Freedom degree adjusting device and method for underwater repair actuator of water network channel concrete lining panel

Abstract

The invention provides a degree-of-freedom adjusting device and method for an underwater repair actuator for a concrete lining panel of a water network channel. The degree-of-freedom adjusting device comprises a movable beam; the bearing plate and the mounting plate are vertically arranged at an interval, and the bearing plate is slidably arranged on the movable beam and used for enabling the mounting plate to slide in the length direction of the movable beam; the telescopic ends of the telescopic units penetrate out of the bearing plate and are connected with the mounting plate. By controlling the adjacent telescopic units to be static and enabling the other telescopic units to stretch out and draw back, the mounting plate drives the connecting plate to rotate with the telescopic units in the static state as the axis, so that the angle of the connecting plate is adjusted, angle adjustment is conducted on an actuator mounted on the connecting plate, and the actuator is adjusted to the optimal working angle; and it is ensured that high-quality repairing work can be completed under the complex condition.

Description

Technical Field

[0001] The present invention relates to the technical field of canal repair, and particularly to a degree-of-freedom adjustment device and method for an underwater repair actuator of a concrete lining panel of a water network canal. Background Art

[0002] As important water conservancy infrastructure, water network canals are widely used in fields such as farmland irrigation, urban water supply, and flood control and drainage. In order to adapt to different geological and hydrological conditions, the cross-section of the canal is mainly trapezoidal, which can effectively prevent slope collapse, ensure the stability of the canal, and facilitate construction and maintenance at the same time. After years of operation, some structures of the water network canal have been damaged. After investigation and statistics, the damage of the concrete lining panel of the backbone water network mainly focuses on panel cracks, slope deformation, and overall panel detachment. After the lining panel is damaged, secondary effects such as hollowing effect and soil erosion may also occur, and it must be repaired in time.

[0003] However, for a long time, the inspection and maintenance work of the main canal water network has completely relied on manual labor. Affected by the water depth, manual workers need to carry professional equipment into the water. A large number of dangerous repair operations need to be carried out by special operators diving into the water. It is impossible to ensure the visibility of the operators and construction safety, and the operation risk is relatively high. Especially when the damaged lining panel is not in the same plane as the canal surface, it is not easy to carry out the repair work of the lining panel, which reduces the efficiency. Summary of the Invention

[0004] Aiming at the deficiencies in the prior art, the present invention provides a degree-of-freedom adjustment device and method for an underwater repair actuator of a concrete lining panel of a water network canal, which solves the problem that it is not easy to repair the damaged lining panel when it is not in the same plane as the canal surface in the prior art.

[0005] On the one hand, according to an embodiment of the present invention, a degree-of-freedom adjustment device for an underwater repair actuator of a concrete lining panel of a water network canal includes:

[0006] A movable beam;

[0007] A bearing plate and a mounting plate arranged at intervals up and down, the bearing plate being connected to the movable beam;

[0008] A plurality of telescopic units provided on the bearing plate, the telescopic ends of each telescopic unit passing through the bearing plate and being connected to the mounting plate. When two adjacent telescopic units are stationary and the remaining telescopic units are telescoping, the mounting plate rotates around the stationary telescopic units as the axis;

[0009] And a detection unit provided on the mounting plate for detecting the flatness of the canal surface.

[0010] Preferably, the telescopic unit includes a fixed cylinder provided on the bearing plate and a movable rod passing through the fixed cylinder. A lead screw is rotatably provided on the fixed cylinder, and the lead screw is threadedly connected to the movable rod. A second motor is provided on the fixed cylinder, a second transmission gear is provided on the driving shaft of the second motor, a connecting gear is provided at the end of the lead screw, the connecting gear meshes with the second transmission gear, a universal joint is provided at the end of the movable rod, and the universal joint is connected to the mounting plate.

[0011] Preferably, a connecting block is provided on each universal joint of the movable rods, and a plurality of limiting plates are provided on the mounting plate. One of the connecting blocks is fixedly provided on the mounting plate, and the other connecting blocks are correspondingly slidably provided on the respective limiting plates. A sliding groove is provided on the mounting plate, and one of the limiting plates is slidably provided in the sliding groove.

