Crack detection and grouting repair equipment for underwater concrete

Abstract

The invention discloses crack detection and grouting repair equipment for underwater concrete, and relates to the technical field of concrete structure repair. The device specifically comprises a supporting base, a shell, a propeller, a crack detection assembly, a plurality of wheat wheels, an electric push rod and a push plate, one side of the shell is connected with a telescopic pipe, a spray head communicating with the telescopic end of the telescopic pipe is arranged at the bottom of the push plate, and an anti-shielding mechanism is arranged at the bottom of the push plate; the anti-shielding mechanism comprises a fixed plate, an electric telescopic rod, a movable plate and a plurality of cutting blocks, and the movable plate is in sliding fit with the push plate. According to the anti-shielding mechanism, through mutual cooperation of the electric telescopic rod, the moving plate and the cutting block, aquatic plants and flexible garbage in front of the spray head are cut and crushed, the probability that the aquatic plants and the flexible garbage cover the surface of the spray head is reduced, and therefore the probability that the aquatic plants and the flexible garbage are brought into cracks together in the grouting process of the spray head is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of concrete structure repair, in particular to a crack detection and grouting repair equipment for underwater concrete. BACKGROUND

[0002] The crack detection and grouting repair equipment for underwater concrete is a high-efficiency tool specially designed for underwater engineering, which is used for detecting and repairing cracks of concrete structures. The equipment is equipped with high-precision sensors and detection instruments, which can monitor the crack condition of underwater concrete in real time and perform directional grouting repair through a special nozzle. The grouting material can penetrate deep into the cracks, effectively repairing the structure, preventing water intrusion, and improving the durability of the project. The equipment is easy to operate and suitable for the maintenance and reinforcement of underwater concrete structures such as ports, dams, and reservoirs.

[0003] The Chinese patent with patent publication number CN119195234A discloses a crack detection and grouting repair system for underwater concrete, which includes a visual operation system and an underwater robot controlled by the system. The underwater robot includes a carrying plate, a multifunctional converter arranged below the edge of the carrying plate, and a power assembly, a camera assembly, a crack detection assembly, a crack repair assembly, and a control circuit arranged in corresponding areas of the carrying plate. The crack detection assembly includes an inkjet head arranged on the multifunctional converter, which is used for inkjet processing on suspected crack areas and connected with a corresponding ink cartridge. The crack repair assembly includes a high polymer nozzle arranged on the multifunctional converter and a pinhole grouting head arranged below the base. The high polymer nozzle and the pinhole grouting head are respectively connected with a micro grouting machine. The high polymer nozzle is used for narrow crack grouting repair, and the pinhole grouting head is used for wide crack grouting repair. The patent aims to realize crack detection and repair of underwater concrete.

[0004] However, the current repair equipment has the following problems: when the current equipment moves in water, waterweeds and flexible garbage in the water are easy to cover the surface of the nozzle, causing the nozzle to bring waterweeds and flexible garbage into the crack during the grouting process, thereby blocking the penetration path of the grout, resulting in unsatisfactory grouting effect and unstable consolidation of the crack. Therefore, we propose a crack detection and grouting repair equipment for underwater concrete. SUMMARY

[0005] The present application aims to provide a crack detection and grouting repair equipment for underwater concrete to solve the problems raised in the background.

[0006] The technical solution of the present application to solve the above technical problems is as follows:

[0007] An underwater concrete crack detection and grouting repair device includes a support base, an outer shell disposed on the top of the support base, propellers disposed at the four corners of the outer shell, a crack detection component disposed on the support base, multiple Meyer wheels disposed on the bottom of the support base, an electric push rod disposed on the bottom of the support base, and a push plate disposed on the bottom of the telescopic end of the electric push rod. A telescopic tube is connected to one side of the outer shell, a nozzle is disposed on the bottom of the push plate, the telescopic end of the telescopic tube passes through the support base and is connected to the nozzle, and an anti-obstruction mechanism is disposed on the bottom of the push plate.

[0008] The anti-obstruction mechanism includes a fixed plate vertically installed at the bottom of the push plate and in front of the nozzle, an electric telescopic rod installed on the side of the fixed plate away from the nozzle, a movable plate installed at the telescopic end of the electric telescopic rod, and multiple cutting blocks vertically spaced on the front side of the movable plate. The movable plate slides in conjunction with the push plate.

