions are distributed on both sides of the cutting path of the cutting component and each of the elastic pressing portions comprises a roller whose rolling path is parallel to the cutting path of the cutting component.

3. The underwater cutting equipment for concrete lining panels of water network channels according to claim 2 is characterized in that: Each of the elastic pressing parts also includes a suspension connected between the roller and the frame, and the bottom end of the roller is located below the bottom end of the cutting component.

4. The underwater cutting equipment for concrete lining panels of water network channels according to claim 1 is characterized in that: The frame is provided with a guide structure cooperating with the telescopic device; The guiding structure comprises: A guide rail, at least one of which is arranged on the frame along the telescopic direction of the telescope; A sliding plate is connected to the telescopic end of the telescope and is also slidably connected to each guide rail.

5. The underwater cutting equipment for concrete lining panels of water network channels according to claim 4 is characterized in that: The telescopic end of the telescope is detachably connected with a pipe clamp connected to the cutting component, and the pipe clamp is provided with a clamping installation hole for the sliding plate to pass through and be clamped and fixed.

6. The underwater cutting equipment for concrete lining panels of water network channels according to claim 4 is characterized in that: The bottom end of the frame is fixedly connected with a bottom limiting portion, and the ends of the guide rails are connected to the bottom limiting portion.

7. The underwater cutting equipment for concrete lining panels of water network channels according to claim 1 is characterized in that: The activity adjustment unit comprises: A truss, the truss is arranged on the plane where the side slope of the channel is located and arranged along the length direction of the plane; A movable crossbeam, which is arranged on the truss along the width direction of the plane and slides along the length direction of the plane; The four-degree-of-freedom adjustment mechanism is slidably connected to the moving crossbeam along the length direction of the moving crossbeam, the four-degree-of-freedom adjustment mechanism is detachably connected to the frame through a plurality of quick-change joints, and the four-degree-of-freedom adjustment mechanism is used to drive the frame to rotate along the X-axis, the Y-axis and the Z-axis and to translate along the Z-axis.

8. The underwater cutting equipment for concrete lining panels of water network channels according to claim 7 is characterized in that: Each of the quick-change connectors comprises: A tenon, the tenon being rotatably connected to an output end of the four-degree-of-freedom adjustment mechanism; An end effector connection seat, the end effector connection seat is connected to the vehicle frame and a mortise for inserting the tenon is formed on the end effector connection seat; The rotation adjustment part is connected to the tenon and is used to drive the tenon to rotate to a preset angle and then lock it after the tenon is inserted into the mortise.

9. Underwater cutting method for concrete lining panels of water network channels, characterized in that: Cutting using the underwater cutting equipment for concrete lining panels of a water network channel according to any one of claims 1 to 8 comprises the following steps: Step S1, fixing the equipment, completing the installation of the truss, the moving beam and the four-degree-of-freedom adjustment mechanism on the river bank according to the assembly requirements; Step S2, operating the four-degree-of-freedom adjustment mechanism and the moving crossbeam to adjust the cutting surface of the cutting component to be perpendicular to the plane where the concrete lining panel to be cut is located, and then driving the frame to drive the elastic pressing part to move in a direction perpendicular to the plane where the lining panel to be cut is located, until it elastically abuts against the lining panel to be cut at a specified position; Step S3, operating the telescopic device to drive the cutting component to extend into the lining plate to be cut, until the sliding plate matched with the cutting component abuts against the bottom limit part, and stops extending further; Step S4, sliding the crossbeam and the four-degree-of-freedom adjustment mechanism to drive the cutting component to move along a preset cutting path to perform slotting and cutting until the cutting is completed; Step S5: Using a pneumatic pick to break up the dead corners left after the cutting component is cut along a preset cutting path.

10. The underwater cutting method for water network channel concrete lining panels according to claim 9, characterized in that: The following steps are also included: Step S6, driving the pneumatic pick to extend into the backfill groove formed after taking out the concrete lining panel to be cut and contacting the inner wall of the backfill groove, and then the pneumatic pick moves along the inner edge of the backfill groove to perform trimming until the trimming is completed.

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