[0012] Preferably, the fixed cylinder is fixedly provided with a mounting sleeve, the mounting sleeve is mounted on the bearing plate, and a plurality of through holes for screws to pass through are provided.

[0013] Preferably, it further includes a connecting plate. The connecting plate is provided with a mounting shaft, the mounting shaft is rotatably provided on the mounting plate, and a fixed gear is provided on the mounting shaft. A first motor is provided on the mounting plate, a first transmission gear is provided on the driving shaft of the first motor, and the first transmission gear meshes with the fixed gear.

[0014] Preferably, the mounting plate is provided with a bearing, and the mounting shaft is provided in the bearing.

[0015] Preferably, a slide rail is provided at the bottom of the movable beam along its length direction. The bearing plate is provided with a first mounting seat, and the first mounting seat is provided with a first pulley, and the first pulley is in rolling connection with the slide rail.

[0016] Preferably, second mounting seats are provided at both ends of the movable beam, and second pulleys are provided on the second mounting seats.

[0017] Preferably, a mounting ring is provided on the bottom surface of the mounting plate. The mounting ring is provided with a plurality of mounting holes, the connecting plate is provided with an annular groove corresponding to the plurality of mounting holes, and a plurality of balls are embedded in the mounting holes, and the balls are in rolling connection with the annular groove.

[0018] On the other hand, according to an embodiment of the present invention, a method for adjusting the degrees of freedom of an underwater repair actuator for a concrete lining panel of a water network channel includes a device for adjusting the degrees of freedom of an underwater repair actuator for a concrete lining panel of a water network channel, and further includes the following steps:

[0019] S1: Install the repair actuator on the mounting plate, and connect the movable beam to the bearing mechanism and move it to the repair area;

[0020] S2: Detect the repair area of the canal surface through the detection unit to determine whether the repair area is flat;

[0021] S3: If it is determined to be flat, synchronously control a plurality of telescopic units to gradually move the repair actuator installed on the mounting plate closer to the repair area and perform the repair;

[0022] S4: If it is determined to be uneven, by controlling two adjacent telescopic units to be stationary and the remaining telescopic units to act, after adjusting the mounting plate to be parallel to the repair area, synchronously control all telescopic units to make the repair actuator perform the repair;

[0023] S5: Repeat the above steps until the repair is completed.

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

[0025] In this solution, the actuator for repairing water network channels is installed on the connecting plate and moved to the designated repair position through the movable beam, which can adapt to different underwater environments and the damaged positions of the lining panels, so as to more accurately reach the area to be repaired to complete the designated repair actions, improving the flexibility and efficiency of the repair work, effectively avoiding direct underwater operation by special operators, and reducing the personal safety risks during the construction process.

[0026] In this solution, when the detection unit detects that the damaged lining panel in the canal surface is not in the same plane as the canal surface, the adjacent telescopic units can be controlled to be stationary and the remaining telescopic units can be extended and retracted, so that the mounting plate drives the connecting plate to rotate around the telescopic units in the stationary state, thereby adjusting the angle of the connecting plate to adjust the angle of the actuator installed on the connecting plate and adjusting it to the optimal working angle to ensure high-quality repair work can be completed even in complex situations. Description of the Drawings

[0027] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the present invention.

[0028] Figure 2 It is a structural schematic diagram of the bearing plate and the mounting plate after assembly in an embodiment of the present invention.

[0029] Figure 3 It is an assembly schematic diagram of the connecting block and the mounting plate in an embodiment of the present invention.

[0030] Figure 4 It is a structural schematic diagram of the mounting plate after adjustment in an embodiment of the present invention.

[0031] Figure 5 It is a bottom surface structural schematic diagram of the mounting plate in an embodiment of the present invention.

[0032] Figure 6 It is a cross-sectional structural schematic diagram of the fixed cylinder in an embodiment of the present invention.

[0033] Figure 7 It is an assembly structural schematic diagram of the mounting ring and the connecting plate in an embodiment of the present invention.