[0009] Furthermore, support rods are symmetrically arranged on both sides of the front end of the push plate. Guide blocks are arranged at the bottom of the two support rods that are close to each other. The two guide blocks contact each other and form a V-shaped structure. Multiple slots matching the cutting blocks are spaced apart at the contact points of the two guide blocks. The cutting blocks correspond one-to-one with the slots.

[0010] Furthermore, the bottom of the push plate is provided with a sliding groove that slides with the top of the moving plate.

[0011] Furthermore, the outer wall of the telescopic end of the aforementioned electric telescopic rod is provided with an anti-adsorption mechanism;

[0012] The anti-adsorption mechanism includes a U-shaped rod installed on the outer wall of the telescopic end of the electric telescopic rod, hinged rods respectively hinged to both sides of the U-shaped rod, a fan plate hinged to the end of the hinged rod away from the U-shaped rod, and a support column connected to the bottom of the support rod. The fan plate and the support column are rotatably engaged.

[0013] Furthermore, a telescopic block is connected between the outer wall of the guide block and the fan plate.

[0014] Furthermore, the fixed end of the aforementioned telescopic block is located on the outer wall of the guide block, and the telescopic end of the telescopic block is connected to the fan plate.

[0015] Furthermore, the two sides of the aforementioned U-shaped rod are distributed on both sides of the electric telescopic rod and are parallel to it.

[0016] Furthermore, the above also includes an anti-clogging mechanism for cleaning the nozzles;

[0017] The anti-clogging mechanism includes connecting rods connected to both ends of the U-shaped rod, and a U-shaped brush located at the ends of the two connecting rods for cleaning the nozzle outlet. The rod of the U-shaped brush slides in conjunction with the bottom of the push plate.

[0018] Furthermore, the bottom of the aforementioned push plate is provided with an elastic telescopic rod, which is located on the rear side of the nozzle.

[0019] The anti-clogging mechanism also includes a U-shaped force block located at the bottom of the telescopic end of the elastic telescopic rod and parallel to the U-shaped brush, an impact block located on the U-shaped force block and corresponding to the bottom of the U-shaped brush, and push blocks connected to both sides of the U-shaped brush and corresponding to the top of the U-shaped force block. The top of the U-shaped force block is arc-shaped, and the bottom of the push block is provided with several semi-arc blocks at intervals corresponding to the top of the U-shaped force block.

[0020] Furthermore, the bottom of the aforementioned push plate is provided with a groove that slides in conjunction with the rod of the U-shaped brush.

[0021] The present invention has the following beneficial effects:

[0022] 1. The underwater concrete crack detection and grouting repair equipment of the present invention, through the cooperation of the electric telescopic rod, the moving plate and the cutting block in the anti-obstruction mechanism, makes all the cutting blocks move back and forth, thereby cutting and breaking up the aquatic plants and flexible debris in front of the nozzle, reducing the probability of aquatic plants and flexible debris covering the nozzle surface, and thus reducing the probability of the nozzle bringing aquatic plants and flexible debris into the cracks during the grouting process; at the same time, through the cooperation of the cutting block and the guide block, the cut and broken aquatic plants and flexible debris will move away from the nozzle along the guide block, avoiding the problem of the cut aquatic plants and flexible debris affecting the nozzle grouting.

[0023] 2. The underwater concrete crack detection and grouting repair equipment of the present invention, through the setting of the anti-adsorption mechanism, with the cooperation of the U-shaped rod, hinged rod, support column, fan plate and telescopic block, enables the fan plate to push the water flow away from the push plate. Therefore, the water will carry the cut aquatic plants and flexible debris away from the push plate during the flow, thereby further ensuring that the cut aquatic plants and flexible debris will not move towards the nozzle again, and further preventing the cut aquatic plants and flexible debris from wrapping or covering the nozzle surface again; at the same time, the side of the telescopic block will block and limit the cut and broken aquatic plants and flexible debris.