[0034] In the above-mentioned drawings: 1. movable beam; 11. second mounting seat; 12. second pulley; 2. slide rail; 3. bearing plate; 31. first mounting seat; 32. first pulley; 4. mounting plate; 41. connecting block; 42. limiting plate; 43. chute; 5. first motor; 51. first transmission gear; 52. fixed gear; 53. bearing; 54. connecting plate; 55. mounting shaft; 6. fixed cylinder; 61. second motor; 62. second transmission gear; 63. connecting gear; 64. lead screw; 65. movable rod; 66. universal joint; 67. mounting sleeve; 7. mounting ring; 71. mounting hole; 72. ball. Detailed implementation manners

[0035] The technical solutions in the present invention will be further described below in conjunction with the drawings and embodiments.

[0036] As Figure 1 shown, an embodiment of the present invention provides a degree-of-freedom adjustment device for an underwater repair actuator of a concrete lining panel of a water network channel, including:

[0037] A movable beam 1;

[0038] A bearing plate 3 and a mounting plate 4 arranged at intervals up and down, and the bearing plate 3 is connected to the movable beam 1;

[0039] A plurality of telescopic units arranged on the bearing plate 3, and the telescopic ends of each telescopic unit penetrate through the bearing plate 3 and are connected to the mounting plate 4. When two adjacent telescopic units are stationary and the remaining telescopic units are telescoping, the mounting plate 4 rotates with the stationary telescopic unit as the axis;

[0040] And a detection unit arranged on the mounting plate 4 for detecting the flatness of the channel surface.

[0041] In an embodiment of the present invention, after the assembly of each component of the device is completed, the movable beam 1 can be installed on the truss. The installation method can be a sliding connection or a clamping connection. The truss is arranged along the depth direction of the channel, so that the movable beam 1 can move from the bank of the channel to the deep part of the channel or from the deep part of the channel to the bank of the channel along the installation direction of the truss. As for the driving method of the movable beam 1, it can be a hoisting method and a traction method by a tractor.

[0042] Secondly, when repairing a normally damaged lining panel, the actuator for repairing the water network channel is installed on the connecting plate 54 and moved to the designated repair position through the movable beam 1. It can adapt to different underwater environments and the damaged positions of the lining panel, so as to reach the area to be repaired more accurately to complete the designated repair action, improving the flexibility and efficiency of the repair work, effectively avoiding direct underwater operation by special operators, and reducing the personal safety risks during the construction process. Among them, the actuator includes a cutting device and an extraction device. The cutting device needs to adjust its working position, that is, the cutting device needs to be installed on the rotatable connecting plate 54, while the extraction device can be installed on the connecting plate 54 or directly on the mounting plate 4, and can be installed by means including but not limited to bolts. The installed actuator is transported to the deep part of the water channel for repair by the movable beam 1 and then returns to the shore, and different actuators are replaced to meet the repair work of the lining panel. The above cutting device can be a cutting knife or a saw, and the extraction device can be a self-tapping bolt.

[0043] Furthermore, with the cooperation of the detection unit, by installing the detection unit on the mounting plate 4 for detecting the repair area, the detection unit is a three-dimensional laser scanner, and a high-precision point cloud model is generated through three-dimensional laser scanning to quantify the arch height, deformation range and trend. When the scanner detects that the damaged lining panel is not in the same plane as the channel surface, that is, the lining panel bulges outwards after being broken, resulting in a certain angle between the lining panel and the channel surface, making the actuator installed on the connecting plate 54 unable to correspond to the damaged lining panel and causing the repair work to be unable to be carried out. Therefore, under the action of each telescopic unit, it can be adjusted at any time according to various situations. In the selection of the telescopic unit, the bearing plate 3 can be a structure of any shape, such as Figure 2 As shown, the bearing plate 3 can be in a rectangular structure, preferably a square structure. Four groups of telescopic units are used and are respectively installed at the four corners of the bearing plate 3. At the same time, the four groups of telescopic units are respectively named A, B, C, and D. For example, taking A as the center, adjacent to A are A, B and A, C. Taking A, B as an example, A, B are defined as the first telescopic unit group, then C, D are on the opposite sides and are defined as the second telescopic unit group. When adjusting the angle of the mounting plate 4, let the first telescopic unit group be stationary, that is, the telescopic units corresponding to A, B do not work, and let the second telescopic unit group work, that is, the telescopic units corresponding to C, D work. When the telescopic units corresponding to C, D are extended, the mounting plate 4 rotates downward with the side length where A, B are located (that is, Figure 2 the X-axis in Figure 4 As shown, there is an angle α between the lining cutting plate and the channel surface), or let the first telescopic unit group work, that is, the telescopic units corresponding to A, B work, and let the second telescopic unit group be stationary, that is, the telescopic units corresponding to C, D do not work. When the telescopic units corresponding to A, B are extended, the mounting plate 4 rotates upward with the side length where C, D are located (that is,Figure 2 rotate downward around the X-axis (in the figure), and conversely, move upward.

[0044] Another example is taking A and C as an example. Define A and C as the first telescopic unit group, then B and D are on the opposite sides and defined as the second telescopic unit group. When adjusting the angle of the mounting plate 4, keep the first telescopic unit group stationary, that is, the telescopic units corresponding to A and C do not work, and let the second telescopic unit group work, that is, the telescopic units corresponding to B and D work. When the telescopic units corresponding to B and D extend, the mounting plate 4 rotates downward around the side length where A and C are located (that is, Figure 2 the Y-axis in the figure), and conversely, move upward, or let the first telescopic unit group work, that is, the telescopic units corresponding to A and C work, and keep the second telescopic unit group stationary, that is, the telescopic units corresponding to B and D do not work. When the telescopic units corresponding to A and C extend, the mounting plate 4 rotates downward around the side length where B and D are located (that is, Figure 2 the Y-axis in the figure), and conversely, move upward.

[0045] When all the telescopic units extend and contract synchronously, the mounting plate 4 rises or falls, that is, Figure 2 in the Z-axis direction.

[0046] Among them, the connection between the telescopic unit and the mounting plate 4 can adopt a rotational and sliding connection method to meet the displacement compensation during the telescoping of the telescopic unit. After the mounting plate 4 completes the angle adjustment, the actuator installed on the connecting plate 54 can be accurately corresponding to the damaged lining panel. Finally, extend each telescopic unit synchronously to dock the installed actuator with the lining panel. The telescopic unit can be various types of telescopic rods, such as electric rods and hydraulic rods.

[0047] In the repair operation of the lining panel, including but not limited to operations such as cutting, extraction, and new plate installation, since the damaged lining panel needs to be cut into a rectangular panel, the connecting plate 54 can be rotated by a driving member, so that the cutting actuator can complete the multi-sided cutting work. At the same time, the mounting plate 4 can slide along the length direction of the movable beam 1 to repair the adjacent damaged lining panel.

[0048] Based on the above solution, to ensure the stability of the telescopic unit during operation, as Figure 6 shown, the telescopic unit includes a fixed cylinder 6 provided on the bearing plate 3 and a movable rod 65 passing through the fixed cylinder 6. The fixed cylinder 6 is rotatably provided with a lead screw 64, the lead screw 64 is threadedly connected with the movable rod 65, the fixed cylinder 6 is provided with a second motor 61, the drive shaft of the second motor 61 is provided with a second transmission gear 62, the end of the lead screw 64 is provided with a connecting gear 63, the connecting gear 63 is meshed with the second transmission gear 62, and the end of the movable rod 65 is provided with a universal joint 66, and the universal joint 66 is connected to the mounting plate 4.

[0049] When the telescopic unit is working, by starting the second motor 61, the second motor 61 drives the screw rod 64 to rotate through the cooperation of the connecting gear 63 and the second transmission gear 62. The end of the movable rod 65 has a nut, and the nut is threadedly connected to the screw rod 64. Since the nut is fixedly connected to the movable rod 65, the screw rod 64 is indirectly threadedly connected to the movable rod 65. When the screw rod 64 rotates, the movable rod 65 can accurately perform telescopic movement, so as to ensure that the mounting plate 4 can be accurately positioned at the required angle and position to adapt to various complex repair requirements.