[0024] 3. The underwater concrete crack detection and grouting repair equipment of the present invention, through the setting of an anti-clogging mechanism, with the cooperation of the U-shaped rod, connecting rod, and U-shaped brush, allows the U-shaped brush to move back and forth and clean the nozzle outlet, thereby preventing the nozzle outlet from being blocked by floating particles in the water during the movement, which would prevent the grout from being sprayed out of the nozzle. Through the cooperation of the elastic telescopic rod, U-shaped force block, impact block, push block, and U-shaped brush, the impact block strikes the bottom of the U-shaped brush and vibrates the U-shaped brush, thereby increasing the probability that the particles adhering to the brush float into the water through vibration, and reducing the probability that the particles adhering to the U-shaped brush will re-adhere to the nozzle outlet. Attached Figure Description

[0025] Figure 1 A schematic diagram of an underwater concrete crack detection and grouting repair device;

[0026] Figure 2 A schematic diagram of the bottom structure of an underwater concrete crack detection and grouting repair device;

[0027] Figure 3 This is a partial structural diagram of the push plate area;

[0028] Figure 4 A schematic diagram of the anti-blocking mechanism;

[0029] Figure 5 A schematic diagram of the specific structure of the anti-blocking mechanism;

[0030] Figure 6 This is a schematic diagram of the anti-adsorption mechanism;

[0031] Figure 7 A schematic diagram of the anti-clogging mechanism.

[0032] In the diagram: 1. Support base; 2. Outer shell; 21. Telescopic tube; 3. Propeller; 4. Crack detection component; 5. Meadowwheel; 6. Electric push rod; 7. Push plate; 71. Nozzle; 72. Support rod; 73. Guide block; 74. Moving groove; 75. Elastic telescopic rod; 76. Slide groove; 8. Anti-obstruction mechanism; 81. Fixing plate; 82. Electric telescopic rod; 83. Moving plate; 84. Cutting block; 9. Anti-adsorption mechanism; 91. U-shaped rod; 92. Hinge rod; 93. Fan plate; 94. Support column; 95. Telescopic block; 10. Anti-clogging mechanism; 101. Connecting rod; 102. U-shaped brush; 103. U-shaped force block; 104. Impact block; 105. Push block. Detailed Implementation

[0033] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0034] Please see Figures 1 to 5 This invention provides an underwater concrete crack detection and grouting repair device, comprising a support base 1, a housing 2 disposed on top of the support base 1, the housing 2 being hollow inside, and a traction ring on the top of the housing 2; propellers 3 disposed at the four corners of the housing 2, each propeller 3 comprising a motor housing, a spiral motor located inside the motor housing, and blades located outside the motor housing and connected to the output shaft of the spiral motor, the motor housing being welded to the outer wall of the housing 2, allowing the device to adhere closely to the object to be detected by the reaction force of the water flow generated by the rotation of the blades, thus maintaining stability; a crack detection component 4 disposed on the support base 1, the crack detection component 4 comprising a mounting base fixed to the top of the support base 1 and located in front of it, a camera 1, and a searchlight, a camera 2, and a laser distance sensor respectively integrated on the mounting base, the camera 2 being used to acquire image data of the area in front of the device and the surrounding area during operation, and simultaneously acquiring the crack location in the corresponding area, the searchlight facilitating underwater illumination, and the laser distance sensor being used to measure the distance between the device and the detection point, facilitating subsequent crack repair; and multiple mesh wheels 5 disposed at the bottom of the support base 1, the mesh wheels 5 being... The equipment utilizes Mecanum wheels, which allow for 360° flexible movement underwater. Four sets of Mecanum wheels (5) are positioned at the four corners of the bottom of the support base 1. These four sets consist of two left-handed and two right-handed wheels. The two left-handed wheels are installed at the left rear and right front of the support base 1, while the two right-handed wheels are installed at the right rear and left front. Each set of Mecanum wheels (5) is controlled by a separate motor. Two sets of electric actuators (6) are fixed to the bottom of the support base 1, near the front. The output end of the electric push rod 6 is vertically downward; and a push plate 7 is set at the bottom of the telescopic end of the electric push rod 6. A telescopic tube 21 is connected to one side of the outer shell 2. The telescopic tube 21 is located on the front side of the outer shell 2. A nozzle 71 is set at the bottom of the push plate 7. The telescopic end of the telescopic tube 21 passes through the support base 1 and is connected to the nozzle 71. A through hole is opened on the support base 1 to facilitate the passage of the telescopic tube 21. Specifically, a camera is integrated at the bottom of the push plate 7. The camera is used to further observe the crack condition and the connection between the nozzle 71 and the crack, and to record the grouting condition of the nozzle 71.