[0050] As Figure 3 shown, through the design of arranging a universal joint 66 at the end of the movable rod 64, and then connecting the universal joint 66 to the mounting plate 4, it allows the movable rod 65 to make a certain degree of flexible adjustment while telescoping, and can also ensure the stability of the entire structure.

[0051] At the same time, each universal joint 66 of the movable rods 65 is provided with a connecting block 41, and the mounting plate 4 is provided with a number of limiting plates 42. One of the connecting blocks 41 is fixedly arranged on the mounting plate 4, and the other connecting blocks 41 are correspondingly slidably arranged on the respective limiting plates 42. The mounting plate 4 is provided with a chute 43, and one of the limiting plates 42 is slidably arranged in the chute 43. As Figure 2 With Figure 3 shown, when four groups of telescopic units are used, the universal joint 66 of the telescopic unit corresponding to D is fixedly connected to the mounting plate 4 through the connecting block 41, which can ensure the stability of the mounting plate 4 during use and prevent displacement. At the same time, the arrangement directions of the limiting plates 42 of the telescopic units corresponding to A and C are the same, the arrangement direction of the limiting plate 42 of the telescopic unit corresponding to B is perpendicular to the arrangement directions of the limiting plates 42 of the telescopic units corresponding to A and C, and the limiting plate 42 of the telescopic unit corresponding to A is slidably clamped in the chute 43, and the arrangement direction of the chute 43 is the same as the arrangement direction of the limiting plate 42 of the telescopic unit corresponding to B. Under this design, when the angle between the screw rod 64 and the mounting plate 4 changes accordingly, the four groups of telescopic units and the mounting plate 4 can effectively compensate for the angle changes generated during the rotation process, ensuring the flexibility and stability of the mechanism during complex movements, thereby further improving the overall performance and reliability of the equipment.

[0052] Specifically, the fixed cylinder 6 is fixedly provided with a mounting sleeve 67. The mounting sleeve 67 is mounted on the bearing plate 3 and is provided with a number of through holes for screws to pass through. The mounting sleeve 67 provides a solid mounting foundation for the fixed cylinder 6, ensuring that the fixed cylinder 6 can be firmly fixed on the bearing plate 3, and can maintain good structural stability even in a complex underwater environment, reducing displacement or loosening caused by external forces. At the same time, with the cooperation of the number of through holes, it facilitates the installation between the fixed cylinder 6 and the bearing plate 3, and also enables the fixed cylinder 6 to be easily maintained when necessary.

[0053] Based on the above solution, the difference is that when the cutting actuator is selected as the current working component, it involves the rotation of the cutting actuator for omnidirectional cutting. When the lining cutting plate breaks, the two broken sides usually do not need to be cut. Since the whole lining cutting plate is relatively heavy, the cutting actuator is moved along the length direction of the lining cutting plate, so as to cut it into smaller panels for convenient extraction. As Figure 5 shown, it further includes a connecting plate 54. The connecting plate 54 is provided with a mounting shaft 55. The mounting shaft 55 is rotatably arranged on the mounting plate 4. The mounting shaft 55 is provided with a fixed gear 52. The mounting plate 4 is provided with a first motor 5. The driving shaft of the first motor 5 is provided with a first transmission gear 51. The first transmission gear 51 meshes with the fixed gear 52.

[0054] When the cutting actuator is installed on the connecting plate 54, the cutting part of the cutting actuator is located at the AB side. After the AB side is cut, the first motor 5 can be driven to rotate the first transmission gear 51, and then the first transmission gear 51 drives the fixed gear 52 to rotate, so as to realize the precise rotation of the mounting shaft 55 and the connecting plate 54 thereon, and then adjust the cutting part of the cutting actuator to the CD side to complete the cutting of the opposite side. At the same time, the mounting plate 4 is provided with a bearing 53, and the mounting shaft 55 is arranged on the bearing 53, which can significantly reduce the friction force when the mounting shaft 55 rotates, reduce the energy loss, and improve the working efficiency of the first motor 5.