[0035] In this embodiment, a micro grouting machine is provided inside the outer shell 2. The micro grouting machine is fixed on the top of the support base 1 and located in the cavity formed by the outer shell 2 and the support base 1. The outlet of the micro grouting machine is connected to the telescopic pipe 21.

[0036] Specifically, the bottom of the push plate 7 is provided with an anti-obstruction mechanism 8; the anti-obstruction mechanism 8 includes a fixed plate 81 vertically arranged at the bottom of the push plate 7 and in front of the nozzle 71, the fixed plate 81 being vertically arranged; an electric telescopic rod 82 arranged on the side of the fixed plate 81 away from the nozzle 71; a movable plate 83 arranged at the telescopic end of the electric telescopic rod 82, the telescopic end of the electric telescopic rod 82 facing the front side of the support base 1; and multiple cutting blocks 84 vertically spaced on the front side of the movable plate 83, the movable plate 83 slidingly engaging with the push plate 7; wherein, the bottom of the push plate 7 has a movable groove 74 that slides with the top of the movable plate 83, thereby achieving sliding. The electric telescopic rod 82 pushes the movable plate 83 to move back and forth, thereby driving the cutting blocks 84 to cut and crush the floating water plants and flexible debris in front of the equipment. The cutting blocks 84 have a pointed front end and blades on both sides, which facilitates the cutting of the floating water plants and flexible debris in front of the equipment and reduces the probability of water plants and flexible debris covering the surface of the nozzle 71.

[0037] Support rods 72 are symmetrically arranged on both sides of the front end of the push plate 7. Guide blocks 73 are respectively arranged at the bottom of the two support rods 72 that are close to each other. The two guide blocks 73 contact each other and form a V-shaped structure. Multiple slots matching the cutting blocks 84 are spaced apart at the contact points of the two guide blocks 73. Furthermore, the cutting blocks 84 correspond one-to-one with the slots. Through the above structure, the cut and crushed aquatic plants and flexible debris are moved away from the nozzle 71 along the guide blocks 73, thereby avoiding the problem of the cut aquatic plants and flexible debris affecting the grouting of the nozzle 71.

[0038] Please see Figure 6 The telescopic end of the electric telescopic rod 82 is provided with an anti-adsorption mechanism 9. The anti-adsorption mechanism 9 includes a U-shaped rod 91 provided on the outer wall of the telescopic end of the electric telescopic rod 82, with two rods on both sides of the electric telescopic rod 82 and parallel to it; two hinge rods 92 respectively hinged to both sides of the U-shaped rod 91, with the two hinge rods 92 located on the side of the two rods of the U-shaped rod 91 that are far away from each other; a fan plate 93 hinged to the end of the hinge rod 92 that is far away from the U-shaped rod 91; and a support column 94 connected to the bottom of the support rod 72. The fan plate 93 and the support column 94 are rotatably engaged. The fan plate 93 and the support column 94 are rotated through a shaft hole. The bottom end of the support column 94 is fixed with a limit nut, which is located below the fan plate 93.

[0039] Specifically, a telescopic block 95 is connected between the outer wall of the guide block 73 and the fan plate 93; and the fixed end of the telescopic block 95 is located on the outer wall of the guide block 73, while the telescopic end of the telescopic block 95 is connected to the fan plate 93. This arrangement allows the fan plate 93 to push the water flow away from the push plate 7. Therefore, during the water flow, the water will carry the cut aquatic plants and flexible debris away from the push plate 7, thereby further ensuring that the cut aquatic plants and flexible debris will not move back towards the nozzle 71, and further preventing the cut aquatic plants and flexible debris from entangled or covering the surface of the nozzle 71 again; at the same time, the side of the telescopic block 95 will block and limit the cut and broken aquatic plants and flexible debris.