[0055] Moreover, as Figure 7 shown, the bottom surface of the mounting plate 4 is provided with a mounting ring 7. The mounting ring 7 is provided with a plurality of mounting holes 71. The connecting plate 54 is provided with an annular groove corresponding to the plurality of mounting holes 71. A plurality of mounting holes 71 are all inlaid with balls 72. The balls 72 are in rolling connection with the annular groove; the rotation of the connecting plate 54 can be supported by the plurality of balls 72, which can ensure the stability when the connecting plate 4 rotates and adjusts. The balls 72 can also greatly reduce the friction between the mounting plate 4 and the connecting plate 54 and improve the transmission efficiency.

[0056] Based on the above solution, as Figure 1 and Figure 2 shown, a slide rail 2 is arranged at the bottom of the movable beam 1 along its length direction. The bearing plate 3 is provided with a first mounting seat 31. The first mounting seat 31 is provided with a first pulley 32. The first pulley 32 is in rolling connection with the slide rail 2. By using the combination of the first pulley 32 and the slide rail 2, the bearing plate 3 can slide more smoothly along the length direction of the movable beam 1. Compared with the direct contact moving method, the friction force is significantly reduced, making the moving process smoother. Specifically, a driving motor can be installed on the first mounting seat 31, and the first pulley 32 is rotated by the driving motor to realize automatic displacement.

[0057] Similarly, second mounting seats 11 are provided at both ends of the movable beam 1, and second pulleys 12 are provided on the second mounting seats 11, which can allow the movable beam 1 to slide on the truss under the cooperation of the second mounting seats 11 and the second pulleys 12, making its movement smoother.

[0058] The embodiment of the present invention also proposes a method for adjusting the degrees of freedom of an underwater repair actuator for a concrete lining panel of a water network channel, including the above-mentioned equipment for adjusting the degrees of freedom of an underwater repair actuator for a concrete lining panel of a water network channel, and further including the following steps:

[0059] S1: Install the repair actuator on the mounting plate 4, and connect the movable beam 1 to the bearing mechanism and move it to the repair area;

[0060] S2: Detect the repair area on the canal surface through the detection unit, and judge whether the repair area is flat;

[0061] S3: If it is determined to be flat, synchronously control a number of telescopic units to make the repair actuator installed on the mounting plate 4 gradually approach the repair area and perform the repair;

[0062] S4: If it is determined to be uneven, control two adjacent telescopic units to be stationary and the remaining telescopic units to act. After adjusting the mounting plate 4 to be parallel to the repair area, synchronously control all telescopic units to make the repair actuator perform the repair;

[0063] S5: Repeat the above steps until the repair is completed.

[0064] In this method, when it is detected that the repair area is uneven, the mounting plate can be flexibly adjusted to be parallel to the repair area by controlling two adjacent telescopic units to be stationary and other telescopic units to act, ensuring that various repair actuators can contact the repair surface at the best angle. And regardless of whether the repair area is flat or not, by synchronously controlling a number of telescopic units, various repair actuators can gradually approach and perform the repair, ensuring high precision and consistency during the repair process.

[0065] 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 within the scope of the claims of the present invention.

Claims

1. A device for adjusting the degree of freedom of an actuator for underwater repair of a concrete lining panel of a water network channel, characterized in that: include: Movable beam (1); A load-bearing plate (3) and a mounting plate (4) are arranged spaced apart from each other, wherein the load-bearing plate (3) is connected to the movable beam (1); A plurality of telescopic units are arranged on the bearing plate (3), the telescopic ends of each of the telescopic units passing through the bearing plate (3) and connected to the mounting plate (4), and when two adjacent telescopic units are stationary and the remaining telescopic units are telescoped, the mounting plate (4) rotates with the stationary telescopic units as the axis; And a detection unit, which is arranged on the mounting plate (4) and is used to detect the flatness of the channel surface.

2. The degree of freedom adjustment device for underwater repair actuator of water network channel concrete lining panel according to claim 1 is characterized in that: The telescopic unit comprises a fixed cylinder (6) arranged on the bearing plate (3) and a movable rod (65) passing through the fixed cylinder (6); the fixed cylinder (6) is rotatably provided with a screw rod (64), the screw rod (64) is threadedly connected to the movable rod (65); the fixed cylinder (6) is provided with a second motor (61), the driving shaft of the second motor (61) is provided with a second transmission gear (62), the end of the screw rod (64) is provided with a connecting gear (63), the connecting gear (63) is meshed with the second transmission gear (62), and the end of the movable rod (65) is provided with a universal joint (66), and the universal joint (66) is connected to the mounting plate (4).