[0040] Please see Figure 7 Another embodiment of the present invention provides an underwater concrete crack detection and grouting repair device, which further includes an anti-clogging mechanism 10 for cleaning the nozzle 71;

[0041] Specifically, the anti-clogging mechanism 10 includes connecting rods 101 connected to both ends of the U-shaped rod 91, i.e., the connecting rods 101 are connected to the ends of the two side rods of the U-shaped rod 91 and extend towards the nozzle 71; and a U-shaped brush 102 disposed at the ends of the two connecting rods 101 and used to clean the outlet of the nozzle 71. The U-shaped brush 102 includes a U-shaped fixing plate and a brush disposed on the inner side of the U-shaped fixing plate and corresponding to the nozzle 71; the rod of the U-shaped brush 102 is slidably engaged with the bottom of the push plate 7; and sliding is achieved by providing a groove 76 at the bottom of the push plate 7 that is slidably engaged with the rod of the U-shaped brush 102. With this configuration, when the U-shaped rod 91 moves back and forth, it will drive the U-shaped brush 102 to move back and forth through the connecting rod 101. The U-shaped brush 102 moves and cleans the outlet of the nozzle 71, thereby avoiding the problem that the outlet of the nozzle 71 will be blocked by particles floating in the water during the movement, which would make it difficult for the slurry to be sprayed out of the nozzle 71.

[0042] Specifically, an elastic telescopic rod 75 is provided at the bottom of the push plate 7, and the elastic telescopic rod 75 is located behind the nozzle 71. The elastic telescopic rod 75 is a certain distance from the nozzle 71 and does not affect the grouting of the nozzle 71. In this embodiment, the elastic telescopic rod 75 includes an outer tube that is vertically fixed at the bottom of the push plate 7 and an inner rod that slides with the outer tube. The inner diameter of the outer tube matches the outer diameter of the inner rod. A spring is provided between the inner top wall of the outer tube and the outer wall of the inner rod, and the spring is located on the outside of the inner rod.

[0043] The anti-clogging mechanism 10 also includes a U-shaped force-bearing block 103 located at the bottom of the telescopic end of the elastic telescopic rod 75 and parallel to the U-shaped brush 102, with the top of the U-shaped force-bearing block 103 being arc-shaped; an impact block 104 located on the U-shaped force-bearing block 103 and corresponding to the bottom of the U-shaped brush 102; and push blocks 105 connected to both sides of the U-shaped brush 102 and corresponding to the top of the U-shaped force-bearing block 103, with several semi-arc blocks at intervals at the bottom of the push blocks 105 corresponding to the top of the U-shaped force-bearing block 103, and the top of the U-shaped force-bearing block 103 being on the moving trajectory of the push blocks 105. This arrangement ensures that the impact block 104 impacts the bottom of the U-shaped brush 102 when it resets, causing it to vibrate, thereby increasing the probability that particles adhering to the brush will float into the water through vibration.

[0044] Another embodiment of the present invention provides an underwater concrete crack detection and grouting repair device, which further includes a controller and a main controller. The controller is located inside the housing 2 and fixed to the top of the support base 1. The controller is electrically connected to the electric push rod 6, the spiral motor on the propeller 3, the electric telescopic rod 82, the micro grouting machine, and the camera 1, searchlight, camera 2, and laser distance sensor on the crack detection assembly 4. It is also electrically connected to four sets of motors that cooperate with the Mecanum wheel. The controller is communicatively connected to the main controller. The controller can transmit the image data acquired by camera 1 and camera 2 to the main controller. The main controller includes a touch screen display and a processing and analysis module. The processing and analysis module is used to receive the image data transmitted by the controller on the device and analyze and feed it back on the display screen, so that the operator can control the various components on the device to perform corresponding operations according to the image situation, thereby realizing remote control.

[0045] The specific usage process is as follows:

[0046] (1) The staff tied the towing rope to the towing ring on the top of the shell 2, and then put the equipment into the water. The staff remotely controlled the equipment and started the wheel 5 and propeller 3. The wheel 5 can move freely and flexibly 360° underwater. The propeller 3 uses the rotation of the blades to generate water flow reaction force, so that the equipment can be stably attached to the underwater concrete. The entire equipment is moved by the wheel 5, and the underwater concrete is detected by the crack detection component 4.