3. The degree of freedom adjustment device for underwater repair actuator of water network channel concrete lining panel according to claim 2 is characterized in that: The universal joint (66) of each movable rod (65) is provided with a connecting block (41), and the mounting plate (4) is provided with a plurality of limiting plates (42), one of which is fixedly arranged on the mounting plate (4), and each of the connecting blocks (41) is slidably arranged on each of the limiting plates (42), and the mounting plate (4) is provided with a sliding groove (43), and one of the limiting plates (42) is slidably arranged on the sliding groove (43).

4. The freedom degree adjustment device of the underwater repair actuator of the water network channel concrete lining panel according to claim 3 is characterized in that: The fixing tube (6) is fixedly provided with a mounting sleeve (67), the mounting sleeve (67) is mounted on the bearing plate (3) and is provided with a plurality of through holes for screws to pass through.

5. The freedom degree adjustment device of the underwater repair actuator of the water network channel concrete lining panel according to claim 1 is characterized in that: The invention also comprises a connecting plate (54), wherein the connecting plate (54) is provided with a mounting shaft (55), wherein the mounting shaft (55) is rotatably mounted on the mounting plate (4), and wherein the mounting shaft (55) is provided with a fixed gear (52), wherein the mounting plate (4) is provided with a first motor (5), wherein a driving shaft of the first motor (5) is provided with a first transmission gear (51), and wherein the first transmission gear (51) is meshed with the fixed gear (52).

6. The device for adjusting the degree of freedom of an actuator for underwater repair of a water network channel concrete lining panel according to claim 5 is characterized in that: The mounting plate (4) is provided with a bearing (53), and the mounting shaft (55) is arranged on the bearing (53).

7. The freedom degree adjustment device of the underwater repair actuator of the water network channel concrete lining panel according to claim 1 is characterized in that: A slide rail (2) is provided at the bottom of the movable beam (1) along its length direction, the bearing plate (3) is provided with a first mounting seat (31), the first mounting seat (31) is provided with a first pulley (32), and the first pulley (32) is rollingly connected to the slide rail (2).

8. The freedom degree adjustment device of the underwater repair actuator of the water network channel concrete lining panel according to claim 1 is characterized in that: Both ends of the movable beam (1) are provided with a second mounting seat (11), and the second mounting seat (11) is provided with a second pulley (12).

9. The freedom degree adjustment device of the underwater repair actuator of the water network channel concrete lining panel according to claim 6 is characterized in that: The bottom surface of the mounting plate (4) is provided with a mounting ring (7), the mounting ring (7) is provided with a plurality of mounting holes (71), the connecting plate (54) is provided with annular grooves corresponding to the plurality of mounting holes (71), the plurality of mounting holes (71) are all inlaid with balls (72), and the balls (72) are rollingly connected to the annular grooves.

10. A method for adjusting the degree of freedom of an actuator for underwater repair of a concrete lining panel of a water network channel, characterized in that: The device for adjusting the degree of freedom of an actuator for underwater repair of a concrete lining panel of a water network channel according to any one of claims 1 to 9 further comprises the following steps: S1: Install the repair actuator on the mounting plate (4), and connect the movable beam (1) to the bearing mechanism and move it to the repair area; S2: Detect the channel surface repair area through the detection unit to determine whether the repair area is flat; S3: If it is determined to be flat, a repair actuator installed on the mounting plate (4) is gradually brought close to the repair area and repair is performed by synchronously controlling a plurality of telescopic units; S4: If it is determined to be uneven, two adjacent telescopic units are controlled to be stationary, while the other telescopic units are moved, and the mounting plate (4) is adjusted to be parallel to the repair area, and then all the telescopic units are synchronously controlled to enable the repair actuator to perform the repair; S5: Repeat the above steps until the repair is completed.

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