[0047] (2) During the movement of the equipment, the electric telescopic rod 82 is activated, and the telescopic end of the electric telescopic rod 82 drives the moving plate 83 to move back and forth within the limited range of the moving groove 74, thereby driving all the cutting blocks 84 to move back and forth. The back and forth movement of the cutting blocks 84 will cut and break the water plants and flexible debris in front of the nozzle 71, thereby reducing the probability of water plants and flexible debris covering the surface of the nozzle 71, and reducing the probability of the nozzle 71 bringing water plants and flexible debris into the crack during the grouting process.

[0048] The cut aquatic plants and flexible debris will move away from the nozzle 71 along the guide block 73, thus avoiding the problem of the cut aquatic plants and flexible debris affecting the grouting of the nozzle 71;

[0049] (3) During the back-and-forth movement of the telescopic end of the electric telescopic rod 82, the U-shaped rod 91 will move back and forth simultaneously. The back-and-forth movement of the U-shaped rod 91 will drive the fan plate 93 to rotate along the outer wall of the support column 94 through the two hinge rods 92, so that the fan plate 93 will perform a fanning action. The back-and-forth fanning of the fan plate 93 will drive the telescopic block 95 to extend and retract. When the fan plate 93 fanns outward, it will cause the water flow to flow away from the push plate 7. Therefore, the water flow will drive the cut water plants and flexible debris away from the push plate 7, thereby further ensuring that the cut water plants and flexible debris will not move towards the nozzle 71 again. This can further prevent the cut water plants and flexible debris from wrapping or covering the surface of the nozzle 71 again. When the fan plate 93 fanns inward, the telescopic block 95 will block and limit the cut water plants and flexible debris.

[0050] (4) During the movement of the U-shaped rod 91, the connecting rod 101 will move together. The connecting rod 101 will eventually drive the U-shaped brush 102 to slide back and forth along the slide groove 76. The brush on the U-shaped brush 102 will repeatedly clean the outlet of the nozzle 71 during the movement, thereby avoiding the problem that the outlet of the nozzle 71 will be blocked by floating particles in the water during the movement, which will make it difficult for the slurry to be sprayed out of the nozzle 71.

[0051] (5) When the U-shaped brush 102 moves, it will drive the semi-circular block on the push block 105 to move. The semi-circular block moves and contacts the top of the U-shaped force block 103, thereby causing the U-shaped force block 103 to move downward. At this time, the elastic telescopic rod 75 is stretched. When the U-shaped force block 103 moves downward, it also drives the impact block 104 to move downward. When the semi-circular block of the push block 105 does not contact the top of the U-shaped force block 103, the telescopic end of the elastic telescopic rod 75 drives the U-shaped force block 103 and the impact block 104 to reset. This process repeats, so that the reset of the impact block 104 will hit the bottom of the U-shaped brush 102, causing it to vibrate. This increases the probability that the particles adhering to the brush float into the water through vibration and reduces the probability that the particles adhering to the U-shaped brush 102 will re-adhere to the outlet of the nozzle 71.

[0052] With the anti-blocking mechanism 8, the anti-adsorption mechanism 9, and the anti-clogging mechanism 10, the aquatic plants and flexible debris on the equipment's forward path can be cut and crushed. At the same time, the cut aquatic plants and flexible debris can be fanned away from the nozzle 71, thereby effectively preventing aquatic plants and other debris from covering the surface of the nozzle 71. Furthermore, the outlet of the nozzle 71 can be cleaned, ultimately ensuring the stable grouting of the nozzle 71.

[0053] (6) When a crack is detected, operate the main controller and drive the electric telescopic rod 82 to reset the anti-blocking mechanism 8, the anti-adsorption mechanism 9 and the anti-clogging mechanism 10, thereby exposing the nozzle 71 and aligning the nozzle 71 with the crack. Then start the micro grouting machine, and the grout is transmitted to the nozzle 71 through the telescopic pipe 21, thereby grouting and repairing the crack.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An underwater concrete crack detection and grouting repair device, comprising a support base (1), a shell (2) disposed on the top of the support base (1), propellers (3) disposed at the four corners of the shell (2), a crack detection assembly (4) disposed on the support base (1), a plurality of wheat wheels (5) disposed at the bottom of the support base (1), an electric push rod (6) disposed at the bottom of the support base (1), and a push plate (7) disposed at the bottom of the telescopic end of the electric push rod (6), wherein a telescopic pipe (21) is connected to one side of the shell (2), a nozzle (71) is disposed at the bottom of the push plate (7), and the telescopic end of the telescopic pipe (21) passes through the support base (1) and is connected to the nozzle (71), characterized in that, The bottom of the push plate (7) is provided with an anti-blocking mechanism (8); The anti-obstruction mechanism (8) includes a fixed plate (81) vertically disposed at the bottom of the push plate (7) and in front of the nozzle (71), an electric telescopic rod (82) disposed on the side of the fixed plate (81) away from the nozzle (71), a movable plate (83) disposed at the telescopic end of the electric telescopic rod (82), and a plurality of cutting blocks (84) vertically spaced on the front side of the movable plate (83), wherein the movable plate (83) slides in cooperation with the push plate (7).

2. The underwater concrete crack detection and grouting repair equipment according to claim 1, characterized in that, Support rods (72) are symmetrically arranged on both sides of the front end of the push plate (7). Guide blocks (73) are respectively arranged at the bottom of the two support rods (72) that are close to each other. The two guide blocks (73) are in contact and form a V-shaped structure. Multiple slots matching the cutting block (84) are spaced apart at the contact points of the two guide blocks (73). The cutting block (84) corresponds to the slots one by one.

3. The underwater concrete crack detection and grouting repair equipment according to claim 2, characterized in that, The bottom of the push plate (7) is provided with a sliding groove (74) that slides with the top of the moving plate (83).

4. The underwater concrete crack detection and grouting repair equipment according to claim 2, characterized in that, The telescopic end of the electric telescopic rod (82) is provided with an anti-adsorption mechanism (9). The anti-adsorption mechanism (9) includes a U-shaped rod (91) disposed on the outer wall of the telescopic end of the electric telescopic rod (82), hinge rods (92) respectively hinged to both sides of the U-shaped rod (91), a fan plate (93) hinged to the end of the hinge rod (92) away from the U-shaped rod (91), and a support column (94) connected to the bottom of the support rod (72). The fan plate (93) and the support column (94) are rotatably engaged.

5. The underwater concrete crack detection and grouting repair equipment according to claim 4, characterized in that, A telescopic block (95) is connected between the outer wall of the guide block (73) and the fan plate (93).

6. The underwater concrete crack detection and grouting repair equipment according to claim 5, characterized in that, The fixed end of the telescopic block (95) is disposed on the outer wall of the guide block (73), and the telescopic end of the telescopic block (95) is connected to the fan plate (93).

7. The underwater concrete crack detection and grouting repair equipment according to claim 4, characterized in that, The two sides of the U-shaped rod (91) are distributed on both sides of the electric telescopic rod (82) and are parallel to it.

8. The underwater concrete crack detection and grouting repair equipment according to any one of claims 4 to 7, characterized in that, It also includes an anti-clogging mechanism (10) for cleaning the nozzle (71); The anti-clogging mechanism (10) includes connecting rods (101) respectively connected to both ends of the U-shaped rod (91), and a U-shaped brush (102) disposed at the ends of the two connecting rods (101) for cleaning the outlet of the nozzle (71). The rod of the U-shaped brush (102) slides in cooperation with the bottom of the push plate (7).

9. The underwater concrete crack detection and grouting repair equipment according to claim 8, characterized in that, The bottom of the push plate (7) is provided with an elastic telescopic rod (75), which is located on the rear side of the nozzle (71). The anti-clogging mechanism (10) further includes a U-shaped force block (103) disposed at the bottom of the telescopic end of the elastic telescopic rod (75) and parallel to the U-shaped brush (102), an impact block (104) disposed on the U-shaped force block (103) and corresponding to the bottom of the U-shaped brush (102), and push blocks (105) respectively connected to both sides of the U-shaped brush (102) and corresponding to the top of the U-shaped force block (103). The top of the U-shaped force block (103) is arc-shaped, and the bottom of the push block (105) is provided with a plurality of semi-arc blocks corresponding to the top of the U-shaped force block (103).

10. The underwater concrete crack detection and grouting repair equipment according to claim 8, characterized in that, The bottom of the push plate (7) is provided with a groove (76) that slides in cooperation with the rod of the U-shaped brush (102).

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